CN105786008B - A kind of Flexible Spacecraft control method for being directed to flywheel saturation and frictional behavior - Google Patents
A kind of Flexible Spacecraft control method for being directed to flywheel saturation and frictional behavior Download PDFInfo
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Abstract
A kind of Flexible Spacecraft control method for being directed to flywheel saturation and frictional behavior, for flywheel saturation and frictional behavior influence Spacecraft Control precision, the spacecraft the coupled dynamical equation containing flywheel saturation and frictional behavior is built first, secondly, set up the friction interference estimator for wheel friction characteristic, again, for flexible appendage shuttle belt come interference, design flexible vibration observer；Then, for friction Interference Estimation error and flexible vibration disturbance-observer error, design anti-saturation controller is suppressed；Finally by anti-saturation controller, friction interference estimator and the control gain of flexible vibration observer is asked for, composite layered anti-interference controller is designed, the anti-interference gesture stability of spacecraft under multi-source interference effect is completed；This method can significantly improve the Spacecraft Attitude Control precision using flywheel executing agency, available for the high-precision earth observation satellite of aerospace field, the high-precision attitude control of the spacecraft such as space telescope.
Description
Technical field
The present invention relates to a kind of Flexible Spacecraft control method for being directed to flywheel saturation and frictional behavior, it is adaptable to needs
Carry executive capability limited and need to realize the Flexible Spacecraft control system of high-precision control, belong to spacecraft attitude
Control field.
Background technology
Space action is explored recently as the mankind to enrich constantly, task complexity is increasing, and demand is also increasing,
It is required that spacecraft, which carries bigger solar cell tabula rasa, can provide more energy.In addition, with spacecraft Mission Operations
It is more remote, requirements at the higher level also are proposed to spacecraft communication antenna, it is necessary to which the structure more stronger antenna of big, power is in order to remote
Distance receives faint signal；The demand such as power supply and communication all causes spacecraft to need to carry increasing annex, from transmitting
For cost and technology enforcement difficulty, carrying the quality volume of spacecraft has strict limitation, therefore above-mentioned annex is generally used
Low quality, the flexible structure design of Low rigidity, substantial amounts of flexible appendage are used, when spacecraft body carries out motor-driven, flexibility knot
Structure can be produced and is directed to, so that Spacecraft Attitude Control precision can be had a strong impact on, or even the last task of influence.
In addition the reliability and long-term working stability of spacecraft attitude control system are always the pass during spacecraft is developed
Key technology.Flywheel is one of most important execution unit in satellite attitude control system, the long-life launched in recent years, high-precision
Degree, multifunctional triaxial stabilized satellite, are not almost exceptionally used as main execution unit by the use of flywheel.But flywheel has very
Salient feature, is limited to machining accuracy, can there is a certain degree of friction, so that bring flywheel to perform error, it is another
Aspect, the output torque size of the flywheel in kind of actual physical system is strictly limited, therefore needs also exist for further consideration
The problem of saturation and frictional behavior.Another aspect moment of friction is transferred to spacecraft body by flywheel wheel body, causes spacecraft
Body is shivered, so that very big trouble can be brought to spacecraft attitude control system.Therefore, boat is completed in order to more accurate
Its device gesture stability, must pull against the influence that above-mentioned two class is mainly disturbed during Spacecraft guidance and control.
Number of patent application be 201510294341.9 in propose a kind of anti-interference appearance based on reaction wheel frictional behavior
State control method, but there are problems that two：(1) this article does not consider the vibration that the subsidiary flexible appendage of Spacecraft is brought
Interference, can be impacted to spacecraft precision；(2) do not have the saturated characteristic for considering flywheel, can be by certain in actual use
Limitation.Number of patent application be 201510303102.5 in propose a kind of Flexible Spacecraft control for flywheel low speed friction
System and method for processed, wherein the method proposed equally exists Similar Problems：(1) do not have the saturated characteristic for considering that flywheel is present；
(2) what is be related in method is completely different with this patent form for wheel friction observer, does not ensure that finite time is fast
Rub interference in speed tracking, therefore can be inferior in precision and rapidity context of methods.
The content of the invention
The technology of the present invention solves problem：Overcome it is existing it is not enough there is provided a kind of for flywheel saturation and frictional behavior
Flexible Spacecraft control method, can be to be used as main executing agency's Spacecraft system using flywheel by the use of this method
Anti- flywheel saturation and friction, capability are provided, the high-precision attitude control of wheel control Spacecraft system can be realized.
