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针对刚性航天器姿态控制问题,建立了由修正Rodrigues参数(MRP)表示的混杂姿态模型,并基于此模型设计了一种具有迟滞特性的非线性比例-积分-微分(PID)切换控制器。该控制器包含一个对克里奥利力矩和期望机动力矩的前馈补偿项和一个用于消除轨迹跟踪误差的PID反馈项。通过一个特别的Lyapunov函数分析得到了全局渐进稳定的结果。该控制器可全局渐近跟踪期望姿态轨迹,无姿态转动的奇异值点,无展开现象,能够抑制常值干扰力矩,对测量噪声具有鲁棒性。针对一个航天器进行了大角度控制仿真实验,仿真结果验证了控制器具有渐近跟踪特性、可避免展开现象的特性以及对常值干扰和测量噪声的鲁棒性。
Aiming at the attitude control problem of rigid spacecraft, a hybrid attitude model, which is represented by modified Rodrigues parameters (MRP), is established. Based on this model, a nonlinear proportional-integral-derivative (PID) switching controller with hysteresis characteristics is designed. The controller includes a feedforward compensation term for the Creole torque and the expected maneuvering moment and a PID feedback term for eliminating tracking error. The global asymptotic stability is obtained by a special Lyapunov function analysis. The controller can globally track the desired trajectory asymptotically, singularly points without attitude rotation, without expansion, and can restrain the moment of constant disturbance and is robust to measurement noise. A large-angle control simulation experiment was carried out on a spacecraft. The simulation results show that the controller has the characteristics of asymptotic tracking, the characteristics of avoiding the unwinding phenomenon and the robustness against constant noise and measurement noise.