CN112455726A - Low-orbit optical remote sensing satellite multi-point imaging rapid maneuvering control method - Google Patents

Low-orbit optical remote sensing satellite multi-point imaging rapid maneuvering control method Download PDF

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CN112455726A
CN112455726A CN202011434349.8A CN202011434349A CN112455726A CN 112455726 A CN112455726 A CN 112455726A CN 202011434349 A CN202011434349 A CN 202011434349A CN 112455726 A CN112455726 A CN 112455726A
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satellite
attitude
coordinate system
quaternion
angular velocity
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CN112455726B (en
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曲友阳
刘萌萌
李峰
童鑫
戴路
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Chang Guang Satellite Technology Co Ltd
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    • 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
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Abstract

A multi-point imaging fast maneuvering control method for a low-orbit optical remote sensing satellite belongs to the technical field of aerospace, and achieves that the attitude of the satellite is controlled to a desired value in the shortest time under the condition that the moment of a satellite reaction flywheel and the angular momentum thereof are limited, so that an optical load has a target in an imaging state. The method comprises the following steps: performing kinematic dynamics modeling on the low-orbit optical remote sensing satellite; a satellite attitude planning method; transforming the attitude planning result from the orbit coordinate system to an inertial coordinate system; establishing a satellite error kinematics kinetic equation by combining the attitude planning information; the attitude of the satellite is divided into an inner loop and an outer loop, a controller is established, and the multipoint imaging rapid maneuvering control of the low-orbit optical remote sensing satellite is realized. The method has the advantages that the method has the rapidity and the high-precision attitude stability of attitude maneuver, the satellite attitude can be converged to the planned attitude stably in the attitude maneuver process, the control method is simple in structure and easy to realize, and the method can be applied to engineering practice.

Description

Low-orbit optical remote sensing satellite multi-point imaging rapid maneuvering control method
Technical Field
The patent belongs to the technical field of aerospace, and particularly relates to a low-orbit optical remote sensing satellite multi-point imaging rapid maneuvering control method.
Background
With the rapid development of the low-orbit satellite constellation industry, the low-orbit optical remote sensing satellite becomes a pillar in the remote sensing information industry due to the high-quality and large-breadth imaging capability of the low-orbit optical remote sensing satellite. The maneuvering capability and the stability of the satellite attitude control system directly influence the imaging time and the imaging quality of the satellite, and are one of the important indexes of the optical remote sensing satellite system. In the field of satellite control engineering, the stability and the rapidity of a system are mutually contradictory, and the common control method is difficult to realize both the stability and the rapidity. Therefore, the research on the quick maneuvering control method of the low-orbit optical remote sensing satellite multi-point imaging is of great significance.
Creame and the like adopt a BCB type path planning scheme for an attitude maneuver path in a moon imaging task of a small American moon detector, but the control precision of the attitude maneuver path is difficult to meet the requirement of an optical remote sensing satellite. Michael et al propose a minimum time maneuver control method in a james weber space telescope control system, the attitude planning of which is continuous and smooth, and although good attitude control accuracy is ensured, maneuver time is prolonged. In addition, a plurality of schemes for determining the optimal path of the actual maneuvering of the satellite through a multi-objective optimization algorithm exist. The method can not realize high-precision quick maneuvering control of the optical remote sensing satellite under the condition that the moment and the angular momentum of a flywheel reacting with the satellite are limited.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a low-orbit optical remote sensing satellite multipoint imaging rapid maneuvering control method, which realizes that the satellite attitude is controlled to a desired value in the shortest time under the condition that the satellite reaction flywheel moment and the angular momentum thereof are limited, so that the optical load has the target of an imaging state.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a low-orbit optical remote sensing satellite multi-point imaging rapid maneuvering control method comprises the following steps:
the method comprises the following steps: performing kinematic dynamics modeling on the low-orbit optical remote sensing satellite: definition FIRepresenting an inertial coordinate system, FBRepresenting a satellite body coordinate system; satellite body coordinate system FBRelative to an inertial frame FIIs expressed as
Figure BDA0002827641690000021
Body coordinate system FBRelative inertial frame FIIs expressed as a unit quaternion
Figure BDA0002827641690000022
And satisfy the constraint condition
Figure BDA00028276416900000221
Wherein q is0Is the scalar part of a quaternion Q, Q ═ Q1,q2,q3) Is the vector portion of the quaternion Q,
Figure BDA0002827641690000023
representing an n-dimensional real vector space, the kinematic and kinetic equations of the satellite are:
Figure BDA0002827641690000024
Figure BDA0002827641690000025
in the formula:
Figure BDA0002827641690000026
