CN107168359A - A kind of control method of large-scale flexible satellite high precision high stability degree - Google Patents
A kind of control method of large-scale flexible satellite high precision high stability degree Download PDFInfo
- Publication number
- CN107168359A CN107168359A CN201710532845.9A CN201710532845A CN107168359A CN 107168359 A CN107168359 A CN 107168359A CN 201710532845 A CN201710532845 A CN 201710532845A CN 107168359 A CN107168359 A CN 107168359A
- Authority
- CN
- China
- Prior art keywords
- msub
- mrow
- mtd
- mtr
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000004044 response Effects 0.000 claims abstract description 16
- 238000013461 design Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000005070 sampling Methods 0.000 claims description 8
- 230000014509 gene expression Effects 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000009897 systematic effect Effects 0.000 claims description 6
- 230000008030 elimination Effects 0.000 claims description 3
- 238000003379 elimination reaction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 241000208340 Araliaceae Species 0.000 claims 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 2
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 2
- 235000008434 ginseng Nutrition 0.000 claims 2
- KCXVZYZYPLLWCC-UHFFFAOYSA-N EDTA Chemical compound OC(=O)CN(CC(O)=O)CCN(CC(O)=O)CC(O)=O KCXVZYZYPLLWCC-UHFFFAOYSA-N 0.000 claims 1
- 229960001484 edetic acid Drugs 0.000 claims 1
- 238000006386 neutralization reaction Methods 0.000 claims 1
- 238000011217 control strategy Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of control method of large-scale flexible satellite high precision high stability degree, this method is included：Step 1：Using the performance of conventional PID controllers as reference, it is determined that the structure and performance output quantity of the closed-loop system for designing linear robust controller；Step 2：The frequency response characteristic of output is input to according to the closed-loop system of PID controller, weighting function is added in performance output end；Step 3：Weighting function and the state space equation of system itself are merged and constitute generalized ensemble, LMI is obtained by generalized ensemble, then is solved, high precision high stability degree controller is obtained；Step 4：By high precision high stability degree controller discretization, controller state amount and controller output quantity are updated according to discrete equation and control logic, to facilitate in-orbit realization.The method of the present invention makes controller sufficiently low in the bandwidth of closed-loop system, the non-modeling structure vibration such as flexible appendage will not be excited, the gesture stability of high precision high stability degree can also be realized to disturbing to external world and the model uncertainty of itself has good rejection ability.
Description
Technical field
The present invention relates to a kind of high precision high stability degree control technology of satellite, and in particular to a kind of large-scale flexible satellite is high
The control method of precision high stability.
Background technology
Traditional PID control (proportional integral differential control) is the main method that present satellites gesture stability is used, mesh
Most preceding emitted spacecraft is all to use PID control or advanced PID control.PID controller is simple in construction, adjustable
Parameter is less, and relatively low, highly versatile is required to system control model, and reliability is high, can be competent at satellite flexible appendage it is smaller or
The relatively low task of control accuracy requirement.But, the rejection ability disturbed to external world due to PID controller after adding controller with closing
The bandwidth of loop system is directly proportional, so when flexible appendage is larger, when vibration modal frequency is relatively low, in order to prevent controller is excited from scratching
The vibration of property annex, the bandwidth of closed-loop system can only be chosen in very low frequency range, cause the outer interference of whole system to press down
Ability processed dies down, so that higher control accuracy can not be obtained.
New space mission proposes higher requirement to the control accuracy and stability of satellite, but many at present large-scale scratches
Property some following problem for existing of satellite high-precision high stability control：
(1) there is relatively large deviation in the parameter such as rotary inertia, executing agency's setting angle, flexible vibration frequency, be unfavorable for control
The raising of precision processed；
(2) satellite size is larger and complicated, and the influence of the space such as gravity gradient torque disturbance torque is big；
(3) flexible vibration frequency is low, and vibration coupling influence is serious, in the case where that can not provide Active vibration suppression, adopts
With during conventional PID controllers, it is necessary to the bandwidth Design of controller it is as far as possible low, from without exciting the flexible vibration of satellite in itself,
But low bandwidth is unfavorable for improving control accuracy.
It is that one kind is widely used and the preferable linear robust control method of effect based on the theoretical control algolithm of linear robust.
This method exports and designed corresponding weighting function by the performance for selecting to need, the control of performance indications needed for final acquisition is met
Device processed, with strong points, robustness is good.
Therefore, controlled for the high precision high stability degree of big flexible satellite, although PID control can meet index at this stage
It is required that, but still suffering from above mentioned problem, it is necessary to take into account method is calculated in more advanced robust control, is the upgrading and extension of task in future
Laid in.
The content of the invention
It is an object of the invention to provide a kind of control method of large-scale flexible satellite high precision high stability degree, this method is solved
The problem of prior art low bandwidth is unfavorable for improving control accuracy, based on technical conditions on existing star, defends according to large-scale flexibility
The mission requirements of star, it is considered to sensor and executing agency's limitation, make controller sufficiently low in the bandwidth of closed-loop system, will not excite
While the vibration of the non-modeling structure such as flexible appendage, additionally it is possible to disturb to external world and the model uncertainty of itself have it is good
Good rejection ability, realizes the gesture stability of high precision high stability degree.
