CN-120335487-B - Spacecraft attitude preset time control method based on adjustable preset performance

CN120335487BCN 120335487 BCN120335487 BCN 120335487BCN-120335487-B

Abstract

The invention discloses a spacecraft attitude preset time control method based on adjustable preset performance, which comprises the following steps of firstly, and establishing a kinematic and dynamic model for spacecraft attitude control to obtain a spacecraft attitude control system model. Then, an adjustable preset performance function and a new error conversion function are designed to convert the original system into a new second-order system. Finally, a nonsingular sliding mode controller is designed for the converted second-order system, so that the system error is accurately controlled, and the system still has the capability of keeping the system stable and enabling the controller to take effect under the condition of being subjected to certain abrupt disturbance. According to the method, by introducing an adjustable preset performance boundary, designing a new error conversion function and combining nonsingular sliding mode control, accurate control of system errors is achieved, meanwhile, the robustness and the disturbance rejection capability of the system are improved, and solid technical support is provided for spacecraft attitude control.

Inventors

ZHANG YING
Bao Tianrui
WU AIGUO
LI ZHI

Assignees

哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院)

Dates

Publication Date: 20260512
Application Date: 20250324

Claims (7)

1. The spacecraft attitude preset time control method based on the adjustable preset performance is characterized by comprising the following steps of: Step one, establishing a kinematic and dynamic model for the relative error between the spacecraft and the reference attitude: Describing the attitude of the spacecraft by using the corrected Rodrigas parameters one by one: assuming that the main rotation vector of the spacecraft attitude is e and the rotation angle is phi, the spacecraft attitude is expressed as: under the modified rodgers parameter description, the kinematics and dynamics model of the spacecraft attitude are as follows: In the formula, Representing the angular velocity of the spacecraft, Representing the moment of inertia of the spacecraft, Representing the control moment of the spacecraft, Representing the disturbance to which the spacecraft is subjected, Representation of Is a matrix of oblique symmetry of (a), Representation of Is a matrix of oblique symmetry of (a), Representation of A unit matrix of the order; Step two, determining a description mode of a relative error between the spacecraft attitude and the reference attitude: at a known reference pose Reference attitude angular velocity And has: The error of the spacecraft attitude relative to the reference attitude is defined as: the relative error of the angular velocity is: In the formula, In order to rotate the matrix is rotated, And (3) with Taking the reference attitude as a reference coordinate system, and the attitude and the angular velocity of the spacecraft relative to the reference coordinate system, thereby obtaining an attitude error and an angular velocity error of the spacecraft relative to the reference attitude; step one, establishing a kinematic and dynamic model for spacecraft attitude errors: and deriving the attitude error and the angular velocity error of the spacecraft to obtain: For a pair of And (5) deriving again to obtain: Thus, a kinematic and dynamic model of the spacecraft attitude error is obtained: step two, designing a preset performance function: Step two, designing an initial preset performance function: The upper and lower boundaries of the preset performance are known as 、 Positive and negative values of initial value of attitude error Later, the attitude error needs to be controlled to satisfy: In the formula, Representing three components of the vector; In the adjustable preset performance control, the performance boundary consists of an initial preset performance function and a performance adjustment term, namely, the upper and lower constraints are respectively 、 The following steps are: In the formula, 、 Is the designed initial up-down constraint, which is: In the formula, In order to design the convergence time to be good, For the constant of the design to be a function of, Adjusting items for constraint while defining , , 、 Respectively designing initial values for the upper and lower boundaries of the initial preset performance function, 、 Respectively designing final values for the upper and lower boundaries of the initial preset performance function; step two, designing constraint adjustment items: Design of Is a constraint adjustment item for resisting preset performance vulnerability, and takes the variable When (when) When the following conditions are satisfied: Wherein, the , A set constant, and recording the time when the condition is satisfied as The design adjustment term is: Wherein, the For the designed adjustment term gain factor, , Is a time coefficient associated with the adjustment term; Thirdly, converting the attitude error according to a designed preset performance function and a conversion function to obtain a new control model of the converted error: Step three, designing conversion errors: Taking intermediate variables: To map bounded errors to unbounded errors, take the conversion error: Wherein, the Is a function of time of design, which is designed by taking Converging on a curve for a desired error, i.e. an intermediate variable is desired Edge of the frame Convergence, designed as: Wherein, the Converging a curve for a desired error Is used as a starting point of the (c) for the (c), Taking the influence of a preset performance boundary adjustment term into consideration for the final value, and taking: Wherein, the A desired error convergence curve for taking into account a preset performance adjustment term; And (3) taking: namely when there is a time When (1): thereby controlling the zero position of the conversion error map; step three, obtaining a kinetic model of the conversion error according to the conversion error: For intermediate variables The derivation includes: Taking out , The following steps are: re-alignment of conversion errors The derivation includes: And (3) making: Simplifying and obtaining: for simplicity, the variables were taken again: Wherein the method comprises the steps of 、 In the form of a three-order matrix, 、、 For a vector with three components, we reduce: Re-taking , The method comprises the following steps: the kinetic model of the conversion error is then obtained as: step four, designing a sliding die surface: the design slip form surface is as follows: Wherein, the The method comprises the following steps: Wherein, the , , Is a constant of the design and is a function of the design, Is a preset convergence time parameter; When the sliding surface is Converging to Conversion error at the time Will be within a preset time Inner convergence to domain: Wherein: fifthly, designing a control moment: For a pair of And (5) deriving to obtain: the spacecraft attitude error model comprises: taking an expansion state observer: Wherein, the , , , , , , , Is a constant greater than zero; Taking: namely, the estimated value of disturbance; the control moment is taken as follows: Wherein, the , Is a constant of the design and is a function of the design, Is a preset convergence time parameter, when no abrupt disturbance exists, When in use, the sliding surface Will be within a preset time Inner convergence, if there is abrupt disturbance, When the system is in operation, due to the existence of the interference observer and the preset performance adjustment items, the system can be prevented from being in singular failure, so that the system is kept stable.
2. The spacecraft attitude preset time control method based on the adjustable preset performance according to claim 1, wherein in the step one, The following properties are provided: 。
3. the spacecraft attitude preset time control method based on the adjustable preset performance according to claim 1, wherein in said step two, a matrix is rotated The method comprises the following steps: 。
4. The spacecraft attitude preset time control method based on the adjustable preset performance according to claim 1, wherein in the step two, initial values of upper and lower boundary designs of initial preset performance functions 、 The method meets the following conditions: Wherein the method comprises the steps of Representing attitude error vectors Is the first of (2) The individual components are at Initial value of time.
5. The spacecraft attitude preset time control method based on the adjustable preset performance according to claim 1, wherein in the third step, I.e. in After the moment Corresponding attitude error Is that 。
6. The spacecraft attitude preset time control method based on the adjustable preset performance according to claim 1, wherein in the third step, And (3) with Is related to that in In the time-course of which the first and second contact surfaces, In (1) When, i.e. in case of a change of the preset performance function, When the corresponding expected error and the preset performance function are not changed The corresponding expected errors are equal.
7. The spacecraft attitude preset time control method based on the adjustable preset performance according to claim 1, wherein in the fourth step, The meaning of the function is: For variables Constant (constant) The method comprises the following steps: For vectors Constant (constant) The method comprises the following steps: 。

