考虑输入饱和与姿态角速度受限的航天器姿态抗退绕控制

doi:10.7527/S1000-6893.2014.0114

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考虑输入饱和与姿态角速度受限的航天器姿态抗退绕控制

胡庆雷^1,2, 李理¹

1. 哈尔滨工业大学航天学院, 哈尔滨 150001;
2. 北京航空航天大学自动化科学与电气工程学院, 北京 100191

收稿日期:2014-04-15 修回日期:2014-06-04 出版日期:2015-04-15 发布日期:2014-06-18
通讯作者: 胡庆雷Tel.: 0451-86402726 E-mail: huqingleihit@gmail.com E-mail:huqingleihit@gmail.com
作者简介:胡庆雷男, 博士, 教授, 博士生导师。主要研究方向: 航天器姿态控制, 非线性控制。Tel: 0451-86402726 E-mail: huqingleihit@gmail.com;李理男, 硕士研究生。主要研究方向: 航天器姿态控制。E-mail: lilihitscholar@gmail.com
基金资助:
国家自然科学基金 (61004072, 61174200, 61273175); 教育部新世纪优秀人才支持计划(NCET-11-0801); 黑龙江省杰出青年科学基金(QC2012C024)

Anti-unwinding attitude control of spacecraft considering input saturation and angular velocity constraint

HU Qinglei^1,2, LI Li¹

1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China;
2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

Received:2014-04-15 Revised:2014-06-04 Online:2015-04-15 Published:2014-06-18
Supported by:
National Natural Science Foundation of China (61004072, 61174200, 61273175); Program for New Century Excellent Talents in University of Ministry of Education of China (NECT-11-0801); Heilongjiang Province Outstanding Youth Science Fund (QC2012C024)

摘要/Abstract

摘要：

针对航天器姿态控制过程中同时存在输入饱和与姿态角速度受限的问题,提出了一种新型的姿态控制设计方法。该方法在保证系统渐近稳定的前提下,能够显式地给出输入力矩和姿态角速度的最大幅值,并通过引入一个时变锐度参数来增强系统对外部干扰的抑制能力;在此基础上,进一步考虑了由于四元数的冗余性所导致的退绕问题,设计了一组新的姿态偏差函数和偏差向量,使得控制器在满足上述约束的同时还具有抗退绕的优点。仿真结果表明,所提算法能够同时满足输入饱和与姿态角速度受限的约束,并且在较大外部干扰的情况下表现出了很强的鲁棒性,同时成功地规避了退绕现象。该算法为存在多重约束的航天器姿态控制问题提供了一个新的思路和解决方案,具有很好的实际应用价值。

关键词: 航天器, 姿态控制, 输入饱和, 角速度受限, 抗退绕

Abstract:

Aiming at the problem of simultaneous input saturation and angular velocity constraint in the attitude control process for spacecraft, a novel attitude control design method is proposed. With the asymptotic convergence of the attitude and angular velocity guaranteed first, this method also provides the maximum values of the input torque and attitude angular velocity explicitly. Via introducing a sharpness parameter, external disturbances can be well rejected. Based on that, the unwinding phenomenon caused by the redundancy of the quaternion is considered in addition, and a new set of attitude error function and vector involved, so that the designed controller could satisfy the constraints above and has the advantage of anti-unwinding. The simulation results show that both the input saturation and attitude angular velocity limits are satisfied, and the strong robustness of the system against large disturbances is achieved with the desired avoidance of the anti-unwinding phenomenon. The proposed method provides a novel idea and solution toward the attitude control problem of the spacecraft under multiple constraints and thus has great significance in application.

Key words: spacecraft, attitude control, input saturation, angular velocity constraint, anti-unwinding

中图分类号:

V448.2

胡庆雷, 李理. 考虑输入饱和与姿态角速度受限的航天器姿态抗退绕控制[J]. 航空学报, 2015, 36(4): 1259-1266.

HU Qinglei, LI Li. Anti-unwinding attitude control of spacecraft considering input saturation and angular velocity constraint[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(4): 1259-1266.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

考虑输入饱和与姿态角速度受限的航天器姿态抗退绕控制

Anti-unwinding attitude control of spacecraft considering input saturation and angular velocity constraint

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