the moment of inertia of the satellite is represented by a positive definite matrix; i is3Is a 3 × 3 identity matrix; u is the control moment of the reaction flywheel;
Figure BDA0002827641690000027
is the total angular momentum of the reaction flywheel;
Figure BDA0002827641690000028
as an antisymmetric matrix, for arbitrary vectors
Figure BDA0002827641690000029
Satisfy s (x) y ═ x × y, where x represents a vector cross product;
the expected attitude of the satellite is defined as the attitude direction of the coordinate system of the satellite body relative to the inertial coordinate system, and quaternion is carried out through the expected attitude
Figure BDA00028276416900000210
Represents; q. q.sd0Quaternion Q for the desired attitudedScalar part of qdQuaternion Q for the desired attitudedThe vector portion of (1); the attitude tracking error is defined as the error quaternion:
Figure BDA00028276416900000211
in the formula:
Figure BDA00028276416900000212
Figure BDA00028276416900000213
representing quaternion multiplication, qe0Is an error quaternion QeScalar part of qeIs an error quaternion QeThe vector portion of (1); the angular velocity tracking error is:
ωe＝ω-R(Qe)ωd
in the formula: omegadIs the desired angular velocity of the satellite; rotation matrix R (Q)e) The following relationships exist:
Figure BDA00028276416900000214
Figure BDA00028276416900000215
and satisfies the constraint condition | | | R (Q)e)||＝1；
Step two: the satellite attitude planning method comprises the following steps: definition FoShowing a trackCoordinate system, satellite body coordinate system FBRelative to the orbital coordinate system FoIs expressed as
Figure BDA00028276416900000216
Body coordinate system FBRelative orbit coordinate system FoUsing unit quaternion
Figure BDA00028276416900000217
Expressing and satisfying quaternion constraint conditions; the attitude of the satellite multi-point imaging task is that the satellite continuously performs side-sway maneuver; obtaining a satellite body coordinate system F through attitude planningBRelative orbit coordinate system FoDesired attitude quaternion
Figure BDA00028276416900000218
Desired angular velocity
Figure BDA00028276416900000219
And expected angular acceleration
Figure BDA00028276416900000220
The attitude planning is realized by an improved differentiator, and the specific form is as follows:
Figure BDA0002827641690000031
in the formula:
Figure BDA0002827641690000032
to the planned desired yaw angle;
Figure BDA0002827641690000033
to the planned desired yaw angular velocity; t is the controller step length;
Figure BDA0002827641690000034
for a planned desired yaw angular acceleration;
Figure BDA0002827641690000035
the calculation formula is as follows:
Figure BDA0002827641690000036
in the formula: r is the maximum maneuvering angular acceleration of the satellite side swing shaft;
Figure BDA0002827641690000037
is a prescribed maximum maneuvering angular velocity; h is a smoothing factor; a is an intermediate calculation variable, and the specific form is as follows:
Figure BDA0002827641690000038
Figure BDA0002827641690000039
in the formula: thetavFor the final desired roll angle,
obtaining the expected yaw angle according to the plan
Figure BDA00028276416900000310
Desired angular velocity
Figure BDA00028276416900000311
And desired angular acceleration
Figure BDA00028276416900000312
Calculating the quaternion of expected attitude of the satellite body coordinate system relative to the orbit coordinate system
Figure BDA00028276416900000313
Desired angular velocity
Figure BDA00028276416900000314
And expected angular acceleration
Figure BDA00028276416900000315
Comprises the following steps:
Figure BDA00028276416900000316
Figure BDA00028276416900000317
Figure BDA00028276416900000318
step three: transforming the attitude planning result from the orbital coordinate system to an inertial coordinate system:
calculating according to the second step to obtain the quaternion of the expected attitude of the satellite body coordinate system relative to the orbit coordinate system
Figure BDA00028276416900000319
Desired angular velocity
Figure BDA00028276416900000320
And expected angular acceleration
Figure BDA00028276416900000321
Quaternion Q of expected attitude of satellite body coordinate system relative to inertial coordinate systemdDesired angular velocity ωdAnd desired angular acceleration adComprises the following steps:
Figure BDA0002827641690000041
Figure BDA0002827641690000042
Figure BDA0002827641690000043
in the formula: qoIIs the attitude quaternion of the orbit coordinate system relative to the inertia coordinate system;
step four: and establishing a satellite error kinematic kinetic equation by combining the attitude planning information:
according to the satellite attitude kinematics and the kinetic equation in the step one and by combining the attitude planning results in the step two and the step three, the error kinematics and the kinetic model of the satellite can be obtained as follows:
Figure BDA0002827641690000044
Figure BDA0002827641690000045
step five: the attitude control of the satellite is divided into an angle loop and an angular velocity loop, and control law design is carried out, wherein a controller of the satellite angle loop is as follows:
Figure BDA0002827641690000046
definition of
Figure BDA0002827641690000047
The controller of the satellite angular velocity loop is then:
Figure BDA0002827641690000048
the invention has the beneficial effects that: the quick maneuvering control method for the low-orbit optical remote sensing satellite multi-point imaging can realize quick and high-precision maneuvering control, greatly reduce maneuvering time of the satellite during orbit imaging, and improve the utilization rate of the optical remote sensing satellite. Compared with a classical control method, the method has the advantages that the method has the rapidity and the high-precision attitude stability of attitude maneuver, the satellite attitude can be converged to the planned attitude stably in the attitude maneuver process, and the control method is simple in structure, easy to implement and capable of being applied to engineering practice.