In order to achieve the above object, the invention provides a kind of controlling party of large-scale flexible satellite high precision high stability degree
Method, this method is included：
Step 1：According to the characteristics of mission requirements and plant model, using the performance of conventional PID controllers as reference, adopt
PID controller is designed with classical control theory；
Step 2：Referred to the closed-loop system in PID controller, the different inputs for drawing the system arrive output end
Closed loop frequency response amplitude frequency curve figure, and the closed-loop system structure that linear robust controller is used is built based on this, choose
Performance exports and designs weighting function；
Step 3：The state space equation of the transmission function and system itself of weighting function is merged and constitutes generalized ensemble, is led to
Cross generalized ensemble and obtain LMI, then solve LMI, obtain high precision high stability degree controller；
Step 4：Suitable controlling cycle is chosen, by high precision high stability degree controller discretization, discrete equation is obtained,
In the controlling cycle, high precision high stability degree controller software constantly updates controller state according to discrete equation and control logic
Amount and controller output quantity, designed control algolithm is realized by spaceborne computer；
In step 4, described controller input quantity is included：Attitude information, angular velocity information.
In step 1 and step 2, based on conventional PID controllers, feedovered according to serials control and disturbance state observation
The closed loop frequency response feature of two kinds of improvement control strategies, builds the closed-loop system structure of two kinds of linear robust controllers of design.
In two kinds of closed-loop systems, according to the structure of two kinds of described closed-loop systems, two kinds of closed-loop systems are determined respectively
Systematic uncertainty and/or exogenous disturbances amount and performance output quantity, the performance of the first described closed-loop system export total amount
Comprising：Attitude control error z1, controller output torque z2With actual posture z3；The exogenous disturbances total amount w of the first closed-loop system
=w ', w ' it is dummy satellite uncertainty and exogenous disturbances amount；The selection performance output quantity bag of second described of closed-loop system
Contain：Attitude control error z1With controller output torque z2；The exogenous disturbances total amount w=[w of second of closed-loop system1,w2], w1For
Exogenous disturbances amount, w2For additional input amount.
In step 2, the first closed-loop system is chosen, for control accuracy of the control system under low bandwidth, is made simultaneously
Controller has robustness to quality and flexible uncertainty, and the transmission function of design weighting function is：
In formula (1) and formula (2), W1And W2It is the transmission function of weighting function, k1For W1Adjustable parameter, k2For W2Can
Parameter is adjusted, s is the multiple parameter after Laplace is converted.
In step 2, second of closed-loop system is chosen, for the integral characteristic of control system, is had to low-frequency disturbance torque
The effect of observation, design weighting function transmission function be：
In formula (3) and formula (4), W1And W2It is the transmission function of weighting function, k1For W1Adjustable parameter, k2For W2Can
Parameter is adjusted, s is the multiple parameter after Laplace is converted.
In step 3, the oneself state space equation of described controlled device is：
Formula (5) is system state equation, and formula (6) is system measurements equation, and formula (7) is systematic function output equation, wherein,
X is the quantity of state of controlled device, and z is over-all properties output quantity, and y is controller input quantity, and w is exogenous disturbances total amount, A, B1、B2、
C1、C2、D11、D12、D21And D22For the state space matrices of controlled device kinetic model, u is controller output quantity；First
Plant in closed-loop system, z=[z1,z2,z3]；In second of closed-loop system, z=[z1,z2]。
In step 3, the state-space expression of described weighting function satisfaction is：
Formula (8) is the state equation that weighting function is met, and formula (9) is the performance output equation that weighting function is met, wherein,
xzFor weighting function quantity of state, yzFor the output quantity of weighting function, Az、Bz、CzAnd DzIt is the state space expression of weighting function
The parameter matrix of formula.
In step 3, met according to the state space equation of described closed-loop system itself and described weighting function
State equation and performance output equation, obtained generalized ensemble is：
In step 3, described generalized ensemble obtains LMI using the elimination or variable substitutional method.
In step 4, described discretization equation is：
X (k+1)=AKx(k)+BKu(k) (13)
Y (k+1)=CKx(k)+DKu(k) (14)
Formula (13) is state discrete equation, and formula (14) is output performance discretization equation, wherein, x is controller state
Amount, y is controller input quantity, and k walks for more new law kth, Ak、Bk、CKAnd DkIt is controller parameter matrix, u exports for controller
Amount.
In step 4, sampling period and described controlling cycle are equal；Described attitude information is included：Attitude angle；It is described
Angular velocity information include：Attitude angular velocity；In two kinds of closed-loop systems, described controller input quantity y is equal to controlled device
Output quantity, described controller output quantity u is equal to the input quantity of controlled device；Described control logic is：
The first step：Whether be initial period, when the cycle is the initial period if judging current time controlling cycle, controller
The initial value of quantity of state is 0；When the cycle is not the initial period, controller when controller state amount is a upper end cycle
Quantity of state；
Second step：According to the controller output quantity and discretization equation of current time controlling cycle, the controlling cycle is calculated
The controller state amount of interior subsequent time；
3rd step：Judge whether the cycle terminates, the cycle does not terminate, by state discrete equation, continue to calculate and be somebody's turn to do
The controller state amount of subsequent time in controlling cycle, to the end cycle；The end cycle, the control calculated with the end cycle
Device quantity of state processed is as the initial value of the controller state amount of next controlling cycle, and controlled device when calculating the end cycle is defeated
Output, and enter next loop cycle first step to the 3rd step.
