CN111532453B - Fixed-time anti-interference attitude control method for rigid body micro-nano satellite - Google Patents

Fixed-time anti-interference attitude control method for rigid body micro-nano satellite Download PDF

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CN111532453B
CN111532453B CN202010392004.4A CN202010392004A CN111532453B CN 111532453 B CN111532453 B CN 111532453B CN 202010392004 A CN202010392004 A CN 202010392004A CN 111532453 B CN111532453 B CN 111532453B
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魏新江
张慧凤
李新青
胡鑫
韩建
朱良宽
刘秀华
韩俊杰
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Abstract

The invention provides a fixed time anti-interference attitude control method for a rigid body micro-nano satellite. Firstly, analyzing multi-source interference received by a rigid micro-nano satellite, and establishing a dynamic model of a disturbed system on the basis; secondly, designing a self-adaptive interference observer aiming at periodic harmonic interference generated by unbalanced flywheel rotors in the operation of the rigid micro-nano satellite to perform online estimation; and finally, combining a control method based on an interference observer and a fixed time control theory to design a rigid body micro-nano satellite fixed time anti-interference attitude controller, and solving an observation gain matrix and a fixed time anti-interference attitude control gain matrix. The invention has the characteristics of determining the upper bound of the convergence time without depending on the initial value of the state of the micro-nano satellite and high anti-interference control precision, and can be used for anti-interference attitude control of the micro-nano satellite.

Description

Fixed-time anti-interference attitude control method for rigid body micro-nano satellite
Technical Field
The invention relates to a fixed-time anti-interference attitude control method for a rigid micro-nano satellite, which can be used for anti-interference attitude control of the micro-nano satellite.
Background
With the development of modern aerospace technology, tasks borne by satellites are more and more diversified, and performance requirements of a satellite attitude control system are higher and higher. However, satellites are subjected to high vacuum, strongly radiated space environments while in orbit, resulting in reduced performance of satellite attitude control systems, and thus it is becoming increasingly important to develop satellite attitude control methods with anti-jamming capabilities. However, in micro-nano satellite attitude control, the control input requires strict time response constraints. The existing infinite time convergence method has larger conservation on a rigid micro-nano satellite attitude system, and the initial requirement of micro-nano satellite attitude control on the system state is higher. In addition, in actual operation, the initial value of the micro-nano satellite state is difficult to obtain or estimate due to the influence of factors such as environment. Thus, to achieve time response constraints, a controller that is independent of the initial state of the system must be designed to ensure that the system is able to track the desired trajectory in a fixed time.
For the attitude control problem of the micro-nano satellite, a plurality of scholars also put forward different control methods, and common control algorithms mainly comprise a PID control method, a robust control method, an adaptive control method, a sliding mode control method, a fuzzy control method and the like. For example, cao Songyin and other researchers consider the uncertainty of system parameters for a micro-nano satellite attitude control system, and offset the influence of the interference and faults of the flywheel on the micro-nano satellite attitude control system through an interference observer; the patent application number CN201910169415.4 models interference based on T-S fuzzy, and provides a satellite attitude anti-interference fault-tolerant control method based on T-S fuzzy modeling, so that the system still has good robustness and reliability under the action of multi-source interference; the patent application number CN201910064067.4 considers the problem of cooperative work among a plurality of gesture control execution components and provides a multi-stage gesture control method of the remote sensing micro-nano satellite, so that the remote sensing satellite has the advantages of quick maneuvering response, strong robustness in steady state and high control precision.
The control strategies can achieve better control effects, but are realized based on the fact that time constraints are not included, and the influence of the time constraints on satellite attitude control in actual operation is not considered. In addition, in actual engineering, due to the influence of related factors such as environment or self conditions, the initial state of the system cannot be obtained or is difficult to estimate, so that the fixed time control irrelevant to the initial state is considered to be more practical.
Disclosure of Invention
The technical solution of the invention is as follows: the problem that the existing attitude control algorithm for the rigid body micro-nano satellite does not consider time response limitation is solved, and the fixed time anti-interference attitude control method is provided. The invention constructs a self-adaptive disturbance observer to carry out on-line estimation on disturbance in a control input channel, and designs a fixed-time anti-disturbance attitude controller to meet the requirement of time response of the rigid micro-nano satellite under the condition of not depending on an initial state.
