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
收稿日期: 2014-04-15
修回日期: 2014-06-04
网络出版日期: 2014-06-18
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
Received date: 2014-04-15
Revised date: 2014-06-04
Online 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)
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。
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 . DOI: 10.7527/S1000-6893.2014.0114
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.
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