CN-121990182-A - Micro-nano satellite multi-constraint fine control method based on actuator dynamics

CN121990182ACN 121990182 ACN121990182 ACN 121990182ACN-121990182-A

Abstract

The invention provides a micro-nano satellite multi-constraint fine control method based on actuator dynamics, which belongs to the field of spacecraft control and comprises the steps of taking electromechanical characteristics of a reaction wheel into consideration, establishing a micro-nano satellite attitude deep coupling model containing the dynamic characteristics of the reaction wheel, designing a double-interference observer for accurately estimating friction and counter potential interference of a wheel shaft of the reaction wheel, designing a nonlinear state dependent barrier function for physical constraint of star rotating speed and current of the reaction wheel to convert a constraint state into a tracking control variable, and constructing a composite controller by combining the double-interference observer with the nonlinear state dependent barrier function to finish the design of a micro-nano satellite high-precision controller. The invention can overcome the problem of multiple types of physical constraints in micro-nano satellite control, and simultaneously compensates the interference of the reaction wheel, and has the characteristics of high reliability and high accuracy.

Inventors

TENG HAO
SUN CHANGQING
ZHANG YIXUAN
QIAO JIANZHONG
GUO LEI

Assignees

北京航空航天大学

Dates

Publication Date: 20260508
Application Date: 20260410

Claims (10)

1. The micro-nano satellite multi-constraint fine control method based on the actuator dynamics is characterized by comprising the following steps of: firstly, considering the electromechanical characteristics of a reaction wheel, establishing a micro-nano satellite attitude deep coupling model containing the dynamic characteristics of the reaction wheel, and separating the wheel shaft friction interference and the counter-potential interference of the reaction wheel according to the influence topology; Secondly, designing a double-interference observer according to the micro-nano satellite attitude deep coupling model established in the first step, and respectively estimating the separated wheel axle friction interference and the separated counter potential interference; Thirdly, aiming at the physical constraints of the star rotating speed and the reaction wheel current, designing a nonlinear state dependent barrier function, and converting the constraint state into a tracking control variable; And fourthly, constructing a composite controller by combining the double-interference observer and the nonlinear state dependent barrier function, and finely compensating the wheel shaft friction interference and the counter-potential interference in the reaction wheel.
2. The micro-nano satellite multi-constraint fine control method based on actuator dynamics according to claim 1, wherein in the first step, when a micro-nano satellite attitude deep coupling model is established, wheel shaft friction interference and counter potential interference are separated according to action nodes of the wheel shaft friction interference and counter potential interference on an electromechanical energy transmission path, and a topology foundation is laid for independent estimation of follow-up double-interference observers.
3. The micro-nano satellite multi-constraint fine control method based on actuator dynamics according to claim 2, wherein in the second step, according to the separated action node, the estimated values of the wheel axis friction interference and the counter potential interference are generated in parallel in the same sampling period.
4. The micro-nano satellite multi-constraint fine control method based on actuator dynamics according to claim 1, wherein in the third step, when constructing a nonlinear state dependent barrier function, the real-time measurement value of the star rotation speed and the reaction wheel current is taken as an independent variable, and the output of the nonlinear state dependent barrier function is coupled with an expected tracking error, so that the star rotation speed and the reaction wheel current are physically constrained and embedded into the tracking error dynamics.
5. The micro-nano satellite multi-constraint fine control method based on actuator dynamics according to claim 4, wherein the nonlinear state dependent barrier function generates monotonically steep gain near the boundary of the output towards infinity, and ensures that the star rotation speed and the reaction wheel current are always located in a safe interval.
6. The micro-nano satellite multi-constraint fine control method based on actuator dynamics according to claim 1, wherein in the fourth step, the wheel axle friction estimated value and the counter potential estimated value output by the double-interference observer are mapped to a control moment and a control voltage respectively in the composite controller, and then the correction result generated by the nonlinear state dependent barrier function is superimposed to obtain a superimposed result.
7. The micro-nano satellite multi-constraint fine control method based on actuator dynamics according to claim 6, wherein the composite controller directly drives the control voltage according to the superposition result.
8. The micro-nano satellite multi-constraint fine control method based on actuator dynamics according to claim 1, wherein the output of the micro-nano satellite attitude deep coupling model is simultaneously fed into a double-interference observer and a nonlinear state dependent barrier function.
9. The micro-nano satellite multi-constraint fine control method based on actuator dynamics according to claim 1, wherein the composite controller makes a nonlinear state dependent barrier function bounded.
10. The micro-nano satellite multi-constraint fine control method based on actuator dynamics according to claim 7, wherein the control voltage drives the reaction wheel to move, so as to adjust the actual gesture and angular velocity of the micro-nano satellite.

