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Rigid-flexible liquid coupling system attitude controller and maneuvering path combination optimization method

An attitude controller, joint optimization technology, applied in attitude control, motor vehicles, aircraft, etc.

Pending Publication Date: 2018-12-07
NANJING UNIV OF SCI & TECH
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  • Rigid-flexible liquid coupling system attitude controller and maneuvering path combination optimization method

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Embodiment

[0081] Step 1. Establish the dynamic model of the liquid-filled flexible spacecraft: the attitude dynamic equation, the vibration equation of the flexible attachment and the sloshing equation of the liquid fuel for a class of three-axis spacecraft with flexible solar panels and liquid fuel can be obtained respectively described as:

[0082]

[0083]

[0084]

[0085] where: I∈R 3×3 is the moment of inertia of the spacecraft; ω∈R 3×1 is the spacecraft angular velocity; ω × ∈ R 3×3 Represents the skew symmetric matrix of ω; C 0 ∈ R 3×n is the coupling coefficient matrix between the flexible vibration motion and the spacecraft rotational motion; G 1 ∈ R 2×m , C 1 ∈ R m×3 , C 2 ∈ R m×3 Both are coupling coefficient matrices between liquid sloshing motion and aerospace rotation; τ∈R 3×1 is the control torque vector; T d ∈ R 3×1 is the environmental disturbance torque; ζ∈R n×n is the vibration modal damping ratio of the flexible attachment; Λ∈R n×n is the vib...

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Abstract

The present invention provides a rigid-flexible liquid coupling system attitude controller and maneuvering path combination optimization method. The method comprises the following steps of: establishing a dynamical model of a liquid-filled flexible spacecraft; obtaining an angular acceleration curve, an angular speed curve and obtained multi-section angular position curve of the liquid-filled flexible spacecraft, and planning the attitude maneuvering path of the liquid-filled flexible spacecraft; calculating the expression of each section of the curve in the multi-section curve; employing a PDcontrol system to perform attitude control of the liquid-filled flexible spacecraft; and performing combined optimization of the parameters of the liquid-filled flexible spacecraft controller and themaneuvering path. The method reduces the motivation of the attitude maneuvering for the flexible accessory vibration and liquid shaking so as to achieve large-angle rapid maneuvering and rapid and stable control for the liquid-filled flexible spacecraft.

Description

technical field [0001] The invention belongs to the field of spacecraft attitude control, in particular to a joint optimization method of an attitude controller and a maneuvering path of a rigid-soft-fluid coupling system. Background technique [0002] In order to complete complex tasks and prolong the operating life in orbit, modern spacecraft need to carry a large amount of liquid fuel and light accessories. The attitude control system of this liquid-filled flexible spacecraft has complex nonlinear dynamic characteristics of rigid-soft-liquid coupling. Maneuvering can easily induce liquid sloshing and accessory vibration, which poses a huge challenge to the rapid maneuvering and rapid stability control of the spacecraft attitude at large angles. [0003] The research on the dynamics of liquid-filled flexible spacecraft shows that during the rapid attitude maneuver, the sudden change of attitude angular acceleration (that is, discontinuity) often leads to strong vibration o...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 郭毓朱锐王璐朱志浩虞文杰姚伟陈庆伟郭健吴益飞
Owner NANJING UNIV OF SCI & TECH
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