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Rapid attitude maneuver method and system under conditions of large interference and small inertia

An attitude maneuvering and fast technology, applied in attitude control and other directions, can solve problems such as the influence of noise, and achieve the effect of suppressing the influence of interference torque and avoiding noise amplification.

Active Publication Date: 2020-04-17
BEIJING INST OF CONTROL ENG
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Problems solved by technology

However, the traditional disturbance torque estimation method based on the difference of the angular velocity based on the attitude dynamic equation is susceptible to the influence of noise

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  • Rapid attitude maneuver method and system under conditions of large interference and small inertia
  • Rapid attitude maneuver method and system under conditions of large interference and small inertia
  • Rapid attitude maneuver method and system under conditions of large interference and small inertia

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Embodiment Construction

[0051] The invention relates to a rapid attitude maneuvering method under the condition of large disturbance and small inertia, which is aimed at the attitude rapid maneuvering method of small inertia spacecraft under the action of unknown large disturbance. The whole closed-loop system as figure 2 As shown, it includes: (1) input, which is the target attitude angle r given by the guidance law in real time; (2) output, which includes the attitude angle acquired by the gyro and angular velocity (3) The controlled object consists of attitude dynamics P, whose form is P=1 / Is 2 ; (4) Time delay Delay module; (5) Gyro measurement module, which collects the integral value of angular velocity (6) Controller module, composed of PID controller; (7) Disturbance torque estimator, according to the input angular velocity and control quantity, combined with attitude dynamic equation, real-time estimation of the size of disturbance torque. The target attitude angle and the error e of ...

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Abstract

The invention discloses a quick attitude maneuver method and system under the conditions of large interference and small inertia, and the method comprises the steps: (1), carrying out the quick estimation of an interference moment through combining with an attitude kinetic equation according to the control quantity of an upper beat and the angular speed collected by a current beat; (2) performingquaternion and angular velocity prediction by utilizing an attitude kinetic equation based on the estimated disturbance force moment and considering the control time delay; (3) calculating a quaternion error of the body attitude relative to the target attitude according to the target quaternion and the predicted body quaternion, and dividing the body attitude into a constant angular velocity control area, a parabola target angular velocity control area and an attitude angle control area according to the quaternion error; (4) based on quaternion partition and the predicted attitude quaternion and angular velocity, calculating the control quantity of PID controller + disturbance torque feedforward; and (5) sending the calculated control quantity to a pulse width modulator, and obtaining theair injection time of the corresponding engine. By adopting the method, rapid attitude maneuver of the small-inertia spacecraft can be realized in the presence of dry large disturbance and time delay.

Description

technical field [0001] The invention belongs to the field of control engineering. Background technique [0002] Generally speaking, the attitude of satellites with small inertia is easily affected by interference, especially in the case of large interference, the attitude of the satellite is prone to violent fluctuations. Existing satellites generally use PID controllers to control the attitude of the spacecraft. However, there is no good method for satellite attitude maneuvering control with large disturbance and small inertia in engineering. For attitude stabilization tasks, as long as the time is long enough, the influence of large disturbances can always be offset by integration. However, for attitude fast maneuvering tasks, it is not allowed to quickly suppress interference and complete attitude tracking tasks through slow integration. In particular, the control system generally has a certain time delay. When the disturbance is large, even a small time delay can make ...

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Application Information

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IPC IPC(8): G05D1/08
Inventor 胡锦昌黄翔宇李茂登郭敏文徐超王晓磊赵宇李公军刘旺旺
Owner BEIJING INST OF CONTROL ENG
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