The control method of the large-scale flexible satellite high precision high stability degree of the present invention, solves prior art low bandwidth unfavorable
The problem of control accuracy is improved, with advantages below：
The control method of the present invention characterizes external interference and model uncertainty to system by choosing performance output
Influence, and weighting function is designed, according to H∞Norm requirement obtains linear robust controller so that interference and uncertainty are input to
The gain Norm minimum of performance output.The selection of design method and parameter is more targeted, and there is gained controller similar PID to control
The form of additivity observer processed, before being estimated the model uncertainty of controlled system and being carried out to disturbance torque
Feedback compensation, can make full use of limited sensor information and the ability of executing agency, excavate the potentiality of control system, and realization is defended
Star control accuracy and stability are greatly improved.
Brief description of the drawings
Fig. 1 is the flow chart of the control method of the present invention.
Fig. 2 is the structural representation of the first closed-loop system of the present invention.
Fig. 3 is the structural representation of second of closed-loop system of the present invention.
Fig. 4 is the transmission function W of weighting function in the first closed-loop system of the invention1And W2Frequency response curve.
Fig. 5 is the transmission function W of weighting function in second of closed-loop system of the invention1And W2Frequency response curve.
Fig. 6 is the control logic figure in the controlling cycle of the present invention.
The attitude error curve that Fig. 7 obtains for the semi physical experiment of the embodiment of the present invention 1.
The flexible mode displacement error curve that Fig. 8 obtains for the semi physical experiment of the embodiment of the present invention 1.
Embodiment
Technical scheme is described further below in conjunction with drawings and examples.
As shown in figure 1, the flow chart of the control method for the present invention, this method is included：
Step 1：According to mission requirements and controlled device feature, using the performance of conventional PID controllers as reference, using classics
Control theory designs PID controller；
Step 2：Referred to the closed-loop system in PID controller, the different inputs for drawing the system arrive output end
Closed loop frequency response amplitude frequency curve figure, and the closed-loop system structure that linear robust controller is used is built based on this, choose
Performance exports and designs weighting function；
Step 3：The state space equation of the transmission function and system itself of weighting function is merged and constitutes generalized ensemble, is led to
Cross generalized ensemble and obtain LMI, then solve LMI, obtain high precision high stability degree controller；
Step 4：Suitable controlling cycle is chosen, by high precision high stability degree controller discretization, discrete equation is obtained,
In the controlling cycle, high precision high stability degree controller software constantly updates controller state according to discrete equation and control logic
Amount and controller output quantity, designed control algolithm is realized by spaceborne computer.
In step 4, described controller input quantity is included：Attitude information, angular velocity information.
In step 1 and step 2, based on the PID controller in classical control theory, it is considered to conventional improvement PID
Controller, the closed loop frequency response feature of the improvement control strategy feedovered according to serials control and disturbance-observer, builds two kinds and closes
The input/output structure of loop system is controlled device design, and the first closed-loop system is designed according to cascade control strategy；Second
Closed-loop system is designed according to the control strategy of disturbance state observer.In two kinds of closed-loop systems, according to two kinds of closed-loop systems
The systematic uncertainty and/or exogenous disturbances amount and performance output quantity of structure, respectively two kinds of closed-loop systems of determination.
As shown in Fig. 2 the structural representation of the first closed-loop system for the present invention, the design class of the first closed-loop system
It is similar to cascade control strategy, i.e. inner ring bandwidth high, interference rejection capability is strong, and outer shroud bandwidth is low, (such as star is quick for reduction attitude transducer
Sensor) influence of noise.In order to realize this target, the w=w ' of the first closed-loop system, w ' is model uncertainty and interference
Input quantity, its performance output quantity is included：Attitude control error z1, actual posture z3With controller output torque z2, K (s) is control
Device transmission function.G0(s) it is nominal system transter (not considering probabilistic preferable dummy satellite), Δ is normalizing
Multiplying property after change is uncertain.
As shown in figure 3, the structural representation of second of closed-loop system for the present invention, the design class of second of closed-loop system
The control strategy of disturbance state observer is similar to, by observing low-frequency disturbance and feedforward compensation improves control accuracy.For reality
This existing target, the w=[w of second of closed-loop system1,w2], w1For exogenous disturbances amount, w2For additional input amount, w2It is for convenience
The input quantity that controller is solved and additionally added, second of Performance of Closed Loop System output quantity is included：Attitude control error z1And control
Device output torque z processed2。
In the first closed-loop system structure, z1The control accuracy and antijamming capability of reflection system, i.e., system is low
The performance of frequency range；z2Reflect the size of control moment output, it is considered to which the output can be played a part of controlling output gain amplitude limit, prevent
Only the control moment of controller output is excessive；z3Reflection system is to the robustness of model uncertainty, i.e., uncertain to high frequency
Rejection ability.
In second of closed-loop system structure, z1The control accuracy of reflection system, in order to improve control essence under low bandwidth
Degree, weighting function needs the property with integration；z2Reflect control bandwidth.Second of closed-loop system does not consider flexibility in design
Uncertainty, being checked whether after having designed by analysis can suppress uncertain.Can be with according to the characteristics of different PID controllers
Using different systems, so the performance output quantity implication chosen is also different, it can be needed during per secondary design according to task and engineering
Experience selects system.