Drawings
FIG. 1 is a schematic structural diagram of a low-orbit optical remote sensing satellite multipoint imaging rapid maneuvering control system.
FIG. 2 is a diagram of an attitude planning effect in an embodiment of a low-orbit optical remote sensing satellite multi-point imaging rapid maneuver control method of the present invention.
FIG. 3 is a diagram of the effect of multipoint imaging of a satellite in an embodiment of the multipoint imaging fast maneuvering control method for the low-orbit optical remote sensing satellite of the invention.
FIG. 4 is a diagram of an attitude control tracking convergence trajectory in an embodiment of the low-orbit optical remote sensing satellite multi-point imaging rapid maneuver control method of the present invention.
FIG. 5 is a track diagram of attitude control error convergence in an embodiment of the low-orbit optical remote sensing satellite multi-point imaging fast maneuver control method of the present invention.
Table 1 shows the parameters of the attitude planning for the satellite multi-point imaging task mode, with different imaging points corresponding to the yaw angles of 15 °, -10 °, and 0 °.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
A low-orbit optical remote sensing satellite multi-point imaging rapid maneuvering control method comprises the following steps:
the method comprises the following steps: performing kinematic dynamics modeling on the low-orbit optical remote sensing satellite: definition FIRepresenting an inertial coordinate system, FBRepresenting a satellite body coordinate system; satellite body coordinate system FBRelative to an inertial frame FIIs expressed as
Figure BDA0002827641690000051
Body coordinate system FBRelative inertial frame FIIs expressed as a unit quaternion
Figure BDA0002827641690000052
And satisfy the constraint condition
Figure BDA0002827641690000053
Wherein q is0Is the scalar part of a quaternion Q, Q ═ Q1,q2,q3) Is the vector portion of the quaternion Q,
Figure BDA0002827641690000054
representing an n-dimensional real vector space, the kinematic and kinetic equations of the satellite are:
Figure BDA0002827641690000055
Figure BDA0002827641690000056
in the formula:
Figure BDA0002827641690000057
the moment of inertia of the satellite is represented by a positive definite matrix; i is3Is a 3 × 3 identity matrix; u is the control moment of the reaction flywheel;
Figure BDA0002827641690000058
is the total angular momentum of the reaction flywheel;
Figure BDA0002827641690000059
as an antisymmetric matrix, for arbitrary vectors
Figure BDA00028276416900000510
Satisfy s (x) y ═ x × y, where x represents a vector cross product;
the expected attitude of the satellite is defined as the attitude direction of the coordinate system of the satellite body relative to the inertial coordinate system, and quaternion is carried out through the expected attitude
Figure BDA00028276416900000511
Represents; q. q.sd0Quaternion Q for the desired attitudedScalar part of qdQuaternion Q for the desired attitudedThe vector portion of (1); attitude tracking error determinationMeaning as error quaternion:
Figure BDA00028276416900000512
in the formula:
Figure BDA00028276416900000513
Figure BDA00028276416900000514
representing quaternion multiplication, qe0Is an error quaternion QeScalar part of qeIs an error quaternion QeThe vector portion of (1); the angular velocity tracking error is:
ωe＝ω-R(Qe)ωd
in the formula: omegadIs the desired angular velocity of the satellite; rotation matrix R (Q)e) The following relationships exist:
Figure BDA0002827641690000061
Figure BDA0002827641690000062
and satisfies the constraint condition | | | R (Q)e)||＝1；
Step two: the satellite attitude planning method comprises the following steps:
the multi-point imaging task of the low-orbit optical remote sensing satellite requires the attitude to simultaneously meet the requirements of rapidity and high precision of a stable section in the maneuvering process. Compared with step control input, after the attitude planning is added, the maneuvering process can be controlled according to the maximum torque to ensure rapidity, and after maneuvering is finished, the attitude planning can enable the satellite attitude to be converged to a stable state quickly and stably.
