The invention provides an arbitrary axial attitude maneuver hierarchical saturation angular velocity amplitude limiting method, which comprises the following steps: S1, based on the maximum rotational inertia Imax of a satellite and the maximum angular momentum Hmax which can be provided by an execution mechanism, obtaining an attitude maneuver angular velocity amplitude limiting value omega max in an arbitrary Euler axis direction; s2, based on the maximum control moments Tmax and Omega max which can be provided by an execution mechanism, designing hierarchical saturation control laws for the three body axis directions of the satellite body system respectively, and obtaining control parameters, used for a maneuvering task, of the three body axis directions; s3, calculating an attitude deviation quaternion qerr of the satellite from the current attitude to the target attitude, calculating a current space maneuvering Euler axis direction vector Veuler according to the qerr, and performing normalization processing on the Veuler to obtain a space maneuvering Euler axis direction unit vector ueeuler; s4, according to the control parameters and the ueller, calculating an attitude deviation amplitude limiting parameter qmaxeller in the direction of the current maneuvering Euler axis; and S5, based on a hierarchical saturation algorithm, calculating a control torque instruction Tc of the attitude maneuver in the current maneuver Euler axis direction.
本发明提供一种任意轴向姿态机动递阶饱和角速度限幅方法,包含步骤:S1、基于卫星最大转动惯量Imax和执行机构可提供的最大角动量Hmax,获得任意欧拉轴方向姿态机动角速度限幅值ωmax;S2、基于执行机构可提供的最大控制力矩Tmax和ωmax,分别针对卫星本体系三个体轴方向设计递阶饱和控制律,获取三个体轴方向用于机动任务的控制参数;S3、计算卫星从当前姿态到目标姿态的姿态偏差四元数qerr,根据qerr计算当前空间机动欧拉轴方向向量Veuler,对Veuler进行归一化处理,得到空间机动欧拉轴方向单位向量ueuler;S4、根据控制参数与ueuler,计算当前机动欧拉轴方向姿态偏差限幅参数qmax_euler;S5、基于递阶饱和算法,计算当前机动欧拉轴方向姿态机动的控制力矩指令Tc。
Random axial attitude maneuvering hierarchical saturation angular velocity amplitude limiting method
一种任意轴向姿态机动递阶饱和角速度限幅方法
2024-03-12
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS |
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