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Distributed index time varying slip mode posture cooperation tracking control method

A tracking control, distributed technology, applied in attitude control and other directions

Inactive Publication Date: 2013-12-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

Although the sliding mode variable structure control theory has become a complete system and method, and has been successfully applied in many fields, there are still many problems to be studied, solved and perfected.

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  • Distributed index time varying slip mode posture cooperation tracking control method
  • Distributed index time varying slip mode posture cooperation tracking control method
  • Distributed index time varying slip mode posture cooperation tracking control method

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Embodiment Construction

[0053] In order to better illustrate the purpose and advantages of the present invention, further description will be given below in conjunction with the accompanying drawings and embodiments.

[0054] The spacecraft attitude control flow chart of the present invention is as follows figure 1 shown.

[0055] Step 1, take the rigid spacecraft formation as the object, establish the Eulerian-Lagrage attitude dynamics equation in the spacecraft body coordinate system. Obtain the attitude information of each spacecraft, and obtain the corresponding synchronous desired attitude of each spacecraft. The specific method is:

[0056] Step 1.1, establish the attitude motion model of the individual spacecraft.

[0057] The formation consists of n spacecraft, which are numbered 1, 2, ... n, and the "virtual leader" representing the desired attitude of the spacecraft formation is numbered n+1, for the ith spacecraft (i ∈ 1, 2, ... n), its attitude dynamics and kinematic equations are as ...

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Abstract

The invention relates to a distributed index time varying slip mode posture cooperation tracking control method and belongs to the technical field of spacecraft formation flight. The method comprises: by establishing a posture kinetic equation in a form of Euler-langrage, selecting index time varying slip mode surface function, calculating a synchronization expectation posture for each spacecraft, and according to the design idea of a time varying slip mode controller, designing a distributed posture cooperation tracking controller so as to enable aircrafts to perform cooperation tracking on the expectation postures and have higher robustness in terms of extraneous interference and inertia uncertainties. Compared to conventional slip mode control, a time varying slip mode enables the phase trajectory of a system to always remain at a slip mode surface, so that in the posture cooperation process of the formation spacecrafts, even if communication is limited and a topology structure needs to be changed, the posture cooperation tracking of the spacecrafts can still be realized.

Description

technical field [0001] The invention relates to a distributed exponential time-varying sliding mode attitude cooperative tracking control method, which belongs to the technical field of spacecraft formation flight. Background technique [0002] As an important technology of formation flight, spacecraft attitude coordination problem has become a hot issue in the field of spacecraft. According to the different places where the control scheme is generated, the attitude cooperative control control methods can be divided into two types: centralized control and distributed control. Compared with centralized control, distributed control has simpler control laws and better fault tolerance. In distributed control, each single satellite determines the control strategy through the information of its own observation and the data information obtained by interactive communication. Even if a single satellite fails, the system as a whole can remain stable. In addition, when a group space...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 刘向东路平立甘超
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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