基于改进迭代学习的参数不确定卫星姿态控制

doi:10.12305/j.issn.1001-506X.2021.02.25

Abstract

Abstract:

Aiming at the problems existing in the operation of the satellite, such as the change of the moment of inertia of the satellite after the on orbit assembly upgrade is large and difficult to determine, an attitude agile maneuver control method based on the improved predictive iterative learning control is proposed. Firstly, the improved cascade saturation control is used as the feedback controller to realize the stability of the original system. Secondly, the improved predictive iterative learning control is added as the feedforward controller to improve the dynamic performance, robustness and agility of the system. Then, the zero motion control law based on hybrid actuator is used to provide high precision and large torque, and the singularity of control moment gyroscope and the saturation of flywheel are solved. Finally, the superiority of the proposed controller is proved by simulation.

Key words: attitude agile control, uncertain parameter, cascade saturation control, iterative learning, hybrid actuator

CLC Number:

V448.22+2

Xiaoman KE, Yunhua WU, Mohong ZHENG, Wenxing LI, Jinming DU, Bing HUA, Zhiming CHEN. Attitude control for spacecraft with uncertain parameters based on improved iterative learning[J]. Systems Engineering and Electronics, 2021, 43(2): 508-518.

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References 26

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参数	取值
转动惯量不确定性χ/%	50
转动惯量J/(kg·m²)	$\left[ {\begin{array}{*{20}{c}}{2.25}&{ - 0.05}&{0.04}\\{ - 0.05}&{3.95}&{0.1}\\{0.075}&{0.12}&{3.8}\end{array}} \right] $
控制约束U/(N·m)	0.05
最大机动角速度ω_max/((°)/s)	2.5
最大机动角加速度a/((°)/s²)	0.6U[1/J_x 1/J_y 1/J_z]
控制增益p, c, k_p, k_d	50, 18, 0.1, 0.4
采样周期δ/s	0.1
反步法控制器参数 α, b₁, b₂, b₃, b₄, b₅, b₆	0.25, 5, 5, 5, 0.01, diag(10.6, 10.2, 10.4), 0.004

参数	量值
CMG转子动量矩h₀/(N·m·s)	0.4
CMG框架倾角β/(°)	54.04
CMG框架角初值α₀/(°)	[30, 70, 40, -100]
CMG框架角速度最大值ȧ_max/(rad/s)	1
RW转动惯量J_RW/(kg·m²)	diag(35, 35, 35)10^-4
RW角速度初值Ω₀/(r/min)	[25/6 25/6 25/6]
RW角速度最大值Ω_max/(r/min)	3 000
RW角加速度最大值$ {{\mathit{\dot \Omega }}_{\max }}$/(rad/s²)	10
加权矩阵W	diag(5, 5, 5, 5, 500, 500, 500)
零运动强度$\vartheta $	180exp(-10S_CMG)
性能函数参数 τ₁, τ₂, λ₁, λ₂, λ₃	80, 100, 1/9, 5/9, 3/9

层数	最大波峰值/(°)	调节时间/s
1	1.776	39.288
2	1.545	38.734
9	8.347×10^－2	37.941
10	4.081×10^－2	36.489

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Attitude control for spacecraft with uncertain parameters based on improved iterative learning

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