Anti-unwinding sliding mode attitude tracking control method and system for rigid body spacecraft

Abstract

The present invention discloses an anti-unwinding sliding mode attitude tracking control method and system of a rigid-body spacecraft. The method includes the following steps: Step S1: establishing a kinematic equation and a dynamic equation for the attitude tracking error of a rigid-body spacecraft; Step S2 : The hyperbolic sine function is used to construct the sliding mode function, so that the sliding mode surface contains two equilibrium points; Step S3: Based on the Lyapunov stability theory, design the anti-unwinding sliding mode attitude tracking control algorithm; Step S4: Design the dynamic parameters, The attractive fields corresponding to the two equilibrium points are given; Step S5: Apply the anti-unwinding sliding mode attitude tracking control algorithm to the tracking control of the rigid body spacecraft to avoid unwinding of the spacecraft. The invention can make the spacecraft system have good stability through the attitude tracking control method of the anti-unwinding sliding mode. When the attitude tracking of the spacecraft system is subjected to external interference, the attitude of the spacecraft can quickly tend to be stable without unwinding phenomenon .

Description

technical field [0001] The invention belongs to the technical field of rigid-body spacecraft, and relates to an anti-unwinding sliding mode attitude tracking control method and system with dynamic parameters of a rigid-body spacecraft. Background technique [0002] In the traditional attitude control algorithm, the unwinding phenomenon occurs during the attitude maneuver of the spacecraft. In this case, the following two phenomena may occur: 1. When the initial attitude of the spacecraft is the same as the expected attitude and the angular velocity error is small, if q e0 = -1, then the spacecraft needs to rotate 2π to return to the desired attitude; 2. When the initial value of the first derivative of the spacecraft’s rotation angle around the Euler axis is close to 0, and the spacecraft is close to the desired attitude, if q e0 close to -1. Then, under the action of the control law, first the spacecraft rotation angle decreases to 0, then increases away from the desired ...

AI Technical Summary

Problems solved by technology

Unwinding phenomenon causes energy loss

At present, there are very few anti-unwinding attitude control laws, and the existing anti-unwinding attitude control laws do not give the proof of anti-unwinding performance, and do not give the convergence region corresponding to the two equilibrium points of the closed-loop system

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