The present invention technical solution be：A kind of Flexible Spacecraft control for flywheel saturation and frictional behavior
Method, implementation step is as follows：
The first step, sets up the Spacecraft the coupled dynamical equation containing flywheel saturation and frictional behavior：
For saturation and frictional behavior common in flywheel executing agency, and consideration flexible appendage kinetics equation simultaneously,
The flexible spacecraft dynamics system model with flywheel saturation and frictional behavior is set up, is expressed as follows：
In formula, t represents the time, and J is the rotary inertia of spacecraft；For spacecraft attitude angular acceleration, F is spacecraft
Coupling matrix between posture and flexible structure, η (t) is the mode of oscillation of flexible appendage, and ω is flexible appendage mode of oscillation pair
The vibration frequency answered, ξ is the damping of flexible appendage mode, Tc(t) control that the attitude controller of Space Vehicle System is resolved is represented
Torque, sat (Tc(t) it is) to consider the saturation control moment after flywheel saturated characteristic, Mf(t) after for consideration wheel friction characteristic
The wheel friction interference of introducing；d1(t) outer space environmental disturbances torque being subject to for spacecraft；
It can further obtain：
In formulaRepresent the vibration interference that flexible appendage shuttle belt comes, d1(t) it is space flight
The outer space environmental disturbances torque that device is subject to；Flywheel saturation and frictional behavior are already had accounted in this equation, and it is flexible attached
Flexible spacecraft dynamics system model with flywheel saturation and frictional behavior, is further transformed into by the interference that part shuttle belt comes
State space form, the new system under state space form is represented is as follows：
X (t) is system mode in formula,θ (t) is the attitude angle of spacecraft,For the posture of spacecraft
Angular speed,For sytem matrix,For control input matrix；
Second step, is characterized for vibration interference caused by flexible appendage by following interference models：
In formula, V, w (t) and W are expressed as the output matrix of vibration interference caused by flexible appendage, state variable, are
System matrix, H represents the gain matrix of saturated controller output, wheel friction interference and environmental disturbances, wherein vibration annex is done
The state variable disturbedWherein intermediate variable R=(1-
FTI-1F)-1；
Following flexible vibration observer is constructed to flexible appendage vibration interference：
Wherein v (t) is an auxiliary State Variable of flexible vibration observer,It is that flexible appendage is directed to interference d0
(t) estimate, L is the gain of interference observer to be asked；
For wheel friction interference, the moment of friction M that fly wheel system is subject tof(t) mainly the solid friction power of bearing is included
The gentle dynamic resistance square of viscous friction torque that square and lubrication belt come, torque and Speed of Reaction Wheels phase that above-mentioned two class is come due to lubrication belt
Close, it is comparatively small in the case of Speed of Reaction Wheels is relatively low, therefore the low speed friction characteristic of flywheel mostlys come from solid friction, flywheel
Kinetic model state-space representation formula it is as follows：
In formulaFor the angular acceleration of flywheel, Ω (t) is Speed of Reaction Wheels,For the moment of friction rate of change of flywheel,
Wherein D represents the damped coefficient of flywheel, Rotary Inertia of Flywheel Jw, bearing static ramp parameter β, Coulomb friction torque Mf0；
For wheel friction, following wheel friction interference estimator is designed：
WhereinWithIt is the estimate of Speed of Reaction Wheels and moment of friction, parameter k1With
k2, positive parameter alpha1With α2So thatWithCan be in Finite-time convergence in Ω (t) and Mf(t), it is ensured that wheel friction
Tracking error can be cut down in finite time；
3rd step, design anti-saturation controller：
With reference to friction interference estimator, flexible appendage Vibration device, and consider flywheel damp constraint characteristic, enter one
The following anti-saturation controller of step design：
In formula, u (t)=sat (Tc(t)) exported for anti-saturation controller, that is, consider the saturation after flywheel saturated characteristic
Control moment, K is that anti-saturation controller controls gain, and due to considering flywheel saturation, the maximum output torque for setting flywheel is
umax, and umax>0 so as to have：
The control moment instruction that u (t) in formula receives for flywheel, not over the maximum of flywheel, can also be protected in addition
Demonstrate,prove Space Vehicle System stable, realization has spacecraft high-precision attitude under saturation and friction condition and controlled.
