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提出了一种基于控制力矩陀螺的挠性卫星姿态大角度快速机动控制方法。结合卫星姿态动力学,运动学和挠性附件的振动方程,建立了面向预测控制方法的非线性预测方程;在建立了包含卫星姿态跟踪误差,控制力矩能量以及挠性附件振动能量的优化目标函数基础上,采用非线性模型预测控制方法设计了兼顾机动性能与抑制附件振动的卫星姿态机动律。为进一步消除挠性附件振动,采用输入成形技术对规划的控制力矩进行处理,成形出合理的控制力矩指令。最后以成形后的控制力矩指令为输入条件,基于鲁棒伪逆方法设计了金字塔控制力矩陀螺群的操纵律,完成挠性卫星姿态机动的非线性滚动控制。针对算例的研究表明:卫星滚动轴姿态能够在约27 s内机动50°,且具有指向精度小于0.03°,姿态稳定度小于0.03(°)/s的性能。
A flexible large-angle maneuver control method based on control moment gyroscope is proposed. Combined with the vibration equations of satellite attitude dynamics, kinematics and flexible attachments, a nonlinear prediction equation for predictive control is established. An optimized objective function including satellite attitude tracking error, control moment energy and vibrational energy of flexible attachment is established. Based on the nonlinear model predictive control method, the attitude attitude maneuver of the satellite, which considers the maneuverability and suppresses the vibration of the attachment, is designed. In order to further eliminate the vibration of flexible attachments, the input forming technology is used to process the planned control torque to form a reasonable control torque command. Finally, the manipulated law of the pyramid control moment gyroscope group is designed based on the robust pseudo-inverse method, and the nonlinear rolling control of flexible satellite attitude maneuver is completed. A case study shows that the attitude of the satellite rolling axis can maneuver by 50 ° in about 27 s and has the performance of pointing accuracy of less than 0.03 ° and attitude stability of less than 0.03 ° / s.