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Attitude control method for spacecraft networked system based on event trigger

An event-triggered, attitude control technology, applied in attitude control, non-electric variable control, control/regulation systems, etc., can solve the problems of internal and external disturbances affecting control saturation constraints, influence, spacecraft attitude control affected by network transmission, etc.

Active Publication Date: 2019-01-11
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0004] The technical problem solved by the present invention is: Aiming at the problems that spacecraft attitude control is affected by network transmission, internal and external disturbances, and control saturation constraints, etc., an attitude self-disturbance rejection of spacecraft networked control system based on event-triggered extended state observer is proposed Control Method

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  • Attitude control method for spacecraft networked system based on event trigger
  • Attitude control method for spacecraft networked system based on event trigger
  • Attitude control method for spacecraft networked system based on event trigger

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Embodiment Construction

[0057] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0058] refer to figure 1 , the attitude control method of spacecraft networked system based on event triggering includes the following steps:

[0059] Step 1: Construct the attitude dynamics model of the spacecraft system,

[0060] Considering that the spacecraft is approximately a rigid body, by the moment of momentum theorem, its dynamic equation can be written as:

[0061]

[0062] Among them, J=diag(J x ,J y ,J z ) is the moment of inertia matrix along the main inertia axis of the spacecraft body, diag(·) represents the diagonal matrix, ω=[ω x ,ω y ,ω z ] T is the vector of the instantaneous rotational speed of the spacecraft relative to the inertial coordinate system in the body coordinate system, ω x ,ω y ,ω z are the components of the spacecraft’s instantaneous rotational speed relative to the inertial coordinate system o...

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Abstract

The invention discloses an attitude control method for a spacecraft networked system based on event trigger, belonging to the field of system servo control for space robot networked control systems. The method comprises the following steps: firstly arranging a suitable transition process for the desired attitude of the system by designing a tracking differentiator to avoid a serious overshoot on the output of the system caused by an over-large initial error, and at the same time, acquiring a differential signal of the desired value for preparation for subsequent controller design; then, considering the network transmission signals, designing an event-triggered expansion state observer by using an attitude-angle measurement signal output by an event trigger mechanism, estimating the nonlinear uncertainties formed by the state in the spacecraft system, coupling, external disturbances and the like in real time, and compensating the estimated values of the nonlinear uncertainties into an error feedback control rate to form a composite controller. Finally, the method provided by the invention prevents nonlinear factors such as internal and external interferences from adversely affectingthe system, improves the robustness of the system, and provides guarantee for the smooth completion of space operations tasks.

Description

technical field [0001] The invention belongs to the field of servo control of a space robot networked control system, and in particular relates to an event-triggered attitude control method for a spacecraft networked system. Background technique [0002] With the development of space technology, spacecraft including satellites and space robots are gradually undertaking more and more tasks. In order to ensure the completion of space operation tasks, the attitude control of spacecraft is particularly important. Many scholars at home and abroad have proposed different control schemes. A relatively mature design method is to linearize the spacecraft model, and use the PID control principle to design the corresponding control strategy for the linearized model. However, the spacecraft will be subject to various disturbances during actual operation, such as chattering and parameter perturbation caused by complex body structure and load connection, solar light pressure caused by co...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 袁源于洋孙冲张鹏万文娅李晨
Owner NORTHWESTERN POLYTECHNICAL UNIV
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