The advantage of the present invention compared with prior art is：
A kind of Flexible Spacecraft control method for saturation and frictional behavior being related in the present invention is mainly directed towards
The Flexible Spacecraft of flywheel low speed friction is controlled to control as the Flexible Spacecraft of main executing agency using flywheel
System, while considering saturation and frictional behavior that fly wheel system is present so that for the more comprehensive of executing agency's error analysis,
With widely using face.In addition the friction interference observer with finite time convergence control, energy have been used for wheel friction
Enough quickly and accurately tracking wheel friction interference, add the capability of fast response of Flexible Spacecraft control system, significantly
Improve speed, precision and the stability of Spacecraft Attitude Control method.
Brief description of the drawings
Fig. 1 is a kind of design cycle for the Flexible Satellite Attitude control method for being directed to flywheel saturation and frictional behavior of the present invention
Figure.
Embodiment
Illustrate implementing for system and method, satellite operation by taking the satellite system of a class generalized ribbon flexible appendage as an example
In earth observation pattern, have high requirements to attitude control accuracy and stability tool；
As shown in figure 1, specific implementation step of the present invention is as follows：
1st, the flexible satellite the coupled dynamical equation containing flywheel saturation and frictional behavior is set up
For saturation and frictional behavior common in flywheel executing agency, and consideration flexible appendage kinetics equation simultaneously,
The flexible satellite dynamic system model with flywheel saturation and frictional behavior is set up, is expressed as follows：
In formula, t represents the time, and J is the rotary inertia of satellite；For attitude of satellite angular acceleration, F be the attitude of satellite with
Coupling matrix between flexible structure, η (t) is the mode of oscillation of flexible appendage, and ω shakes for flexible appendage mode of oscillation is corresponding
Dynamic frequency, ξ is the damping of flexible appendage mode, Tc(t) control moment that the attitude controller of satellite system is resolved, sat are represented
(Tc(t) it is) to consider the saturation control moment after flywheel saturated characteristic, Mf(t) it is flying for being introduced after consideration wheel friction characteristic
Wheel friction interference；d1(t) outer space environmental disturbances torque being subject to for satellite；
It can further obtain：
In formulaRepresent the vibration interference that flexible appendage shuttle belt comes, d1(t) it is space flight
The outer space environmental disturbances torque that device is subject to；Flywheel saturation and frictional behavior are already had accounted in this equation, and it is flexible attached
The interference that part shuttle belt comes, is further transformed into shape by the flexible satellite dynamic system model with flywheel saturation and frictional behavior
State space form, the new system under state space form is represented is as follows：
In formulaθ (t) is the attitude angle of satellite,For the attitude angular velocity of satellite, x (t) is system shape
State,For sytem matrix,For control input matrix；
2nd, characterized for vibration interference caused by flexible appendage by following interference models：
In formula, V, w (t) and W are expressed as the output matrix of vibration interference caused by flexible appendage, state variable, are
System matrix, H represents the gain matrix of saturated controller output, wheel friction interference and environmental disturbances, wherein vibration annex is done
The state variable disturbedWherein intermediate variable R=(1-
FTI-1F)-1；
Following flexible vibration observer is constructed to flexible appendage vibration interference：
Wherein v (t) is an auxiliary State Variable of flexible vibration observer,It is that flexible appendage is directed to interference d0
(t) estimate, L is the gain of interference observer to be asked；
For wheel friction interference, the moment of friction M that fly wheel system is subject tof(t) mainly the solid friction power of bearing is included
The gentle dynamic resistance square of viscous friction torque that square and lubrication belt come, torque and Speed of Reaction Wheels phase that above-mentioned two class is come due to lubrication belt
Close, it is comparatively small in the case of Speed of Reaction Wheels is relatively low, therefore the low speed friction characteristic of flywheel mostlys come from solid friction, flywheel
Kinetic model state-space representation formula it is as follows：
In formulaFor the angular acceleration of flywheel, Ω (t) is Speed of Reaction Wheels,For the moment of friction rate of change of flywheel,
Wherein D represents the damped coefficient of flywheel, Rotary Inertia of Flywheel Jw, bearing static ramp parameter β, Coulomb friction torque Mf0；
For wheel friction, following wheel friction interference estimator is designed：
WhereinWithIt is the estimate of Speed of Reaction Wheels and moment of friction, parameter k1With
k2, positive parameter alpha1With α2So thatWithCan be in finite time convergence control in Ω (t) and Mf(t), it is ensured that wheel friction with
Track error can be cut down in finite time；
3rd, anti-saturation controller is designed
With reference to friction interference estimator, flexible appendage Vibration device, and consider flywheel damp constraint characteristic, enter one
The following anti-saturation controller of step design：
In formula, u (t)=sat (Tc(t)) exported for anti-saturation controller, that is, consider the saturation after flywheel saturated characteristic
Control moment, K is that anti-saturation controller controls gain, and due to considering flywheel saturation, the maximum output torque for setting flywheel is
umax, and umax>0 so as to have：
The control moment instruction that u (t) in formula receives for flywheel, not over the maximum of flywheel, can also be protected in addition
Demonstrate,prove satellite system stable, realization has satellite high-precision gesture stability under saturation and friction condition.