Definition FoRepresenting an orbital coordinate system, a satellite body coordinate system FBRelative to the orbital coordinate system FoIs expressed as
Figure BDA0002827641690000063
Body coordinate system FBRelative orbit coordinate system FoUsing unit quaternion
Figure BDA0002827641690000064
Expressing and satisfying quaternion constraint conditions; the attitude of the satellite multi-point imaging task is that the satellite continuously performs side-sway maneuver; the attitude planning is to obtain a satellite body coordinate system F through a corresponding planning algorithmBRelative orbit coordinate system FoDesired attitude quaternion
Figure BDA0002827641690000065
Desired angular velocity
Figure BDA0002827641690000066
And expected angular acceleration
Figure BDA0002827641690000067
The attitude planning is realized by an improved differentiator, and the specific form is as follows:
Figure BDA0002827641690000068
in the formula:
Figure BDA0002827641690000069
to the planned desired yaw angle;
Figure BDA00028276416900000610
to the planned desired yaw angular velocity; t is the controller step length;
Figure BDA00028276416900000611
for a planned desired yaw angular acceleration;
Figure BDA00028276416900000612
the calculation formula is as followsShown in the figure:
Figure BDA00028276416900000613
in the formula: r is the maximum maneuvering angular acceleration of the satellite side swing shaft;
Figure BDA00028276416900000614
is a prescribed maximum maneuvering angular velocity; h is a smoothing factor; a is an intermediate calculation variable, and the specific form is as follows:
Figure BDA0002827641690000071
Figure BDA0002827641690000072
in the formula: thetavFor the final desired roll angle,
obtaining the expected yaw angle according to the plan
Figure BDA0002827641690000073
Desired angular velocity
Figure BDA0002827641690000074
And desired angular acceleration
Figure BDA0002827641690000075
Calculating the quaternion of expected attitude of the satellite body coordinate system relative to the orbit coordinate system
Figure BDA0002827641690000076
Desired angular velocity
Figure BDA0002827641690000077
And expected angular acceleration
Figure BDA0002827641690000078
Comprises the following steps:
Figure BDA0002827641690000079
Figure BDA00028276416900000710
Figure BDA00028276416900000711
step three: transforming the attitude planning result from the orbital coordinate system to an inertial coordinate system:
calculating according to the second step to obtain the quaternion of the expected attitude of the satellite body coordinate system relative to the orbit coordinate system
Figure BDA00028276416900000712
Desired angular velocity
Figure BDA00028276416900000713
And expected angular acceleration
Figure BDA00028276416900000714
Quaternion Q of expected attitude of satellite body coordinate system relative to inertial coordinate systemdDesired angular velocity ωdAnd desired angular acceleration adComprises the following steps:
Figure BDA00028276416900000715
Figure BDA00028276416900000716
Figure BDA00028276416900000717
in the formula: qoIIs the attitude quaternion of the orbit coordinate system relative to the inertia coordinate system;
step four: and establishing a satellite error kinematic kinetic equation by combining the attitude planning information:
according to the satellite attitude kinematics and the kinetic equation in the step one and by combining the attitude planning results in the step two and the step three, the error kinematics and the kinetic model of the satellite can be obtained as follows:
Figure BDA00028276416900000718
Figure BDA00028276416900000719
step five: the attitude of the satellite is divided into an inner loop and an outer loop, a controller is established, and the multi-point imaging rapid maneuvering control of the low-orbit optical remote sensing satellite is realized:
the controller is designed based on the idea of nonlinear feedback and model reference control. According to the satellite error kinematics and the kinetic equation, the kinematics equation and the kinetic equation have different time scales, so that the attitude control of the satellite is divided into an angle loop and an angular velocity loop to carry out controller design, the block diagram of the control system is shown in figure 1, the sign in the figure represents the sign polarity of a signal,
Figure BDA0002827641690000086
representing a signal summer. In the figure, a controller structure combining inner and outer loop control and nonlinear feedback control in the patent is described in a structural block diagram form, and the specific flow is as follows: after the expected attitude is subjected to attitude planning and coordinate system transformation, the generated expected attitude quaternion is used for an angle loop controller, and the expected angular velocity and the expected angular acceleration are used for a nonlinear feedback controller. The output of the angular loop controller is the virtual expected angular velocity of the angular velocity loop
Figure BDA0002827641690000081
The sum of the control quantities of the final angular velocity loop controller and the nonlinear feedback controller u is inputThe control moment is generated by the flywheel to act on the satellite, and the attitude dynamics and the attitude kinematics in the graph respectively feed back the real-time angular velocity and the attitude quaternion of the satellite.