In step 2, the first closed-loop system is chosen, in order that system (is equivalent to the outer shroud of serials control in low bandwidth
Bandwidth, for preventing sensor noise from causing controller to vibrate, causes flexible appendage significantly to vibrate) under have higher control essence
Degree, while controller can have robustness to quality and flexible uncertainty as far as possible, designs the transmission function of weighting function
For：
In formula (1) and formula (2), k1For W1Adjustable parameter, k2For W2Adjustable parameter, s be Laplace convert (La Pula
This conversion) after multiple parameter.As shown in figure 4, the present invention the first closed-loop system in weighting function transmission function W1And W2's
Frequency response curve, it arrives controller output quantity y's and controller input quantity u for the exogenous disturbances total amount w (i.e. w ') of setting
The frequency response upper bound.Pass through W1The frequency response that exogenous disturbances total amount w (i.e. w ') arrives controller output quantity y can be limited, is suppressed dry
Disturb the influence to controller output quantity y.Pass through W2Exogenous disturbances total amount w (i.e. w ') can be limited to controller input quantity u (controling powers
Square) frequency response, prevent unit model high frequency uncertainty from producing the larger control moment influence stability of a system.By adjusting
Save k1、k2, frequency response curve can be further adjusted, to meet design requirement.
In step 2, second of closed-loop system is chosen, in order that system has certain integral characteristic, can be to low frequency
Disturbance torque plays a part of observation, and the transmission function of design weighting function is：
In formula (3) and formula (4), k1、k2Implication and act on, k identical with the first system1For W1Adjustable parameter, k2For
W2Adjustable parameter, s be Laplace convert (Laplace transform) after multiple parameter.Second of closed-loop system is weighted in selection
Do not account for needing to be analyzed flexible uncertain to examine after the completion of flexible probabilistic influence, controller design during function
Whether system can be caused unstable.
As shown in figure 5, the weighting function W of second of closed-loop system for the present invention1And W2Frequency response curve.It is logical
Cross W1Exogenous disturbances amount w can be limited1To controller output quantity y frequency response, suppress influence of the interference to controller output quantity y.
Pass through W2Exogenous disturbances amount w can be limited1To the frequency response of controller input quantity u (i.e. control moment), the band of closed-loop system is limited
Width, the passive influence for suppressing model uncertainty.
In step 3, the oneself state space equation of controlled device is：
Formula (5) is system state equation, and formula (6) is system measurements equation, and formula (7) is systematic function output equation, wherein,
X is the quantity of state of controlled device, and z is over-all properties output quantity, and y is controller input quantity, and w is exogenous disturbances total amount, A, B1、B2、
C1、C2、D11、D12、D21And D22, can be directly according to system mathematic model for the state space matrices of controlled device kinetic model
And the transmission function of weighting function is obtained, u is controller output quantity；In the first closed-loop system, z=[z1,z2,z3]；
In second of closed-loop system, z=[z1,z2]。
In step 3, the state-space expression of weighting function satisfaction is：
Formula (8) is the state equation that weighting function is met, and formula (9) is the performance output equation that weighting function is met, wherein,
xzFor weighting function quantity of state, yzFor the output quantity of weighting function, z is that performance exports total amount, Az、Bz、CzAnd DzIt is weighting letter
The parameter matrix (being directly obtained by the transmission function of above-mentioned weighting function) of several state-space expressions.
In step 3, the state equation and property met according to the state space equation of closed-loop system itself and weighting function
Can output equation, obtained generalized ensemble is：
In step 3, generalized ensemble obtains LMI using the elimination or variable substitutional method.
In step 4, discretization equation is：
X (k+1)=AKx(k)+BKu(k) (13)
Y (k+1)=CKx(k)+DKu(k) (14)
Formula (13) is state discrete equation, and formula (14) is output performance discretization equation, wherein, x is controller state
Amount, y is controller input quantity (output quantity of controlled device), and k walks for more new law kth, Ak、Bk、CKAnd DkIt is controller parameter
Matrix (is directly obtained) by the software for solving LMI, and u is controller output quantity (input quantity of controlled device).
In step 4, sampling period and controlling cycle are equal；Controller input quantity is attitude angle θ and attitude angular velocity
Controller output quantity is control moment.After satellite enters equilibrium mode, obtained by star sensor and gyro by Kalman filter
To current attitude angle information and angular velocity information, and by the feedback of the information to controller.Controller sampling attitude information when
Carve, be also the initial time (initially entering the initial period) of a control circulation.In two kinds of closed-loop systems, controller input quantity
Y is equal to the output quantity of controlled device, and controller output quantity u is equal to the input quantity of controlled device.As shown in fig. 6, to be of the invention
Control logic in control logic figure in one controlling cycle, step 4 is：
The first step：Whether be initial period, when the cycle is the initial period if judging current time controlling cycle, controller
Quantity of state initial value is 0；When the cycle is not the initial period, controller state amount was the controller state amount in a upper cycle；
Second step：According to the controller output quantity and discretization equation of current time controlling cycle, the controlling cycle is calculated
The controller state amount of interior subsequent time；
3rd step：Judge whether the cycle terminates, the cycle does not terminate, by state discrete equation, continue to calculate and be somebody's turn to do
The controller state amount of subsequent time in controlling cycle, to the end cycle；The end cycle, the control calculated with the end cycle
Device quantity of state processed is as the initial value of the controller state amount of next controlling cycle, and controlled device when calculating the end cycle is defeated
Output (controller input quantity), and enter next loop cycle first step to the 3rd step.
Embodiment 1
Step 1-3 according to the present invention obtains high precision high stability degree controller, then controls high precision high stability degree
Device discretization, obtains above-mentioned discrete equation.
Set sampling period tnWith controlling cycle TsIt is equal, and conventional PID controllers are at the time of sample attitude information,
It is also the initial time (initially entering the initial period) of a control circulation.
