摘要
在以飞轮作为姿态控制执行机构的航天器中,如果部分飞轮发生故障而使得航天器欠驱动时。姿态控制性能会急剧下降.本文对两个飞轮的刚性航天器,研究了姿态控制问题.在零动量的假设下,利用Backstepping方法,为欠驱动姿态控制系统设计了一个新型的姿态控制器.设计过程分两步进行:首先,根据姿态运动学模型,设计出可使航天器姿态全局渐近稳定的控制角速率;然后,根据姿态动力学模型,得到使航天器姿态全局渐近稳定的控制力矩.该控制器为非连续控制器,可使航天器姿态误差全局一致渐近收敛为零,并使系统具有良好的动态性能.计算机仿真表明,本文所设计出的控制器是可行的.
The spacecraft with flywheels becomes under-actuated and the attitude controllability goes worse when only two flywheels can work. We deal with this problem for a rigid spacecraft with two flywheels. A new controller is designed by using the Backstepping design method, under the assumption of zero momentum for the spacecraft. The design process is in two steps： First, the desired angular velocity is designed to stabilize the attitude of the spacecraft, by considering the kinematics only. Next, the dynamics is combined to give the attitude control torque. The controller is a discontinuous one. It makes the attitude of the under-actuated spacecraft globally asymptotically converge to zero, and the system has a rapid and desirable transient process. Finally, simulation results indicate the feasibility of the controller presented above.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2008年第3期506-510,共5页
Control Theory & Applications
基金
国家自然科学基金(60504014).
关键词
航天器
欠驱动系统
姿态稳定
非线性控制
spacecraft
under-actuated system
attitude stabilization
nonlinear control