The controller of the satellite angle loop is as follows:
Figure BDA0002827641690000082
definition of
Figure BDA0002827641690000083
The control quantity generated by the satellite angular velocity loop controller in combination with the nonlinear feedback controller is:
Figure BDA0002827641690000084
and when the satellite multi-point imaging task mode is adopted, different imaging points correspond to different side swing angles. The present embodiment performs attitude planning by respectively swinging to 15 °, -10 °, and 0 °, and ensures that each imaging task has an imaging time greater than 15 s. Table 1 shows the parameters relevant to the examples.
Figure BDA0002827641690000085
Figure BDA0002827641690000091
TABLE 1
The attitude planning curves of the yaw angle, the yaw angular velocity and the yaw angular acceleration are shown in fig. 2, and the information of the yaw angle, the yaw angular velocity and the yaw angular acceleration planned for realizing the multipoint imaging fast maneuver control is given in the diagram. The corresponding maneuvering and imaging effects of the satellite are schematically shown in fig. 3, which shows a trajectory diagram of an optical axis of an optical remote sensing satellite camera using rapid maneuvering control for three different shooting points by the satellite.
The attitude controller of the patent can guarantee stable and accurate attitude tracking control according to the attitude planning result of multi-point imaging. The attitude control tracking convergence trajectory chart is shown in fig. 4, and is a satellite yaw angle tracking convergence trajectory chart and a satellite yaw angular velocity tracking convergence trajectory chart, respectively. It can be observed from the figure that the actual roll angle curve and the actual angular velocity curve are basically completely overlapped with the planned roll angle and the planned angular velocity curve, thereby further demonstrating that the controller designed by the patent realizes good dynamic tracking on the planned roll angle and the planned roll angular velocity. The attitude control error convergence trajectory graph is shown in fig. 5, which is a satellite yaw angle error convergence trajectory graph and a satellite yaw angular velocity error convergence trajectory graph, and shows that the overall control error is small and the convergence rate is high in the maneuvering process of the satellite in multipoint imaging.

Claims (1)

1. A low-orbit optical remote sensing satellite multi-point imaging rapid maneuvering control method is characterized by comprising the following steps:
the method comprises the following steps: performing kinematic dynamics modeling on the low-orbit optical remote sensing satellite: definition FIRepresenting an inertial coordinate system, FBRepresenting a satellite body coordinate system; satellite body coordinate system FBRelative to an inertial frame FIIs expressed as
Figure FDA0002827641680000011
Body coordinate system FBRelative inertial frame FIIs expressed as a unit quaternion
Figure FDA0002827641680000012
And satisfy the constraint condition
Figure FDA0002827641680000013
Wherein q is0Is the scalar part of a quaternion Q, Q ═ Q1,q2,q3) Is the vector portion of the quaternion Q,
Figure FDA0002827641680000014
representing an n-dimensional real vector space, the kinematic and kinetic equations of the satellite are:
Figure FDA0002827641680000015
Figure FDA0002827641680000016
in the formula:
Figure FDA0002827641680000017
the moment of inertia of the satellite is represented by a positive definite matrix; i is3Is a 3 × 3 identity matrix; u is the control moment of the reaction flywheel;
Figure FDA0002827641680000018
is the total angular momentum of the reaction flywheel;
Figure FDA0002827641680000019
as an antisymmetric matrix, for an arbitrary vector x,
Figure FDA00028276416800000110
satisfy s (x) y ═ x × y, where x represents a vector cross product;
the expected attitude of the satellite is defined as the attitude direction of the coordinate system of the satellite body relative to the inertial coordinate system, and quaternion is carried out through the expected attitude
Figure FDA00028276416800000111
Represents; q. q.sd0Quaternion Q for the desired attitudedScalar part of qdQuaternion Q for the desired attitudedThe vector portion of (1); the attitude tracking error is defined as the error quaternion:
Figure FDA00028276416800000112
in the formula:
Figure FDA00028276416800000113
Figure FDA00028276416800000114