In sampling instant tn, t is obtained by computer samplingnAttitude angle θ (the t of moment satellite pitch axisn) and angular velocity informationAs controlled device input quantity (controller output quantity u), i.e.,
Wherein, n represents n-th of sampling (control) cycle from controller action.Choose a time index amount k, initial value
For 0, u (0)=u (t are maden).If during the initial period, i.e. n=0, then taking x (0)=0, x (0)=x is then taken in remaining controlling cycle
(tn), x (tn) for a upper controlling cycle update after controller state amount.By controlling cycle TsN number of segmentation, i.e. k=0 are divided into,
1 ..N, t (0)=tn, t (N)=tn+1, it means that the state of controller will update n times in each controlling cycle.Each
During secondary renewal, the quantity of state of controller is updated by discretization equation, i.e., at each renewal time t (k) place, all with u
(tn) as input u (k), the state x (k+1) for obtaining next renewable time t (k+1) is calculated, until x (N) is obtained, further according to such as
Lower discretization equation：
Y (N)=CKx(N)+DKu(N)
Obtain the controlled device output quantity y (t of current control periodn)=y (N) (controller input quantity), quantity of state x (N)
As the controller state amount initial value x (0) of next controlling cycle, by the effect of feedforward compensation, real-time update is realized, greatly
Amplitude improves the precision and stability of satellite control.
As shown in fig. 7, for the obtained attitude error curve of semi physical experiment of the embodiment of the present invention 1, (X, Y, Z are represented respectively
The control error of roll angle, the angle of pitch and yaw angle), as shown in figure 8, testing what is obtained for the semi physical of the embodiment of the present invention 1
Flexible mode displacement error curve, it can be seen that compared with the current in-orbit PID controller used, final carriage error is less than
0.002 degree, less than 0.01 degree of conventional PID controllers, control accuracy and the passive inhibition to flexible vibration have aobvious
Write and improve.
In summary, the control method of large-scale flexible satellite high precision high stability degree of the invention, this method can be to dry
The uncertainty for disturbing torque and unit model is estimated and carries out feedforward compensation to disturbance torque, can more make full use of limited
Sensor information and executing agency ability, excavate the potentiality of control system, realize the big of satellite control accuracy and stability
Width is improved.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of control method of large-scale flexible satellite high precision high stability degree, it is characterised in that this method is included：
Step 1：According to mission requirements and controlled device feature, using the performance of conventional PID controllers as reference, using classical control
Theoretical Design PID controller；
Step 2：Referred to the closed-loop system of PID controller, draw the different inputs of the system to the closed loop frequency of output end
Rate responds amplitude frequency curve figure, and builds the closed-loop system structure that linear robust controller is used based on this, chooses performance defeated
Go out and design weighting function；
Step 3：The state space equation of the transmission function and system itself of weighting function is merged and constitutes generalized ensemble, by wide
Adopted system obtains LMI, then solves LMI, obtains high precision high stability degree controller；
Step 4：Suitable controlling cycle is chosen, by high precision high stability degree controller discretization, discrete equation is obtained, in the control
In cycle processed, high precision high stability degree controller software according to discrete equation and control logic constantly update controller state amount and
Controller output quantity, designed control algolithm is realized by spaceborne computer；
In step 4, described controller input quantity is included：Attitude information, angular velocity information.
2. the control method of large-scale flexible satellite high precision high stability degree according to claim 1, it is characterised in that in step
In rapid 1 neutralization procedure 2, based on conventional PID controllers, improve and control according to two kinds of serials control and disturbance state observation feedforward
The closed loop frequency response feature of strategy is made, two kinds of closed-loop system structures of described linear robust controller are built respectively.
3. the control method of large-scale flexible satellite high precision high stability degree according to claim 2, it is characterised in that according to
The structure of two kinds of described closed-loop systems, determine respectively the systematic uncertainty and/or exogenous disturbances amount of two kinds of closed-loop systems with
And performance output quantity；
The performance output total amount of the first described closed-loop system is included：Attitude control error z1, controller output torque z2And reality
Border posture z3；Exogenous disturbances the total amount w=w ', w ' of the first closed-loop system are dummy satellite uncertainty and exogenous disturbances amount；
The selection performance output quantity of second described of closed-loop system is included：Attitude control error z1With controller output torque z2；
The exogenous disturbances total amount w=[w of second of closed-loop system1,w2], w1For exogenous disturbances amount, w2For additional input amount.
4. the control method of large-scale flexible satellite high precision high stability degree according to claim 3, it is characterised in that in step
In rapid 2, the first closed-loop system is chosen, for control accuracy of the control system under low bandwidth, while making controller to quality
There is robustness with flexible uncertainty, the transmission function of design weighting function is：
<mrow>
<msub>
<mi>W</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<msub>
<mi>k</mi>
<mn>1</mn>
</msub>
<mfrac>
<mrow>
<mn>15.92</mn>
<mi>s</mi>
<mo>+</mo>
<mn>10</mn>
</mrow>
<mrow>
<mn>15.92</mn>
<mi>s</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>W</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<msub>
<mi>k</mi>
<mn>2</mn>
</msub>
<mfrac>
<mrow>
<mn>25.33</mn>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<mn>3.183</mn>
<mi>s</mi>
<mo>+</mo>
<mn>0.1</mn>
</mrow>
<mrow>
<mn>2.533</mn>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<mn>3.183</mn>
<mi>s</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula (1) and formula (2), W1And W2It is the transmission function of weighting function, k1For W1Adjustable parameter, k2For W2Adjustable ginseng
Number, s is the multiple parameter after Laplace is converted.