The content not being described in detail in description of the invention belongs to prior art known to professional and technical personnel in the field.
Claims (1)
1. a kind of Flexible Spacecraft control method for being directed to flywheel saturation and frictional behavior, it is characterised in that：Including following
Step：The Spacecraft the coupled dynamical equation containing flywheel saturation and frictional behavior is built first, secondly, is set up for flying
Take turns frictional behavior friction interference estimator, again, in Spacecraft due to for flexible appendage shuttle belt come interference,
Design flexible vibration observer；Then, for friction Interference Estimation error and flexible vibration disturbance-observer error, anti-saturation is designed
Controller is suppressed；Increase finally by anti-saturation controller, friction interference estimator and the control of flexible vibration observer is asked for
Benefit, designs composite layered anti-interference controller, completes the anti-interference gesture stability of spacecraft under multi-source interference effect；Specific steps
It is as follows：
The first step, sets up the Spacecraft the coupled dynamical equation containing flywheel saturation and frictional behavior
Spacecraft Mission Operations it is more remote, power supply and communication need all cause spacecraft to need to carry increasing attached
Part, above-mentioned annex is generally using low quality, the flexible structure design of Low rigidity, and substantial amounts of flexible appendage is used, in spacecraft sheet
When body carries out motor-driven, so that Spacecraft Attitude Control precision can be had a strong impact on, or even the last task of influence；Machinery is limited to add
Work precision, can have a certain degree of friction, so as to bring flywheel to perform error, on the other hand, the material object of actual physical system
The output torque size of flywheel is strictly limited, therefore the problem of need also exist for further considering saturation and frictional behavior；Separately
One side moment of friction is transferred to spacecraft body by flywheel wheel body, causes spacecraft body to be shivered, so that can be to boat
Its device attitude control system brings very big trouble；Therefore, Spacecraft Attitude Control is completed in order to more accurate, is set in spacecraft
The influence that above-mentioned two class is mainly disturbed is must pull against during meter；
For saturation and frictional behavior common in flywheel executing agency, and flexible appendage kinetics equation is considered simultaneously, set up
Flexible spacecraft dynamics system model with flywheel saturation and frictional behavior, is expressed as follows：
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In formula, t represents the time, and J is the rotary inertia of spacecraft；For spacecraft attitude angular acceleration, F is spacecraft attitude
Coupling matrix between flexible structure, η (t) is the mode of oscillation of flexible appendage,Mould is vibrated for the single order of flexible appendage
State,For the second order vibration mode of flexible appendage, ω is the corresponding vibration frequency of flexible appendage mode of oscillation, and ξ is flexible appendage
The damping of mode, Tc(t) control moment that the attitude controller of Space Vehicle System is resolved, sat (T are representedc(t) it is) winged to consider
Take turns the saturation control moment after saturated characteristic, Mf(t) the wheel friction interference to be introduced after consideration wheel friction characteristic；d1(t) it is
The outer space environmental disturbances torque that spacecraft is subject to；
It can further obtain：
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In formulaRepresent the vibration interference that flexible appendage shuttle belt comes, d1(t) for spacecraft by
The outer space environmental disturbances torque arrived；Flywheel saturation and frictional behavior are already had accounted in this equation, and flexible appendage shakes
The dynamic interference brought, is further transformed into state by the flexible spacecraft dynamics system model with flywheel saturation and frictional behavior
Space form, the new system under state space form is represented is as follows：
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X (t) is system mode in formula,θ (t) is the attitude angle of spacecraft,For the attitude angle speed of spacecraft
Degree,For sytem matrix,For control input matrix；
Second step, is characterized for vibration interference caused by flexible appendage by following interference models：
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In formula, V, w (t) and W are expressed as output matrix, state variable, the system square of vibration interference caused by flexible appendage