The technical scheme of the invention is as follows: a fixed time anti-interference attitude control method for rigid micro-nano satellites. The method comprises the following steps: firstly, analyzing multi-source interference received by a rigid micro-nano satellite, and establishing a dynamic model of a disturbed system on the basis; secondly, designing a self-adaptive interference observer aiming at periodic harmonic interference generated by unbalanced flywheel rotors of the rigid micro-nano satellite in operation to perform online estimation; and finally, designing a fixed-time anti-interference attitude controller with a convergence time determination upper bound based on a control method of the interference observer and a fixed-time control theory, and solving an observation gain matrix and a fixed-time anti-interference attitude control gain matrix.
The method comprises the following specific steps:
(1) Establishing a dynamic model of a disturbed system aiming at multisource interference suffered by the rigid micro-nano satellite in the operation process;
the micro-nano satellite runs for a long time in a space environment, is easy to influence gravity gradient moment formed by the influence of earth gravity, geomagnetic moment formed by the mutual influence of an earth magnetic field and a satellite body magnetic field, aerodynamic moment formed by the earth atmosphere to block the satellite motion, space environment interference moment such as solar light pressure formed by solar radiation and the like, and periodic disturbance caused by unbalanced rotation of a flywheel rotor of the satellite in the running process. In addition, the satellites themselves may also have structural variations or uncertainties. For this, a dynamic model of the disturbed rigid body micro-nano satellite system is established:
Figure BDA0002485967180000031
wherein ,
Figure BDA0002485967180000032
for the system state vector, θ (t) is the satellite Euler angle, < >>
Figure BDA0002485967180000033
For satellite Euler angular velocity, < >>
Figure BDA0002485967180000034
Is the derivative of the system state x (t); u (t) is a system control input; a is that 0 ,B 0 and B1 Respectively known coefficient matrixes; d, d 1 (t) represents the uncertainty disturbance and the environmental disturbance moment caused by the satellite itself; d, d 0 (t) represents periodic disturbance generated by the rigid micro-nano satellite due to unbalance of a flywheel rotor in the running process, and represents harmonic disturbance with unknown frequency and amplitude, and is represented by the following model:
Figure BDA0002485967180000035
wherein w (t) is a state vector of the interference model,
Figure BDA0002485967180000036
is the derivative of the disturbance state w (t); m and N are matrices of unknown constants, where all eigenvalues of M are on the imaginary axis. The interference model is transformed based on a sylvester matrix equation to obtain the following form:
Figure BDA0002485967180000041
wherein z (t) is the transformed interference state,
Figure BDA0002485967180000042
is the derivative of z (t), G is a Hulvitz matrix, C is a constant matrix, and (G, C) is controllable, η T Is an unknown variable.
(2) Based on the step (1), a dynamic model of a disturbed system is established, an adaptive disturbance observer is constructed for periodic harmonic disturbance generated by unbalance of a flywheel rotor in the operation of the micro-nano satellite to perform on-line estimation, and a fixed time anti-disturbance attitude controller is designed by combining a control method based on the disturbance observer and a fixed time control theory.
Constructing an adaptive disturbance observer for periodic harmonic disturbance generated by unbalance of a flywheel rotor in the system model in the step (1):
Figure BDA0002485967180000043
where v (t) is the state where the auxiliary variable is a disturbance observer,
Figure BDA0002485967180000044
is the derivative of v (t), L is the adaptive disturbance observer gain matrix, satisfying LB 0 ＝C，/>
Figure BDA0002485967180000045
Is an adaptive parameter. />
Figure BDA0002485967180000046
Is an estimate of z (t),>
Figure BDA0002485967180000047
is interference d 0 An estimated value of (t), A 0 ,B 0 and B1 The system is characterized in that the system is a coefficient matrix preset in a dynamic model of a disturbed system, x (t) is a system state, and u (t) is a control input.
Combining a control method based on an interference observer and a fixed time control theory, the fixed time anti-interference attitude controller is designed as follows:
Figure BDA0002485967180000048
wherein
Figure BDA0002485967180000049
K 1 ,K 2 In order to control the gain matrix,
Figure BDA00024859671800000410
is a known symmetric matrix and p=x -1 ；/>
Figure BDA00024859671800000411
Is->
Figure BDA00024859671800000412
E (t) is the observation error; v (V) 1 ,V 2 Respectively by Q 1 (V 1 X (t))=0 and Q 2 (V 2 X (t))=0, Q 1 、Q 2 The method meets the following conditions:
Figure BDA0002485967180000051
wherein
Figure BDA0002485967180000052
Figure BDA0002485967180000053
v, μ is a fixed time parameter, n is the dimension of the system state, s is the dimension of the interference state, γ is the parameter to be designed,
Figure BDA0002485967180000054
I n is an n-dimensional identity matrix, I s Is an identity matrix in s dimension, diag { } represents a diagonal matrix.