representing quaternion multiplication, qe0Is an error quaternion QeScalar part of qeIs an error quaternion QeThe vector portion of (1); the angular velocity tracking error is:
ωe＝ω-R(Qe)ωd
in the formula: omegadIs the desired angular velocity of the satellite; rotation matrix R (Q)e) The following relationships exist:
Figure FDA00028276416800000115
Figure FDA00028276416800000116
and satisfies the constraint condition | | | R (Q)e)||＝1；
Step two: the satellite attitude planning method comprises the following steps: definition FoRepresenting an orbital coordinate system, a satellite body coordinate system FBRelative to the orbital coordinate system FoIs expressed as
Figure FDA00028276416800000117
Body coordinate system FBRelative orbit coordinate system FoUsing unit quaternion
Figure FDA00028276416800000118
Expressing and satisfying quaternion constraint conditions; the attitude of the satellite multi-point imaging task is that the satellite continuously performs side-sway maneuver; obtaining a satellite body coordinate system F through attitude planningBRelative orbit coordinate system FoDesired attitude quaternion
Figure FDA0002827641680000021
Desired angular velocity
Figure FDA0002827641680000022
And expected angular acceleration
Figure FDA0002827641680000023
The attitude planning is realized by an improved differentiator, and the specific form is as follows:
Figure FDA0002827641680000024
in the formula:
Figure FDA0002827641680000025
to the planned desired yaw angle;
Figure FDA0002827641680000026
to the planned desired yaw angular velocity; t is the controller step length;
Figure FDA0002827641680000027
for a planned desired yaw angular acceleration;
Figure FDA0002827641680000028
the calculation formula is as follows:
Figure FDA0002827641680000029
in the formula: r is the maximum maneuvering angular acceleration of the satellite side swing shaft;
Figure FDA00028276416800000210
to stipulateMaximum maneuvering angular velocity of; h is a smoothing factor; a is an intermediate calculation variable, and the specific form is as follows:
Figure FDA00028276416800000211
Figure FDA00028276416800000212
in the formula: thetavFor the final desired roll angle,
obtaining the expected yaw angle according to the plan
Figure FDA00028276416800000213
Desired angular velocity
Figure FDA00028276416800000214
And desired angular acceleration
Figure FDA00028276416800000215
Calculating the quaternion of expected attitude of the satellite body coordinate system relative to the orbit coordinate system
Figure FDA00028276416800000216
Desired angular velocity
Figure FDA00028276416800000217
And expected angular acceleration
Figure FDA00028276416800000218
Comprises the following steps:
Figure FDA00028276416800000219
Figure FDA00028276416800000220
Figure FDA00028276416800000221
step three: transforming the attitude planning result from the orbital coordinate system to an inertial coordinate system:
calculating according to the second step to obtain the quaternion of the expected attitude of the satellite body coordinate system relative to the orbit coordinate system
Figure FDA0002827641680000031
Desired angular velocity
Figure FDA0002827641680000032
And expected angular acceleration
Figure FDA0002827641680000033
Quaternion Q of expected attitude of satellite body coordinate system relative to inertial coordinate systemdDesired angular velocity ωdAnd desired angular acceleration adComprises the following steps:
Figure FDA0002827641680000034
Figure FDA0002827641680000035
Figure FDA0002827641680000036
in the formula: qoIIs the attitude quaternion of the orbit coordinate system relative to the inertia coordinate system;
step four: and establishing a satellite error kinematic kinetic equation by combining the attitude planning information:
according to the satellite attitude kinematics and the kinetic equation in the step one and by combining the attitude planning results in the step two and the step three, the error kinematics and the kinetic model of the satellite can be obtained as follows:
Figure FDA0002827641680000037
Figure FDA0002827641680000038
step five: the attitude control of the satellite is divided into an angle loop and an angular velocity loop, and control law design is carried out, wherein a controller of the satellite angle loop is as follows:
Figure FDA0002827641680000039
definition of
Figure FDA00028276416800000310
The controller of the satellite angular velocity loop is then:
Figure FDA00028276416800000311
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