Battle array, H represents the gain matrix of saturated controller output, wheel friction interference and environmental disturbances, wherein vibration annex interference
State variableWherein intermediate variable R=(1-FTI- 1F)-1；
Substantial amounts of flexible appendage is used, when spacecraft body carries out motor-driven, so that Spacecraft Attitude Control essence can be had a strong impact on
Degree, or even the last task of influence, following flexible vibration observer is constructed to flexible appendage vibration interference：
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Wherein v (t) is an auxiliary State Variable of flexible vibration observer,It is that flexible appendage is directed to interference d0(t) estimate
Evaluation, L is the gain of interference observer to be asked；
For wheel friction interference, the moment of friction M that fly wheel system is subject tof(t) mainly the solid friction torque and profit of bearing are included
The gentle dynamic resistance square of viscous friction torque that slide strips are come, above-mentioned two class is related to Speed of Reaction Wheels due to the torque that lubrication belt comes,
It is comparatively small in the case of Speed of Reaction Wheels is relatively low, therefore the low speed friction characteristic of flywheel mostlys come from solid friction, flywheel it is dynamic
Mechanical model state-space representation formula is as follows：
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In formulaFor the angular acceleration of flywheel, Ω (t) is Speed of Reaction Wheels,For the moment of friction rate of change of flywheel, wherein D
Represent the damped coefficient of flywheel, Rotary Inertia of Flywheel Jw, bearing static ramp parameter β, Coulomb friction torque Mf0；Moment of friction is led to
Cross flywheel wheel body and be transferred to spacecraft body, cause spacecraft body to be shivered,
For wheel friction, the following wheel friction interference estimator with finite time convergence control of design：
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WhereinWithIt is the estimate of Speed of Reaction Wheels and moment of friction, parameter k1And k2, positive ginseng
Number α1With α2So thatWithCan be in finite time convergence control in Ω (t) and Mf(t), it is ensured that wheel friction tracking error
It can be cut down in finite time；Wheel friction interference can be quickly and accurately tracked, Flexible Spacecraft control is added
The capability of fast response of system processed；
3rd step, design anti-saturation controller
The output torque size of the flywheel in kind of actual physical system is strictly limited, with reference to friction interference estimator, flexibility
Accessory vibration observer, and consider flywheel damp constraint characteristic, further design following anti-saturation controller：
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In formula, u (t)=sat (Tc(t)) exported for anti-saturation controller, that is, consider the saturation controling power after flywheel saturated characteristic
Square, K is that anti-saturation controller controls gain, due to considering flywheel saturation, and the maximum output torque for setting flywheel is umax, and
umax>0 so as to have：
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The control moment instruction that u (t) in formula receives for flywheel, not over the maximum of flywheel, also ensure that boat in addition
Its device system is stable, and realization has spacecraft high-precision attitude under saturation and friction condition and controlled.
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| CN109141471B (en) * | 2018-06-28 | 2020-07-10 | 上海卫星工程研究所 | Implementation method for screening high-stability satellite flywheel based on micro-interference torque |
| CN108983801B (en) * | 2018-08-14 | 2021-05-28 | 北京航空航天大学 | Anti-interference attitude control method for spacecraft based on dynamic characteristics of reaction flywheel |
| CN109613827B (en) * | 2018-12-29 | 2021-04-02 | 西北工业大学 | Track intersection control method for translation points with unknown relative speeds |
| CN109991848B (en) * | 2019-03-28 | 2022-02-01 | 鲁东大学 | Anti-interference control method and device |
| CN110502025B (en) * | 2019-08-01 | 2020-11-10 | 北京航空航天大学 | Spacecraft attitude control method considering reactive flywheel characteristics and power limitation |
| CN113031668B (en) * | 2021-02-20 | 2022-06-03 | 北京控制工程研究所 | Method and system for estimating disturbance moment caused by asymmetric rotation scanning load |
| CN113419550B (en) * | 2021-06-23 | 2023-04-11 | 北京遥感设备研究所 | Output torque saturation anti-interference attitude control method and system for aircraft actuating mechanism |
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