Definition of the observed errore (t), the observed error system is obtained as follows:
Figure BDA0002485967180000055
wherein e (t) is said observation error, < >>
Figure BDA0002485967180000056
Is the derivative of e (t),>
Figure BDA0002485967180000057
substituting the fixed-time anti-interference attitude controller into the disturbed system to obtain a closed-loop system comprises the following steps:
Figure BDA0002485967180000058
then compounding the closed loop system with the observation error system to obtain a compound system as follows:
Figure BDA0002485967180000059
by equation LB 0 =c, solving the gain matrix L of the interference observer so that the tracking performance and convergence speed of the interference observer satisfy the set requirements. The gain matrix K of the anti-interference controller is adjusted by utilizing a linear matrix inequality method so as to control the rigid body micro-nano satellite attitude system in a fixed time anti-interference attitude to achieve the purpose of stabilization, namely, a positive fixed symmetric matrix exists
Figure BDA0002485967180000061
Matrix R 1 ,R 2 Constants ε and α such that the following matrix inequality holds
Figure BDA0002485967180000062
wherein
Figure BDA0002485967180000063
I v ＝diag{(1+v)I n ,I s },I μ ＝diag{I n ,(1+μ)I s The adaptive parameters are:
Figure BDA0002485967180000064
the invention has the beneficial effects that:
(1) The invention mainly considers the time response problem of the rigid micro-nano satellite to the control input in the operation, designs the fixed-time anti-interference attitude controller, and overcomes the limitation that the ideal convergence time cannot be achieved due to the existence of multi-source interference in the original design method.
(2) The invention designs a fixed time anti-interference attitude control method for a rigid body micro-nano satellite. By analyzing the properties and characteristics of multi-source interference suffered by the satellite in operation, an adaptive interference observer is constructed to estimate the satellite on line, and a fixed-time anti-interference attitude controller is designed by combining a control method based on the interference observer and a fixed-time control theory, so that the micro-nano satellite tracks a desired track in fixed time without depending on the initial state of the system, and compared with the prior art, the method has higher control precision and more definite time limit.
Drawings
FIG. 1 is a flow chart of a method for controlling the fixed time anti-interference attitude of a rigid micro-nano satellite.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
As shown in fig. 1, the invention provides a fixed time anti-interference attitude control method for a rigid micro-nano satellite, which is characterized in that firstly, a kinematic model of a disturbed system is established on the basis of analyzing periodic harmonic disturbance, self uncertainty and multisource interference caused by external environment interference force of the rigid micro-nano satellite caused by unbalance of a flywheel rotor during operation; then, an adaptive disturbance observer is designed for periodic harmonic disturbance caused by unbalanced flywheel rotors to perform online estimation; finally, the design of the fixed-time anti-interference attitude controller is carried out by combining a control method based on an interference observer and a fixed-time control theory, and an observation gain matrix and a fixed-time control gain matrix are solved. The invention realizes that the micro-nano satellite can track the expected track in fixed time without depending on the initial state of the satellite, has the characteristic of high anti-interference control precision, and can be used for the anti-interference attitude control of the rigid micro-nano satellite.
The specific implementation steps are as follows:
(1) Analyzing the influence of multi-source interference on the rigid micro-nano satellite, and establishing a dynamic model of a disturbed system;
Figure BDA0002485967180000081
wherein ,
Figure BDA0002485967180000082
is a system state vector; u (t) is a system control input; a is that 0 ,B 0 and B1 Respectively known coefficient matrixes; d, d 1 (t) represents the uncertainty disturbance and the environmental disturbance moment caused by the satellite itself; d, d 0 (t) represents periodic disturbance generated by unbalanced flywheel rotor of the rigid micro-nano satellite in the running process, and represents harmonic disturbance with unknown frequency and amplitude, and the periodic disturbance is represented by the following model:
Figure BDA0002485967180000083
wherein w (t) is a state vector of the interference model,
Figure BDA0002485967180000084
is the derivative of state w (t); m and N are unknown constant momentsAn array, where all eigenvalues of M are on the imaginary axis. The interference model is transformed based on a sylvester matrix equation to obtain the following form:
Figure BDA0002485967180000085
wherein z (t) is the transformed interference state,
Figure BDA0002485967180000086
is the derivative of z (t), G is a Hulvitz matrix, C is a constant matrix, and (G, C) is controllable, η T Is an unknown variable.