Description

Micro-nano satellite multi-constraint fine control method based on actuator dynamics Technical Field The invention belongs to the field of spacecraft control, and particularly relates to a micro-nano satellite multi-constraint fine control method based on actuator dynamics. Background The micro-nano satellite plays an irreplaceable role in space maneuvering tasks such as target tracking and on-orbit service and the like due to the advantages of low cost, high flexibility and the like. However, the increasing rise in space situation places urgent demands on the safety and accuracy of micro-nano satellite maneuver. Micro-nano satellites are different from large satellites, are more prominent in that they are physically constrained and affected by interference during maneuvering, and are mainly represented by the following two aspects: On the one hand, the rotation speed of the micro-nano satellite is limited by a mechanical structure, and the rotation speed is kept to be changed within a safe amplitude range in the maneuvering process so as to prevent potential safety hazards caused by the excessively high speed. In addition, as an actuating mechanism of the micro-nano satellite attitude maneuver, the current state of the reaction wheel is also limited by the safety of the armature loop in the running process, so that the safety problems of mechanical damage and the like caused by overlarge current are prevented. Therefore, in order to ensure the safety of the micro-nano satellite control, the star rotating speed and the amplitude range of the reaction wheel current need to be strictly limited. On the other hand, because the reaction wheel inevitably has device error interference such as wheel shaft friction, counter potential and the like, the multisource interference is directly coupled with the system input of the micro-nano satellite and changes along with the change of a control signal, and the reaction wheel has extremely strong composite characteristics. Furthermore, in the micro-nano satellite control process, the composite interference such as wheel shaft friction and counter potential is easily excited and amplified along with the change of system input, so that the accuracy of the system is seriously affected, and the task execution quality is reduced. Under the influence of multiple types of physical constraints and composite interference, the micro-nano satellite attitude system is required to have safety and accuracy, and the design of the control system is certainly challenged greatly. In the prior art, for physical constraint, for example, in literature (Wang Shuo, wang Yipeng, sun Jingxu, etc.) of spacecraft attitude maneuver backstepping control under multiple types of constraint (J. Astronomy report, 2023,44 (12): 1925-1933.), a hyperbolic tangent function design virtual angular velocity control law is introduced for the angular velocity constraint problem of the spacecraft so as to ensure that the angular velocity is always in a limiting range, and Chinese patent application CN202211034728.7 carries out saturation constraint on virtual control signals tracked by the angular velocity by adopting a second order command filter for the angular velocity constraint of the spacecraft, and meanwhile, a hierarchical design controller inhibits flexible vibration interference. The above researches are conducted on the running state constraint of the spacecraft, so that good effects are achieved, but the influence of the physical constraint of the reaction wheel and the device error on the micro-nano satellite system is usually ignored. Aiming at the research of satellite anti-interference, the literature ' anti-interference control of Gao Jiequan drive of a combined spacecraft based on an interference observer ' (Cui Kaixin, duan Anren) ' anti-interference control of Gao Jiequan drive of a combined spacecraft based on an interference observer [ J ]. Aviation journal, 2024, 45 (01): 73-85) designs a high-order full-drive anti-interference control method by introducing a generalized discrete time high-order full-drive backward differential model and respectively estimating and compensating input interference and external constant interference in the combined spacecraft, and the Chinese patent application CN202310821459.7 considers error interference of a satellite actuator, estimates and learns system interference by designing the interference observer and an adaptive law, and finally designs a composite controller to realize simultaneous suppression and compensation of the system interference. Although some progress has been made in the prior art, the conventional researches still have a certain conservation in the aspects of satellite control system safety and anti-interference fineness in the face of the influence of multiple types of physical constraints and composite interference, for example, the Chinese patent application CN110456812A, although a coupling model is constructed, the anti-interfere