Robust control method for angular speed stability of under-actuated spacecraft

Abstract

A robust control method for angular speed stability of an under-actuated spacecraft aims at the under-actuated spacecraft with two thrusters, and the angular speed stability control law having robustness for generalized model errors of a system is designed. First a system model comprising the generalized model errors is established, and a system dynamics equation comprising the generalized model errors such as system inertia uncertainty, executing mechanism installing errors and angular speed measuring errors is obtained. Then the robust control method aiming at the derived system is designed, and global asymptotic stability is proved. Finally, a conception of a homogeneous system is introduced, and the fact that the control law enables the global asymptotic stability of an original system is analyzed and proved. The method provides a theory basis for the under-actuated spacecraft for practical engineering application, and the control law is simple in form. The robust control method can be used for robust control for angular speed stability of various under-actuated spacecrafts for which the thrusters are adopted.

Description

【Technical field】 [0001] The invention relates to a robust control method for stabilizing the angular velocity of an underactuated spacecraft, which realizes the purpose of stabilizing the three-axis angular velocity when the spacecraft only has two-axis control torque output capability, and belongs to the partial attitude of the underactuated spacecraft The application technology field of stability control. 【Background technique】 [0002] An underactuated spacecraft refers to a spacecraft whose number of independent control inputs is less than the number of degrees of freedom of the spacecraft. Due to the complex and harsh space environment, it is inevitable that the spacecraft will fail after long-term operation, and the failure of the actuator is particularly common. For small spacecraft, due to the limitations of volume, mass and economic cost, it is often impossible to configure redundant actuators to improve reliability like large spacecraft, and minimize the Impleme...

AI Technical Summary

Problems solved by technology

these engineering factors affect the attitude control task of an underactuated spacecraft no differently than the fully actuated case

It’s just that the ability of the underactuated spacecraft to deal with these disturbances and uncertainties is relatively weak, and it is even greatly affected by these factors, so it is difficult to design a robust controller

Under the influence of these factors, ideally designed underactuated spacecraft controllers cannot be directly applied in actual engineering

[0004] In order to solve the problem of stable control of the angular velocity of underactuated spacecraft using thrusters in practical engineering applications, the present invention proposes a robust control method

Images