Description

Spacecraft attitude preset time control method based on adjustable preset performance Technical Field The invention belongs to the field of spacecraft attitude control, relates to a spacecraft attitude control method, and in particular relates to a spacecraft attitude control method with stable preset time based on adjustable preset performance control. Background When a spacecraft executes a task, the spacecraft often has high requirements on the attitude control precision of the spacecraft. Compared with the traditional control method, the preset performance control method has the advantages of high speed, high precision and controllable error, and is suitable for being used in the attitude control of the spacecraft. In the basic preset performance control method, the problem of control vulnerability exists, namely, after a control target is subjected to abrupt disturbance, the problem that the error exceeds the preset performance boundary, so that the system is singular and the control system is invalid exists. This problem restricts the practical application of the preset performance control method. In order to solve the challenge, researchers and engineers continuously explore improved control strategies and methods, and propose an adjustable preset performance control method, so that the new control method gives consideration to the control precision and speed of the preset performance control method through dynamic adjustment of the preset performance boundary, and meanwhile, the robustness of the control method is enhanced. Therefore, how to utilize the adjustable preset performance control method to realize accurate control of the attitude of the spacecraft is a problem worthy of intensive study. Disclosure of Invention In order to overcome the limitation of the traditional preset performance control method, solve the problem of vulnerability of the preset performance control itself and provide support for accurate control of the attitude of the spacecraft in practical control application, the invention provides a spacecraft attitude preset time control method based on adjustable preset performance. According to the method, by introducing an adjustable preset performance boundary, designing a new error conversion function and combining nonsingular sliding mode control, accurate control of system errors is achieved, meanwhile, the robustness and the disturbance rejection capability of the system are improved, and solid technical support is provided for spacecraft attitude control. The invention aims at realizing the following technical scheme: a spacecraft attitude preset time control method based on adjustable preset performance comprises the following steps: Step one, establishing a kinematic and dynamic model for the relative error between the spacecraft and the reference attitude: Describing the attitude of the spacecraft by using the corrected Rodrigas parameters one by one: assuming that the main rotation vector of the spacecraft attitude is e and the rotation angle is phi, the spacecraft attitude is expressed as: under the modified rodgers parameter description, the kinematics and dynamics model of the spacecraft attitude are as follows: Wherein ω represents the angular velocity of the spacecraft, J represents the moment of inertia of the spacecraft, τ represents the control moment of the spacecraft, d represents the disturbance to which the spacecraft is subjected, ω × represents the oblique symmetry matrix of ω, σ × represents the oblique symmetry matrix of σ, and I 3 represents the identity matrix of 3 steps; Step two, determining a description mode of a relative error between the spacecraft attitude and the reference attitude: At a known reference pose σ r, the reference pose angular velocity ω r, and there is: The error of the spacecraft attitude relative to the reference attitude is defined as: the relative error of the angular velocity is: ωe＝ω-C(σe)ωr Wherein C (sigma e) is a rotation matrix, sigma e and omega e are the attitude and the angular velocity of the spacecraft relative to a reference frame by taking the reference attitude as the reference coordinate system, so as to obtain the attitude error and the angular velocity error of the spacecraft relative to the reference attitude; step one, establishing a kinematic and dynamic model for spacecraft attitude errors: and deriving the attitude error and the angular velocity error of the spacecraft to obtain: For a pair of And (5) deriving again to obtain: Thus, a kinematic and dynamic model of the spacecraft attitude error is obtained: step two, designing a preset performance function: Step two, designing an initial preset performance function: knowing that the upper and lower boundaries of the preset performance are ρ ui、ρli, after the sign (σ ei (0)) of the initial value of the attitude error, the attitude error needs to be controlled to satisfy: ρli<sign(σei(0))σei<ρui where i=1, 2,3 represents three components of the vector; In t