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研究了带有多种运动附件的航天器姿态复合控制问题.选取典型的两刚体对象建立了完整的动力学模型,简要分析了本体与附件的耦合关系.针对标称本体动力学方程,设计了有限时间干扰观测器估计附件对本体的耦合扰动以及外部环境干扰,在终端滑模控制器中进行主动补偿,利用扩展的Lyapunov稳定性定理证明了本体控制系统的有限时间收敛性;为减小本体机动对附件指向的影响,在附件控制器中引入对本体角加速度的补偿.仿真结果表明,所设计的复合控制系统能够较好地估计并且补偿系统的总干扰,具有较高的控制精度和较快的系统响应.
The complex attitude control of a spacecraft with a variety of motion attachments is studied. A complete dynamic model is established by selecting two typical rigid objects, and the coupling between the body and the attachment is briefly analyzed. For the nominal body dynamics equations, The finite-time disturbance observer estimates the coupling perturbation of the attachment to the ontology as well as the disturbance of the external environment, proactively compensates it in the terminal sliding-mode controller, and uses the extended Lyapunov stability theorem to prove the finite-time convergence of the ontology control system. The influence of maneuvering on the attachment point is introduced into the attachment controller to compensate the acceleration of the body.The simulation results show that the designed composite control system can better estimate and compensate the total interference of the system with higher control precision Fast system response.