5. the control method of large-scale flexible satellite high precision high stability degree according to claim 3, it is characterised in that in step
In rapid 2, second of closed-loop system is chosen, for the integral characteristic of control system, plays the role of observation to low-frequency disturbance torque, if
Meter weighting function transmission function be：
<mrow>
<msub>
<mi>W</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<msub>
<mi>k</mi>
<mn>1</mn>
</msub>
<mfrac>
<mrow>
<mi>s</mi>
<mo>+</mo>
<mn>0.2</mn>
</mrow>
<mrow>
<mi>s</mi>
<mo>+</mo>
<mn>0.0001</mn>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>W</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<msub>
<mi>k</mi>
<mn>2</mn>
</msub>
<mfrac>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
<mrow>
<mn>1</mn>
<mo>&times;</mo>
<msup>
<mn>10</mn>
<mrow>
<mo>-</mo>
<mn>8</mn>
</mrow>
</msup>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<mn>2</mn>
<mo>&times;</mo>
<msup>
<mn>10</mn>
<mrow>
<mo>-</mo>
<mn>4</mn>
</mrow>
</msup>
<mi>s</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
1
In formula (3) and formula (4), W1And W2It is the transmission function of weighting function, k1For W1Adjustable parameter, k2For W2Adjustable ginseng
Number, s is the multiple parameter after Laplace is converted.
6. the control method of the large-scale flexible satellite high precision high stability degree according to claim 4 or 5, it is characterised in that
In step 3, the oneself state space equation of described controlled device is：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mo>=</mo>
<mi>A</mi>
<mi>x</mi>
<mo>+</mo>
<msub>
<mi>B</mi>
<mn>1</mn>
</msub>
<mi>w</mi>
<mo>+</mo>
<msub>
<mi>B</mi>
<mn>2</mn>
</msub>
<mi>u</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mover>
<mi>z</mi>
<mo>~</mo>
</mover>
<mo>=</mo>
<msub>
<mi>C</mi>
<mn>1</mn>
</msub>
<mi>x</mi>
<mo>+</mo>
<msub>
<mi>D</mi>
<mn>11</mn>
</msub>
<mi>w</mi>
<mo>+</mo>
<msub>
<mi>D</mi>
<mn>12</mn>
</msub>
<mi>u</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>y</mi>
<mo>=</mo>
<msub>
<mi>C</mi>
<mn>2</mn>
</msub>
<mi>x</mi>
<mo>+</mo>
<msub>
<mi>D</mi>
<mn>21</mn>
</msub>
<mi>w</mi>
<mo>+</mo>
<msub>
<mi>D</mi>
<mn>22</mn>
</msub>
<mi>u</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Formula (5) is system state equation, and formula (6) is system measurements equation, and formula (7) is systematic function output equation, wherein, x quilts
The quantity of state of object is controlled, z is over-all properties output quantity, and y is controller input quantity, and w is exogenous disturbances total amount, A, B1、B2、C1、
C2、D11、D12、D21And D22For the state space matrices of controlled device kinetic model, u is controller output quantity；
In the first closed-loop system, z=[z1,z2,z3]；In second of closed-loop system, z=[z1,z2]。
7. the control method of large-scale flexible satellite high precision high stability degree according to claim 6, it is characterised in that in step
In rapid 3, the state-space expression that described weighting function is met is：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>z</mi>
</msub>
<mo>=</mo>
<msub>
<mi>A</mi>
<mi>z</mi>
</msub>
<msub>
<mi>x</mi>
<mi>z</mi>
</msub>
<mo>+</mo>
<msub>
<mi>B</mi>
<mi>z</mi>
</msub>
<mover>
<mi>z</mi>
<mo>~</mo>
</mover>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>y</mi>
<mi>z</mi>
</msub>
<mo>=</mo>
<msub>
<mi>C</mi>
<mi>z</mi>
</msub>
<msub>
<mi>x</mi>
<mi>z</mi>
</msub>
<mo>+</mo>
<msub>
<mi>D</mi>
<mi>z</mi>
</msub>
<mover>
<mi>z</mi>
<mo>~</mo>
</mover>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>(</mo>
<mn>9</mn>
<mo>)</mo>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Formula (8) is the state equation that weighting function is met, and formula (9) is the performance output equation that weighting function is met, wherein, xzFor
Weighting function quantity of state, yzFor the output quantity of weighting function, Az、Bz、CzAnd DzIt is the state-space expression of weighting function
Parameter matrix.
