The invention provides a rigid-flexible coupled spacecraft preset time attitude tracking control method and system based on a modal observer. The control method comprises the following steps: rigid-flexible coupled spacecraft attitude dynamics modeling; the modal observer is used for estimating the values of the modal coordinate eta and the modal speed chi in real time, and the problem that the modal coordinate eta and the modal speed chi cannot be measured through a sensor is solved; and designing the controller based on the assumption that the disturbance torque is bounded. According to the method, it can be ensured that the actual attitude is converged to be near the expected attitude with sufficiently high precision within the preset time T after the rigid-flexible coupled spacecraft receives the attitude tracking task instruction, and the value of T can be flexibly adjusted according to specific task requirements; the singularity problem of the controller is avoided, and the reliability of the controller in practical application is ensured; the continuity of the control torque is guaranteed, the chattering phenomenon is avoided, and the burden of an executing mechanism in practical application is reduced.

    本发明提出了一种基于模态观测器的刚柔耦合航天器预设时间姿态跟踪控制方法与系统,控制方法包括如下步骤:刚柔耦合航天器姿态动力学建模;使用模态观测器对模态坐标η和模态速度χ的值进行实时估计,解决模态坐标η和模态速度χ无法通过传感器测量得到的问题;基于扰动力矩有界的假设进行控制器的设计。本发明可以确保在刚柔耦合航天器收到姿态跟踪任务指令后预设的时间T以内实际姿态以充分高的精度收敛到期望姿态附近,并可根据具体的任务需求灵活调整T的值;避免了控制器的奇异性问题,保证了控制器在实际应用中的可靠性;保证了控制力矩的连续性,避免了抖振现象,降低了实际应用中执行机构的负担。


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    Titel :

    Rigid-flexible coupled spacecraft preset time attitude tracking control method and system based on modal observer


    Weitere Titelangaben:

    一种基于模态观测器的刚柔耦合航天器预设时间姿态跟踪控制方法与系统


    Beteiligte:
    XIAO YAN (Autor:in) / WANG YUNTENG (Autor:in) / YE DONG (Autor:in) / ZHANG JIANQIAO (Autor:in) / LI HUAYI (Autor:in) / SUN ZHAOWEI (Autor:in)

    Erscheinungsdatum :

    10.12.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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