快速机动卫星姿态确定与控制算法研究

发布时间：2018-01-02 05:26

本文关键词：快速机动卫星姿态确定与控制算法研究　出处：《哈尔滨工业大学》2016年硕士论文　论文类型：学位论文

【摘要】：航天器的大角度快速机动中的姿态确定问题已经成为近年来的研究热点与难点,高精度、大角度的快速机动任务对卫星姿态确定系统与姿态控制系统同时提出了较高的精度要求,针对这一背景,本次研究主要围绕快速机动卫星姿态确定与控制问题的以下方面进行:快速机动卫星姿态确定算法的设计。首先,针对姿态动力学模型非线性强的特性,引入误差模型的概念,基于最小模型误差原理,给出了模型误差的状态估计方程,对于滤波系统模型进行修正,从而实现对于滤波精度的提升;针对星敏感器精度高但采样周期长,陀螺仪精度相对较低但采样周期短的特性,引入互补滤波算法,给出了对于卫星姿态确定系统的互补滤波算法;针对近似线性模型与真实模型相差较大的特性,引入鲁棒滤波算法,将系统误差视为系统模型中的不确定项,通过矩阵不等式变换将误差方差矩阵限定在某一可接受范围内,从而实现对于系统状态的估计。其中基于最小模型误差原理的改进EKF算法与基于互补滤波算法的姿态确定算法均属于本次研究的创新内容。快速机动卫星时间最优路径的设计。采用伪谱法与配点法对于卫星姿态机动进行路径规划,基于输出力矩处于饱和状态时有时间最优路径的假设条件,给出了卫星姿态机动的时间最优路径。对于卫星姿态机动的时间最优问题进行描述,引入配点法与伪谱法,给出了基于这两种方法的非线性规划模型,对于卫星姿态机动中的三轴耦合与三轴独立情形分别进行分析,给出了rest to rest机动的时间最优路径。同时基于传统的Bang-Bang控制律设计卫星单轴机动的最优路径,对二者的结果进行了对比。快速机动卫星姿态跟踪控制律的设计。对于前文提出的姿态时间最优路径设计跟踪控制律,引入有限时间控制,设计了基于积分滑模与终端函数的有限时间姿态跟踪控制律,以实现卫星真实轨迹在有限时间内追踪上期望轨迹。同时考虑到卫星不可能一直处于快速机动的状态,并考虑到输出力矩上限,设计了有限输出力矩跟踪控制律。
[Abstract]:The problem has become a research hotspot and difficulty in recent years, the large angle attitude maneuver of spacecraft fast high precision, fast maneuver with large angle and put forward higher requirements on the accuracy of satellite attitude determination system and attitude control system, based on this background, this research mainly focuses on the following aspects of rapid maneuver of satellite attitude determination with the problem of control: fast maneuvering satellite attitude determination algorithm design. Firstly, according to the characteristics of strong nonlinear attitude dynamics model, introducing the concept of error model, based on the principle of minimum model error, model error estimation equation is given, for filtering system model was modified, in order to achieve the filtering accuracy improvement based on star; sensor with high precision but the long sampling period, the gyroscope precision is relatively low but the short sampling cycle characteristics, the introduction of complementary filtering algorithm for For the satellite attitude determination system complementary filtering algorithm; the approximate linear model and real model with different characteristics, a robust filtering algorithm, the system error as the system model uncertainties, the error variance matrix transform matrix inequality will limit in an acceptable range, so as to realize the estimation of the the state of the system. The improved EKF algorithm based on the principle of minimum model error and complementary filtering algorithm of attitude determination based on the content of the innovation of algorithm belong to this study. Fast maneuvering satellite time optimal path design. And using the method of pseudo spectral collocation method for satellite attitude maneuver path planning, assumption of output torque at saturation when a time optimal path based on a given satellite attitude maneuver time optimal path for time optimal problem of satellite attitude maneuver Description, introduction of collocation method and pseudospectral method, a nonlinear programming model on the basis of these two methods are given for three axis coupling satellite attitude maneuver in the case of independent and three axis were analyzed, given the rest to rest mobile time optimal path. At the same time optimal path motor single axis traditional Bang-Bang law design satellite control based on the comparison of the results of the two. Fast maneuvering satellite attitude tracking control law is designed for the attitude. The proposed design time optimal path tracking control law, the introduction of the finite time control, tracking control law is designed in finite time attitude and terminal function based on integral sliding mode, in order to achieve the true trajectory in Satellite Co. time tracking the desired trajectory. At the same time taking into account the satellite could not have been in rapid maneuver, and considering the output torque limit, the output torque tracking design Co. Control law.

【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V448.2

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