(2) Establishing a dynamic model of a disturbed system based on the step (1), and designing a self-adaptive disturbance observer for on-line estimation aiming at periodic harmonic disturbance generated by unbalanced flywheel rotor in satellite operation; and designing the fixed-time anti-interference attitude controller according to a control method based on the interference observer and a fixed-time control theory.
Designing an adaptive disturbance observer for periodic harmonic disturbance generated by unbalance of a flywheel rotor in the system model in the step (1):
Figure BDA0002485967180000091
/>
where v (t) is the state where the auxiliary variable is a disturbance observer,
Figure BDA0002485967180000092
for the derivative of v (t), L is the adaptive disturbance observer gain matrix, satisfying LB 0 ＝C，/>
Figure BDA0002485967180000093
Is adaptive parameter->
Figure BDA0002485967180000094
Is an estimate of z (t),>
Figure BDA0002485967180000095
is interference d 0 An estimate of (t).
Combining a control method based on an interference observer and a fixed time control theory, the fixed time anti-interference attitude controller is designed as follows:
Figure BDA0002485967180000096
wherein
Figure BDA0002485967180000097
K 1 ,K 2 For the control gain matrix to be determined,
Figure BDA0002485967180000098
is a known symmetric matrix and p=x -1 ；/>
Figure BDA0002485967180000099
Is->
Figure BDA00024859671800000910
E (t) is the observation error; v (V) 1 ,V 2 Respectively by Q 1 (V 1 X (t))=0 and Q 2 (V 2 X (t))=0, Q 1 、Q 2 The method meets the following conditions:
Figure BDA00024859671800000911
wherein
Figure BDA00024859671800000912
Figure BDA00024859671800000913
v, μ is a fixed time parameter, n is the dimension of the system state, s is the interference stateThe dimension, gamma, is the parameter to be designed,
Figure BDA00024859671800000914
defining an observation error e (t), and obtaining an observation error system as follows:
Figure BDA0002485967180000101
wherein e (t) is the observed error,
Figure BDA0002485967180000102
is the derivative of e (t),>
Figure BDA0002485967180000103
substituting the fixed-time anti-interference attitude controller into the original disturbed system to obtain a closed-loop system is as follows:
Figure BDA0002485967180000104
then compounding the closed loop system with the observation error system to obtain a compound system as follows:
Figure BDA0002485967180000105
by equation LB 0 =c, solving the gain matrix L of the interference observer so that the tracking performance and convergence speed of the interference observer satisfy the set requirements. The gain matrix K of the controller is adjusted by utilizing a linear matrix inequality method so as to calm the rigid body micro-nano satellite through fixed time anti-interference attitude control, namely, positive calm symmetric matrix exists
Figure BDA0002485967180000106
Matrix R 1 ,R 2 Constants ε and α such that the following matrix inequality holds
Figure BDA0002485967180000111
wherein
Figure BDA0002485967180000112
I v ＝diag{(1+v)I n ,I s },I μ ＝diag{I n ,(1+μ)I s The adaptive parameters are:
Figure BDA0002485967180000113
/>

Claims (4)

1. the fixed time anti-interference attitude control method for the rigid body micro-nano satellite is characterized by comprising the following steps of:
step 1: analyzing multisource interference suffered by the rigid body micro-nano satellite in the operation process, and establishing a dynamic model of a disturbed system on the basis of the multisource interference;
step 2: based on the dynamic model of the disturbed system established in the step 1, constructing a self-adaptive disturbance observer to carry out on-line estimation on periodic harmonic disturbance generated by unbalanced flywheel rotors of the rigid micro-nano satellite in the operation process;
step 3: combining a control method based on an interference observer and a fixed time control theory to design a fixed time anti-interference attitude controller, and solving an observation gain and a fixed time anti-interference attitude controller gain;
in the step 1, the dynamic model of the disturbed system is as follows:
Figure FDA0004105043510000011
wherein ,
Figure FDA0004105043510000012
representing a system state vector, ">
Figure FDA0004105043510000013
Is the derivative of x (t); u (t) is a system control input; a is that 0 ,B 0 and B1 Respectively known coefficient matrixes; d, d 1 (t) represents the uncertainty disturbance and the environmental disturbance moment caused by the satellite itself; d, d 0 And (t) represents periodic disturbance generated by the rigid micro-nano satellite due to unbalance of a flywheel rotor in the running process, and represents harmonic disturbance with unknown frequency and amplitude, and the periodic disturbance is represented by the following model:
Figure FDA0004105043510000014
wherein w (t) is a state vector of the interference model,
Figure FDA0004105043510000015
is the derivative of state w (t), M and N are unknown constant matrices, where all eigenvalues of M are on the imaginary axis; the interference model is transformed based on a sylvester matrix equation to obtain the following form:
Figure FDA0004105043510000021
wherein z (t) is the transformed interference state,
Figure FDA0004105043510000022
is the derivative of the disturbance state z (t), G is a Hulvitz matrix, C is a constant matrix, and (G, C) is controllable, η T Is an unknown variable.