8. the control method of large-scale flexible satellite high precision high stability degree according to claim 7, it is characterised in that in step
In rapid 3, the state equation and property met according to the state space equation of described closed-loop system itself and described weighting function
Can output equation, obtained generalized ensemble is：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>z</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mi>A</mi>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>B</mi>
<mi>z</mi>
</msub>
<msub>
<mi>C</mi>
<mn>1</mn>
</msub>
</mrow>
</mtd>
<mtd>
<msub>
<mi>A</mi>
<mi>z</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mi>x</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mi>z</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>B</mi>
<mn>1</mn>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>B</mi>
<mi>z</mi>
</msub>
<msub>
<mi>D</mi>
<mn>11</mn>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mi>w</mi>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>B</mi>
<mn>2</mn>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>B</mi>
<mi>z</mi>
</msub>
<msub>
<mi>D</mi>
<mn>12</mn>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mi>u</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>(</mo>
<mn>10</mn>
<mo>)</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>z</mi>
<mo>=</mo>
<mo>&lsqb;</mo>
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>D</mi>
<mi>z</mi>
</msub>
<msub>
<mi>C</mi>
<mn>1</mn>
</msub>
</mrow>
</mtd>
<mtd>
<msub>
<mi>C</mi>
<mi>z</mi>
</msub>
</mtd>
</mtr>
</mtable>
<mo>&rsqb;</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mi>x</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mi>z</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<msub>
<mi>D</mi>
<mi>z</mi>
</msub>
<msub>
<mi>D</mi>
<mn>11</mn>
</msub>
<mo>&CenterDot;</mo>
<mi>w</mi>
<mo>+</mo>
<msub>
<mi>D</mi>
<mi>z</mi>
</msub>
<msub>
<mi>D</mi>
<mn>12</mn>
</msub>
<mo>&CenterDot;</mo>
<mi>u</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>(</mo>
<mn>11</mn>
<mo>)</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>y</mi>
<mo>=</mo>
<mo>&lsqb;</mo>
<mtable>
<mtr>
<mtd>
<msub>
<mi>C</mi>
<mn>2</mn>
</msub>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
</mtable>
<mo>&rsqb;</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mi>x</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mi>z</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<msub>
<mi>D</mi>
<mn>21</mn>
</msub>
<mo>&CenterDot;</mo>
<mi>w</mi>
<mo>+</mo>
<msub>
<mi>D</mi>
<mn>22</mn>
</msub>
<mo>&CenterDot;</mo>
<mi>u</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>(</mo>
<mn>12</mn>
<mo>)</mo>
<mo>;</mo>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
In step 3, described generalized ensemble obtains LMI using the elimination or variable substitutional method.
9. the control method of large-scale flexible satellite high precision high stability degree according to claim 8, it is characterised in that in step
In rapid 4, described discretization equation is：
X (k+1)=AKx(k)+BKu(k) (13)
Y (k+1)=CKx(k)+DKu(k) (14)
Formula (13) is state discrete equation, and formula (14) is output performance discretization equation, wherein, x is controller state amount, y
For controller input quantity, k walks for more new law kth, Ak、Bk、CKAnd DkIt is controller parameter matrix, u is controller output quantity.
10. the control method of large-scale flexible satellite high precision high stability degree according to claim 9, it is characterised in that
In step 4, sampling period and described controlling cycle are equal；Described attitude information is included：Attitude angle；Described angular speed letter
Breath is included：Attitude angular velocity；
In two kinds of closed-loop systems, described controller input quantity y is equal to the output quantity of controlled device, described controller output
Measure the input quantity that u is equal to controlled device；
Described control logic is：
The first step：Whether be initial period, when the cycle is the initial period if judging current time controlling cycle, controller state
The initial value of amount is 0；When the cycle is not the initial period, controller state when controller state amount is a upper end cycle
Amount；
Second step：According to the controller output quantity and discretization equation of current time controlling cycle, under calculating in the controlling cycle
The controller state amount at one moment；
3rd step：Judge whether the cycle terminates, the cycle does not terminate, by state discrete equation, continue to calculate the control
The controller state amount of subsequent time in cycle, to the end cycle；The end cycle, the controller calculated with the end cycle
Quantity of state calculates the controlled device output during end cycle as the initial value of the controller state amount of next controlling cycle
Amount, and enter next loop cycle first step to the 3rd step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710532845.9A CN107168359A (en) | 2017-07-03 | 2017-07-03 | A kind of control method of large-scale flexible satellite high precision high stability degree |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710532845.9A CN107168359A (en) | 2017-07-03 | 2017-07-03 | A kind of control method of large-scale flexible satellite high precision high stability degree |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107168359A true CN107168359A (en) | 2017-09-15 |
Family
ID=59827509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710532845.9A Pending CN107168359A (en) | 2017-07-03 | 2017-07-03 | A kind of control method of large-scale flexible satellite high precision high stability degree |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107168359A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020360A (en) * | 2017-10-23 | 2018-05-11 | 上海卫星工程研究所 | The high-precision semi physical test method that disturbance torque compensates on star |
| CN108808682A (en) * | 2018-06-01 | 2018-11-13 | 三峡大学 | Single three based on compound robust control mix more microgrid voltage control methods |
| CN109507875A (en) * | 2019-01-08 | 2019-03-22 | 哈尔滨工业大学 | A kind of Euler's spinning satellite attitude maneuver passs rank saturation PID control method |
