The invention discloses an input-limited flexible spacecraft all-drive attitude saturation control method, which comprises the following steps of: 1, converting a spacecraft attitude model into an all-drive system control model according to a flexible spacecraft attitude dynamics and kinematics model based on an all-drive system theoretical method; 2, designing an attitude controller architecture for the flexible spacecraft all-wheel-drive system control model in the step 1; 3, for a linear feedback part of the control law in the step 2, determining parameter matrixes A0 and A1 of the linear feedback part by a'direct parameter method 'under a theoretical framework of an all-drive system; 4, performing comprehensive observation and estimation on a nonlinear term compensation part of the control law in the step 2 by adopting an extended state observer; and 5, for the control law in the step 2, considering the physical limitation of a control execution mechanism, designing a saturation function, and ensuring that the control input torque is within a reasonable range. According to the invention, rigid body attitude and flexible vibration suppression can be realized in an actuator capability range.
本发明公开了一种输入受限的挠性航天器全驱姿态饱和控制方法,包括如下步骤:步骤1、基于全驱系统理论方法,根据挠性航天器姿态动力学与运动学模型,将航天器姿态模型转换为全驱系统控制模型;步骤2、针对步骤1中的挠性航天器全驱系统控制模型设计姿态控制器架构;步骤3、对于步骤2中控制律的线性反馈部分,其参数矩阵A0、A1由全驱系统理论框架下的“直接参数法”确定;步骤4、对于步骤2中控制律的非线性项补偿部分,采用扩张状态观测器对其进行综合观测估计;步骤5、对于步骤2中控制律,考虑控制执行机构的物理限制,设计饱和函数,保证控制输入力矩在合理范围内。本发明能够在执行器能力范围内实现刚体姿态与挠性振动抑制。
Input-limited flexible spacecraft all-drive attitude saturation control method
一种输入受限的挠性航天器全驱姿态饱和控制方法
2023-12-26
Patent
Elektronische Ressource
Chinesisch
IPC: | B64G Raumfahrt , COSMONAUTICS |