2. The fixed time anti-interference attitude control method for rigid body micro-nano satellites according to claim 1, wherein the method comprises the following steps: in the step 2, the adaptive disturbance observer is constructed as follows:
Figure FDA0004105043510000023
where v (t) is the state of the disturbance observer,
Figure FDA0004105043510000024
is the derivative of v (t), L is the adaptive disturbance observer gain matrix, satisfying LB 0 ＝C，/>
Figure FDA0004105043510000025
Is adaptive parameter->
Figure FDA0004105043510000026
Is an estimate of z (t),>
Figure FDA0004105043510000027
is interference d 0 An estimate of (t).
3. The fixed time anti-interference attitude control method for rigid body micro-nano satellites according to claim 2, characterized in that: in the step 3, the fixed time anti-interference gesture controller is:
Figure FDA0004105043510000028
/>
wherein
Figure FDA0004105043510000029
K 1 ,K 2 In order to control the gain matrix,
Figure FDA00041050435100000210
is a known positive definite symmetric matrix and p=x -1 ；/>
Figure FDA00041050435100000211
Figure FDA00041050435100000212
Is->
Figure FDA00041050435100000213
E (t) is the observation error; v (V) 1 ,V 2 Respectively by->
Figure FDA00041050435100000214
Is->
Figure FDA00041050435100000215
Determining Q 1 、Q 2 The method meets the following conditions:
Figure FDA0004105043510000031
wherein
Figure FDA0004105043510000032
Figure FDA0004105043510000033
v, μ is a fixed time parameter, n is the dimension of the system state, s is the dimension of the interference state, I n ,I s Respectively representing an n-dimensional identity matrix and an s-dimensional identity matrix, wherein gamma is a parameter to be designed,
Figure FDA0004105043510000034
4. the method for controlling the fixed time anti-interference attitude of the rigid body micro-nano satellite according to claim 3, wherein the composite system comprising an observation error system and a closed loop system is required to be processed, firstly, the observation error system is defined, then the fixed time anti-interference attitude controller is brought into an original disturbed system to obtain the closed loop system, and finally, the composite system is obtained based on the closed loop system and the observation error system, and the method comprises the following steps:
(1) Defining an observation error e (t) to obtain an observation error system
Figure FDA0004105043510000035
Wherein e (t) is said observation error, < >>
Figure FDA0004105043510000036
Is the derivative of e (t),>
Figure FDA0004105043510000037
(2) Substituting the fixed-time anti-interference attitude controller into the original disturbed system to obtain a closed-loop system is as follows:
Figure FDA0004105043510000038
(3) Compounding the closed loop system with the observation error system to obtain a compound system which is as follows:
Figure FDA0004105043510000041
(4) By equation LB 0 C, solving a gain matrix L of the adaptive disturbance observer so that the tracking performance and the convergence speed of the observer meet the set requirements, and adjusting a gain matrix K of the fixed-time anti-disturbance attitude controller by using a linear matrix inequality method to calm the rigid micro-nano satellite through a fixed-time anti-disturbance attitude control strategy, namely, a positive calm symmetric matrix exists
Figure FDA0004105043510000042
Matrix R 1 ,R 2 Constants ε and α such that the following matrix inequality holds +.>
Figure FDA0004105043510000043
wherein
Figure FDA0004105043510000044
Figure FDA0004105043510000045
Figure FDA0004105043510000046
Figure FDA0004105043510000047
I v ＝diag{(1+v)I n ,I s },I μ ＝diag{I n ,(1+μ)I s The adaptive parameters are:
Figure FDA0004105043510000051
/>
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