| CN110733668A (en) * | 2019-10-16 | 2020-01-31 | 中山大学 | active vibration suppression method for flexible satellite based on component force synthesis and fixed time convergence |
| CN113859586A (en) * | 2021-09-17 | 2021-12-31 | 北京空间机电研究所 | On-orbit automatic adjustment method for control parameters of servo control system of space remote sensor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040193292A1 (en) * | 2003-03-26 | 2004-09-30 | The Boeing Company | Robust spacecraft controller and method for designing same |
| CN104714407A (en) * | 2013-12-17 | 2015-06-17 | 北京自动化控制设备研究所 | PID/H-infinity control method for rotation mechanism |
| CN105468007A (en) * | 2015-12-02 | 2016-04-06 | 哈尔滨工业大学 | Flexible satellite locus linearization attitude control method based on disturbance observer |
-
2017
- 2017-07-03 CN CN201710532845.9A patent/CN107168359A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040193292A1 (en) * | 2003-03-26 | 2004-09-30 | The Boeing Company | Robust spacecraft controller and method for designing same |
| CN104714407A (en) * | 2013-12-17 | 2015-06-17 | 北京自动化控制设备研究所 | PID/H-infinity control method for rotation mechanism |
| CN105468007A (en) * | 2015-12-02 | 2016-04-06 | 哈尔滨工业大学 | Flexible satellite locus linearization attitude control method based on disturbance observer |
Non-Patent Citations (7)
| Title |
|---|
| 刘刚 等: "有大型挠性附件的卫星姿态线性鲁棒控制器设计研究", 《上海航天》 * |
| 刘海龙: "三轴角动量飞轮式卫星姿态***的鲁棒控制研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
| 梁永红: "带有挠性部件三轴稳定卫星鲁棒控制器研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
| 樊树军: "H_∞混合灵敏度设计问题仿真研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 武云丽 等: "带有大型挠性网状天线航天器的鲁棒H_∞控制方法", 《控制理论与应用》 * |
| 江琼 等: "H∞鲁棒控制与PID控制相结合的无人机飞行控制研究", 《宇航学报》 * |
| 胡萌 等: "一种带大挠性附件卫星的低阶鲁棒控制方法", 《空间控制技术与应用》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020360A (en) * | 2017-10-23 | 2018-05-11 | 上海卫星工程研究所 | The high-precision semi physical test method that disturbance torque compensates on star |
| CN108808682A (en) * | 2018-06-01 | 2018-11-13 | 三峡大学 | Single three based on compound robust control mix more microgrid voltage control methods |
| CN108808682B (en) * | 2018-06-01 | 2021-11-23 | 三峡大学 | Single-three-phase hybrid multi-microgrid voltage control method based on composite robust control |
| CN109507875A (en) * | 2019-01-08 | 2019-03-22 | 哈尔滨工业大学 | A kind of Euler's spinning satellite attitude maneuver passs rank saturation PID control method |
| CN109507875B (en) * | 2019-01-08 | 2022-03-04 | 哈尔滨工业大学 | Euler rotary satellite attitude maneuver hierarchical saturation PID control method |
| CN110733668A (en) * | 2019-10-16 | 2020-01-31 | 中山大学 | active vibration suppression method for flexible satellite based on component force synthesis and fixed time convergence |
| CN110733668B (en) * | 2019-10-16 | 2022-08-30 | 中山大学 | Flexible satellite active vibration suppression method based on component force synthesis and fixed time convergence |
| CN113859586A (en) * | 2021-09-17 | 2021-12-31 | 北京空间机电研究所 | On-orbit automatic adjustment method for control parameters of servo control system of space remote sensor |
| CN113859586B (en) * | 2021-09-17 | 2023-02-28 | 北京空间机电研究所 | On-orbit automatic adjustment method for control parameters of servo control system of space remote sensor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107168359A (en) | A kind of control method of large-scale flexible satellite high precision high stability degree | |
| CN108897226B (en) | The nonsingular sliding-mode control of MEMS gyroscope default capabilities based on interference observer | |
| CN105182984B (en) | The linear active disturbance rejection controller design and parameter tuning method of aircraft pitch attitude | |
| KR102021498B1 (en) | Design method of attitude control system for flight vehicle and computer program | |
| CN109189085A (en) | Spacecraft networked system attitude control method based on event triggering | |
| CN110806759A (en) | Aircraft route tracking method based on deep reinforcement learning | |
| CN102591212B (en) | Method for observing longitudinal motion state of aircraft by using time varying measurement delay output signal | |
| CN110376882A (en) | Pre-determined characteristics control method based on finite time extended state observer | |
| CN111538236B (en) | Aircraft longitudinal overload control method for realizing damping based on fractional order approximate differentiation | |
| CN106446424B (en) | A kind of unsteady aerodynamic force parameter prediction method | |
| CN106020221A (en) | Interference-resistant gesture control verification platform and interference-resistant gesture control verification method based on output feedback | |
| CN104267596B (en) | A kind of finite time decoupling control method of inverted pendulum | |
| CN105759827B (en) | Spacecraft attitude control system for suppressing unexpected flexible vibration | |
| CN105807780B (en) | A kind of anti-interference attitude control method and checking device based on flywheel output bias | |
| CN106483844A (en) | The implementation method of the electrohydraulic servo system adaptive location controller based on non linear robust | |
| CN104615130B (en) | Method for inhibiting position domain periodic interference of electromechanical servo system based on time sampling | |
| CN107121929A (en) | Robust reentry guidance method based on linear covariance model PREDICTIVE CONTROL | |
| CN107515612A (en) | Elastic vibration suppressing method based on side spray flow control | |
| CN102980580A (en) | No-gyro satellite gesture determination method based on tensor product multi-cell robust heavy hydrogen (H2) filtering | |
| CN105867138A (en) | Stable platform control method and device based on PID controller | |
| CN109062040A (en) | Predictive PID method based on the optimization of system nesting | |
| CN114611416A (en) | LS-SVM modeling method for nonlinear unsteady aerodynamic characteristics of missile | |
| CN106842953A (en) | A kind of depopulated helicopter self adaptation lower order controller | |
| Suh et al. | Modal filtering for control of flexible aircraft | |
| CN111679571B (en) | Given speed sliding mode self-adaptive tracking method of low-speed airship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170915 |