Spacecraft attitude anti-unwinding control method considering angular velocity constraint

Abstract

The invention provides a spacecraft attitude anti-unwinding control method considering angular velocity constraint. The method comprises the steps of (1) considering spacecraft attitude control and constructing a virtual desired angular velocity, (2) constructing a new anti-unwinding attitude deviation function based on the virtual desired angular velocity established in the first step to realizethe processing of a spacecraft unwinding problem, and (3) establishing a new obstacle Lyapunov function based on the first step and the second step and designing a spacecraft attitude anti-unwinding controller in the condition of considering the angular velocity constraint on the above basis. According to the method, a spacecraft attitude maneuvering process with the angular velocity constraint and an unwinding factor is considered, the angular velocity of a spacecraft is maintained within an actual constraint range, the problem of unwinding does not occur, a useless extra rotation path of thespacecraft is avoided, and thus the control method has good practicability.

Description

Technical field [0001] The invention relates to a spacecraft attitude anti-unwinding control method considering angular velocity constraints, which is mainly applied to spacecraft attitude control considering angular velocity constraints and unwinding problems, and belongs to the technical field of spacecraft control. Background technique [0002] With the frequent launch and use of various types of spacecraft, the on-orbit attitude control of spacecraft is an important guarantee for realizing various spacecraft engineering tasks including attitude adjustment operations, and is a key technology. First of all, in the process of spacecraft attitude maneuver, as the spacecraft is equipped with various types of precision equipment, in order to avoid damage to the equipment due to large rotational angular velocity, the angular velocity of the spacecraft attitude maneuver needs to be kept within a reasonable range; secondly, consider spacecraft The phenomenon of unwinding of the aircra...

AI Technical Summary

Problems solved by technology

[0003] The representation method of quaternion in the spacecraft attitude dynamic model based on quaternion will cause the attitude unwinding phenomenon. The previous solution is mainly by constructing different forms of attitude deviation functions. Although the existing attitude deviation functions have realized Anti-unwinding control, but often cannot provide a large control input command in the final stage when the spacecraft is close to the desired attitude, thus requiring more operation time

In addition, most of the angular velocity constraints on the attitude maneuver of the spacecraft are handled by the obstacle Lyapunov function based on the log function type, but this type of function often leads to a large control input requirement in a short period of time in the initial stage of the attitude maneuver of the spacecraft. However, actual engineering operations cannot meet these conditions.

Images