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主要研究存在禁止姿态的航天器自主姿态机动控制问题。首先,给出航天器的动力学和运动学模型,利用四元数描述航天器与机动姿态和禁止姿态的姿态偏差,用相应的欧拉转角描述不同姿态间的距离。为利用势函数完成禁止姿态回避,结合航天器的运动情况设计排斥势函数(RPF)存在条件后,根据禁止姿态最小允许夹角构造一种新的排斥势函数。接着,利用排斥及吸引势函数(APF)的共同作用得到虚拟指令角速度,利用反步法得到自主姿态机动控制器。此外,针对控制受限问题给出控制参数自适应规则,并设计回避势函数局部极小值情况的切换控制器。最后,通过对不同禁止姿态区域的数学仿真,验证了设计方法的有效性和通用性。
The main research is the spacecraft autonomous attitude maneuver control problem with forbidden attitude. First, given the dynamics and kinematics model of the spacecraft, the quaternion is used to describe the attitude deviation between the spacecraft and maneuvering attitude and forbidden attitude, and the corresponding Euler rotation angle is used to describe the distance between different attitude. In order to complete the forbidden attitude avoidance by using the potential function, a new repulsive potential function is constructed according to the minimum allowable angle of the prohibited attitude after the existence of the exclusion potential (RPF) is designed according to the motion of the spacecraft. Then, the virtual commanded angular velocity is obtained by the interaction of repulsive and attractive potential functions (APF), and the autonomous attitude maneuver controller is obtained by the backstepping method. In addition, the control parameters adaptive rules are given for the restricted control problems, and the switching controller is designed to avoid the local minimum of the potential functions. Finally, the validity and universality of the design method are verified by mathematical simulation of different prohibited attitude regions.