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Flexible spacecraft adaptive attitude control law based on modified Rodrigo parameters

A flexible spacecraft and attitude control technology, applied in the field of flexible spacecraft, can solve the problems of quaternion redundancy and quaternion not independent of each other, and achieve the effect of improving real-time performance

Inactive Publication Date: 2018-02-09
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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AI Technical Summary

Problems solved by technology

[0002] Traditional research on flexible spacecraft often uses unit quaternions to describe the attitude of spacecraft, but the four components of quaternions are not independent of each other and need to satisfy the constraint of modulus 1. Therefore, when using quaternions for calculation is redundant

Method used

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  • Flexible spacecraft adaptive attitude control law based on modified Rodrigo parameters
  • Flexible spacecraft adaptive attitude control law based on modified Rodrigo parameters
  • Flexible spacecraft adaptive attitude control law based on modified Rodrigo parameters

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Embodiment Construction

[0038] The present invention will be further described below in conjunction with the description of the drawings and specific embodiments.

[0039] Such as figure 1 As shown, a flexible spacecraft adaptive attitude control law (also known as adaptive attitude control method) based on modified Rodrigue parameters, including:

[0040] 1. An open-loop observer is designed for the problem that the flexible attachment mode cannot be measured in the attitude control of the flexible spacecraft

[0041]

[0042] In the formula, are the estimated signals of η and ψ respectively, and A is the Hurwitz matrix. make then you can get

[0043]

[0044] 2. An observer-based adaptive control law is designed for the situation that the flexible mode cannot be directly measured

[0045]

[0046] and adaptive law

[0047]

[0048] Among them, k 1 >0,k 3 >0,ε 1 >0,ε 2 >0 are adjustable parameters, γ>0 is a given interference suppression evaluation index value, and Γ is a 6×6...

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Abstract

The invention provides a flexible spacecraft adaptive attitude control law based on modified Rodrigo parameters, which includes the following steps: S1, establishing a kinematics equation and a dynamics equation of a flexible spacecraft based on modified Rodrigo parameters; and S2, using an adaptive back-stepping method to design an adaptive attitude controller based on a modal observer. The beneficial effects of the invention are as follows: the problem that a flexible spacecraft is suppressed by interference signals is solved, and attitude control is realized; and through computation using modified Rodrigo parameters (MRPs), the amount of computation can be reduced by 20-40% compared with computation using quarternions, and the real-time performance of control on a flexible spacecraft can be better enhanced.

Description

technical field [0001] The invention relates to a flexible spacecraft, in particular to an adaptive attitude control law for a flexible spacecraft based on modified Rodrigue parameters. Background technique [0002] Traditional research on flexible spacecraft often uses unit quaternions to describe the attitude of spacecraft, but the four components of quaternions are not independent of each other and need to satisfy the constraint of modulus 1. Therefore, when using quaternions for calculation There is redundancy. Contents of the invention [0003] In order to solve the problems in the prior art, the present invention provides an adaptive attitude control law for flexible spacecraft based on modified Rodrigue parameters. [0004] The invention provides a flexible spacecraft adaptive attitude control law based on modified Rodrigue parameters, comprising the following steps: [0005] S1. Establish the kinematic equation and dynamic equation of the flexible spacecraft base...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/08
CPCB64G1/244G05B13/042
Inventor 吴爱国董瑞琦吴雨瑶张颖
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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