应用控制力矩陀螺的卫星姿态控制研究

发布时间：2018-11-23 17:13

【摘要】：随着高精度对地光学遥感、观测卫星在科研、商业及军事等方面广泛的应用,卫星的结构越来越复杂,传统的角动量交换执行机构(如飞轮)和不能精确输出连续力矩的喷气式推力器难以满足上述需求,挠性附件的振动问题以及附件转动时所带来的影响必须予以足够的重视。单框架控制力矩陀螺以其简单可靠的物理结构、极大的力矩放大能力,成为卫星理想的执行机构,但其固有的奇异问题对其应用造成了一定影响。因此,本文对应用控制力矩陀螺的卫星姿态控制问题进行了较为深入的研究,主要研究内容如下:首先对单个控制力矩陀螺基本原理进行了详细介绍,对控制力矩陀螺的常见构型进行了简要分析,并确定金字塔构型的控制力矩陀螺作为下章操纵律设计的基础,五棱锥构型的控制力矩陀螺因其良好构型特性,作为工程应用的最佳构型。阐述了控制力矩陀螺奇异产生的原理及奇异的分类,作为设计操纵律必须参考的标准。给出了卫星姿态描述各个坐标系的定义,把四元数作为本文卫星姿态描述参数并进行了简化。建立了控制力矩陀螺作为执行机构的挠性卫星姿态运动学模型,四元数运动学模型和挠性姿态动力学合在一起就构成了本文的挠性卫星姿态运动模型。其次,基于最优思想得到新的具有一般性的操纵律形式,可以衍生出多种实用的操纵律,根据不同初始框架角在操纵律中对控制力矩陀螺的动态影响的不同,设计了一种求取初始最优框架角的方法,保证在控制力矩陀螺运行中能最大限度的远离奇异。设计了一种新型操纵律即反馈奇异回避操纵律,对回避奇异具有一定作用。提出一种双混合操纵律,在控制力矩陀螺远离奇异的同时精确输出力矩,接近奇异时,又能使控制力矩陀螺逃离奇异,给实际工程中不同操纵律的混合应用带来极大便利。最后,针对挠性卫星在轨飞行时,受到未建模动态、模型参数不确定和外干扰力矩的影响,设计了一种带非线性干扰观测器的滑模变结构控制算法和带非线性干扰观测器的反步控制算法,更便于卫星在轨飞行的工程应用。两种控制算法均具有机动速度快、结构简单、物理意义明确、参数便于调节等优点。在Matlab/Simulink环境下,以统一的背景对两种控制算法进行了多组仿真,仿真结果验证了算法的有效性和可靠性。
[Abstract]:With the wide application of high precision optical remote sensing to the earth and observation satellites in scientific research, commerce and military, the structure of satellites becomes more and more complex. The traditional angular momentum exchange actuators (such as flywheels) and jet thrusters which can not accurately output the continuous torque are difficult to meet the above requirements. The vibration problem of flexible accessories and the influence caused by the rotation of the accessories must be paid enough attention to. Single frame control moment gyroscope is an ideal actuator for satellite because of its simple and reliable physical structure and great torque amplification ability. However, its inherent singularity has a certain influence on its application. Therefore, the satellite attitude control problem of control moment gyroscope is studied in this paper. The main contents are as follows: firstly, the basic principle of single control moment gyroscope is introduced in detail. The common configuration of control moment gyroscope is briefly analyzed, and the control moment gyroscope with pyramid configuration is determined as the basis of the control law design in the next chapter. The control moment gyroscope with five pyramid configuration is characterized by its good configuration. As the best configuration for engineering applications. The principle and classification of singularity of control moment gyroscope (CMG) are described. The definitions of each coordinate system for satellite attitude description are given and the quaternion is taken as the satellite attitude description parameter in this paper and simplified. The kinematics model of flexible satellite attitude based on control moment gyroscope (CMG) as actuator is established. Combined quaternion kinematics model and flexible attitude dynamics constitute the flexible satellite attitude motion model in this paper. Secondly, based on the optimal idea, a new general control law form is obtained, which can be derived from a variety of practical control laws, according to the different dynamic effects of different initial frame angles on the control moment gyroscope in the control torque gyroscope. A method to obtain the initial optimal frame angle is designed to ensure that the control moment gyroscope can be kept away from singularity as far as possible. A new control law, feedback singular avoidance control law, is designed, which plays a certain role in avoiding singularity. A dual hybrid control law is proposed, which can accurately output torque when the control torque gyroscope is far from singularity, and can make the control moment gyroscope escape singularity, which brings great convenience to the mixed application of different control laws in practical engineering. Finally, when the flexible satellite is in orbit, it is affected by the unmodeled dynamics, the uncertainty of the model parameters and the external disturbance moment. A sliding mode variable structure control algorithm with nonlinear disturbance observer and a backstepping control algorithm with nonlinear disturbance observer are designed. The two control algorithms have the advantages of high maneuvering speed, simple structure, clear physical meaning and easy adjustment of parameters. In the environment of Matlab/Simulink, the two control algorithms are simulated in a unified background. The simulation results show that the algorithm is effective and reliable.
【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

【相似文献】