挠性卫星姿态机动三段式轨迹规划与滚动跟踪控制

Three-segment trajectory plan and moving horizon tracking control of flexible satellite attitude maneuver

中文关键词  挠性卫星  金字塔构型CMG群  快速机动  姿态路径规划  滚动跟踪控制

英文关键词  Flexible satellite  Pyramid configuration CMGs  Rapid maneuver  Attitude path planning  Moving horizon track control

中文摘要

      以新颖成像模式对挠性敏捷卫星姿态的快速机动控制为需求,本文针对金字塔构型控制力矩陀螺(CMG)群为执行机构的挠性卫星,提出基于三段式正弦角加速度的姿态路径规划方法及具有滚动优化思想的跟踪算法。在姿态路径规划方法设计中,融合谱分析及非线性优化方法,设计了兼顾卫星姿态机动快速性及抑制挠性附件振动性能的姿态轨迹；为实现对规划姿态轨迹的高精度跟踪,综合加权优化指标及奇异性、执行机构能力等约束,设计了金字塔构型CMG群框架角速度的非线性模型预测(NMPC)跟踪控制律。在转动惯量存在测量误差及空间干扰情况下,多种姿态机动仿真表明,本文提出的控制方法是有效的,且表现出较强的鲁棒性。

英文摘要

      To satisfy the attitude rapid maneuver control requirements of various imaging modes, in this paper, the flexible satellite with the pyramid configuration control moment gyroscope (CMG) is considered, then the three-segment sine attitude path planning method of angular acceleration and tracking algorithm with rolling optimization are proposed. In the design of attitude path planning method, combining the spectrum analysis and nonlinear optimization, the attitude trajectory which considers the rapid performance of attitude maneuver and vibration suppression performance is designed. To track the planed attitude trajectory accurately, taken the weighted optimization function, singularities of CMG and capacity of actuator as the constraints, the tracking control law based on nonlinear model predictive control (NMPC) is presented for frame angular velocity of CMG group. In the present of inertia with error and space disturbances, a variety of attitude maneuver simulations are given. The results illustrate that, the proposed control method is effective and has the strong robustness.