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Liquid-filled spacecraft attitude control and shake inhibition method

A liquid-filled spacecraft and attitude control technology, which is applied in the direction of attitude control, space navigation aircraft, aircraft, etc., can solve the problems of difficult to find the physical meaning of filter parameters, difficult to achieve satisfactory control effect, unmeasurable sway angle, etc.

Active Publication Date: 2018-08-10
BEIJING INST OF CONTROL ENG
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  • Application Information

AI Technical Summary

Problems solved by technology

With the complexity of the current spacecraft mission, the increase of the structure of the spacecraft, and the increase of the structure of the liquid tank, the influence of liquid sloshing on the attitude system of the spacecraft has become more and more significant, which has brought great challenges to the controller design. challenge
In theory, although there are some controller design methods with proof of stability, it is generally required to know the swing angle, and the swing angle is not measurable
In engineering, the classic attitude control method of liquid-filled spacecraft is the controller in the form of PID+filter, but this control method needs to carefully adjust the parameters of the controller, and it is difficult to find a clear physical meaning of the filter parameters
This method is difficult to increase the damping of the shaking part, and it is difficult to achieve a satisfactory control effect

Method used

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  • Liquid-filled spacecraft attitude control and shake inhibition method
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  • Liquid-filled spacecraft attitude control and shake inhibition method

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Embodiment

[0216] Taking the attitude control of a typical lunar lander as an example, assume that the spacecraft parameters are as follows: Moment of inertia J s =diag(3408.9,4844.2,4842.9)kg·m 2 , The mass of rigid body m s =3088.7kg, the mass of the shaking part m p =195.4kg, the lunar gravity angular velocity g e =1.622m / s 2 , Sloshing damping ξ = 0, equivalent pendulum length L p =0.2284m, the distance from the suspension point of the equivalent pendulum to the center of mass r tx =-1.1605m, the actuator time delay τ d = 0.1s. Disturbance torque d=[0,50,50]N·m. Initial attitude angle θ(0)=[0,20,20]deg, target attitude angle θ d =[0,0,0]deg. The controller parameters are selected as: q vT =0.0349,ω T =0.0524, k = 1.5003, k 1 = 6, k 2 = 9, Q 1 = 0.07475, Q 2 =0.06725, ω f =0.5, ξ f = 1, k fy =0.5, k fz =0.5, ΔT=0.1, N=60, L=20. In each control cycle, the following steps are performed: Obtain the spacecraft attitude Euler angle θ according to step (1). Obtain the rigid body modal ...

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Abstract

The invention relates to a liquid-filled spacecraft attitude control and shake inhibition method, and belongs to the technical field of spacecraft attitude control. The method achieves the calculationand obtaining of an attitude control moment of a spacecraft in each control period. The method comprises the steps: obtaining rigid mode and shake mode estimation values in an attitude angle according to singular spectrum analysis and feature system implementation algorithm, and obtaining the quaternion rigid mode and shake mode estimation values; obtaining a partitioned quaternion control component according to a quaternion rigid mode and a partitioned quaternion controller; obtaining a positive position feedback control component according to a shake mode estimation value and a positive position feedback controller; finally carrying out the vector addition of the two components, and obtaining the attitude control moment of the spacecraft. The method can enable the attitude of the spacecraft to stably reach an expected value, increases the slosh damping, and enables the slosh angle to be higher in convergence rate.

Description

Technical field [0001] The invention relates to a liquid-filled spacecraft attitude control and shaking suppression method, belonging to the technical field of spacecraft attitude control. Background technique [0002] Liquid sloshing is a common phenomenon during maneuvering of large spacecraft, which generally refers to the free movement of liquid in a rigid tank. With the complexity of spacecraft missions, the increase of spacecraft structure, and the increase of liquid tank structure, the influence of liquid sloshing on the attitude system of the spacecraft has become more and more significant, which brings great influence to the controller design. challenge. In theory, although there are some controller design methods with proof of stability, it is generally required to know the sway angle, and the sway angle is not measurable. In engineering, the classic liquid-filled spacecraft attitude control method is a controller in the form of PID+filter, but this control method req...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 王泽国张洪华邓雅
Owner BEIJING INST OF CONTROL ENG
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