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对适于不携带惯组的小型航天器的姿态控制律设计进行了研究。考虑航天器实际运行中饱和广泛存在,在控制器设计中引入饱和特性函数,为改进饱和阀限引入双曲余弦函数。用一阶无源滤波器对姿态参数进行差分,提出了基于修正罗德里格参数(MRP)的采用饱和函数和双曲余弦函数的无角速度控制律。理论分析证明了系统的稳定性,数学仿真结果验证了这两种无角速度反馈控制律的有效性。提出的控制方法也可作为普通航天器惯组失效时的备份控制律。
The attitude control law design for small spacecraft that does not carry Inertial Group is studied. Considering the widespread existence of spacecraft saturation in practice, the saturation characteristic function is introduced into the controller design to introduce the hyperbolic cosine function for improving the saturation limit. The first-order passive filter is used to differentiate the attitude parameters, and a non-angular velocity control law based on modified Rodrigues parameters (MRP) is proposed based on the saturation function and the hyperbolic cosine function. The theoretical analysis proves the stability of the system. The results of mathematical simulation verify the validity of these two angular velocity feedback control laws. The proposed control method can also be used as a backup control law for an ordinary spacecraft in the event of failure.