CN106379558B - A kind of sliding moding structure composite control method based on angular acceleration feedforward - Google Patents
A kind of sliding moding structure composite control method based on angular acceleration feedforward Download PDFInfo
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- CN106379558B CN106379558B CN201610814894.7A CN201610814894A CN106379558B CN 106379558 B CN106379558 B CN 106379558B CN 201610814894 A CN201610814894 A CN 201610814894A CN 106379558 B CN106379558 B CN 106379558B
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- 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
- B64G1/242—Orbits and trajectories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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Abstract
A kind of sliding moding structure composite control method based on angular acceleration feedforward, calculate linearity error sliding-mode surface function, then boundary layer thickness is calculated, then calculates the control moment to feedover based on angular acceleration, the control instruction of corresponding executing agency is finally calculated according to control moment.The present invention devises the linearity error sliding-mode surface being made of quaternary number deviation and attitude angular velocity deviation, guarantee system can be moved normally along sliding-mode surface, take processing method of the boundary layer functions for sign function, system can be effectively reduced trembles shake, improve the service life and the good electromechanical stationarity of system of single machine, also in mobile process coupling torque and angular momentum compensated, improve control accuracy.
Description
Technical field
The present invention relates to a kind of sliding moding structure composite control methods based on angular acceleration feedforward.
Background technology
As satellite function enhances, the flexible appendage area size carried on star is increasing, and the influence brought is attachment
Flexible fundamental frequency become lower, coupling becomes larger.As satellite improves platform stance maneuverability demand, configuration is big on star
The execution structure of torque, such as control-moment gyro group.This high-torque actuator stem force square is big, during attitude maneuver
It is easy to evoke the vibration of flexible appendage so that fast settling time is elongated.
Invention content
The present invention provides a kind of sliding moding structure composite control method to feedover based on angular acceleration, can realize that satellite is pressed
Rapid attitude maneuver is carried out according to designed process footprint, can effectively inhibit the flexible vibration of flexible appendage, substantially shorten posture
The time of fast and stable, simple and reliable, operand is small, and engineering is easily achieved.
In order to achieve the above object, the present invention provides a kind of sliding moding structure complex controll side to feedover based on angular acceleration
Method comprises the steps of：
Step S1, linearity error sliding-mode surface function is calculated；
Step S2, boundary layer thickness is calculated；
Step S3, the control moment to feedover based on angular acceleration is calculated；
Step S4, the control instruction of corresponding executing agency is calculated according to control moment.
In the step S1, calculate linearity error sliding-mode surface function the step of include：
Step S1.1, sliding-mode surface coefficient is calculated；
Wherein, kbiBe system bandwidth is isolated multiple with flexible appendage fundamental frequency；ωf_minIt is flexible appendage fundamental frequency；ζiIt is to be
System damped coefficient；
Step S1.2, sliding-mode surface function is calculated；
The form of three direction design sliding-mode surfaces is as follows：
Si=Kiqe+Ωe, i=x, y, z
Wherein, qe=qv-qvdIt is quaternary number vector error, qvIt is currently to measure obtained celestial body quaternary numberVector portion
Point, qvdIt is the attitude maneuver quaternary number Q of planningdVector section；It is attitude angular velocity error,It is currently to survey
The celestial body attitude angular velocity measured, ωdIt is the attitude maneuver angular speed of planning.
In the step S2, calculate boundary layer thickness the step of include：
Wherein, Tres_iIt is the reserved torque of system；ζiIt is system damping coefficient；IiiIt is the principal moments in three directions of system；
KiIt is sliding-mode surface coefficient.
In the step S3, the step of calculating the control moment to feedover based on angular acceleration, includes：
Step S3.1, control moment is calculated：
Step S3.2, angular acceleration feedforward is added in control moment：
Tci'=Tci'-Iiαdi, i=x, y, z
Wherein, αdiIt is the attitude maneuver angular acceleration instruction of planning；
Step S3.3, torque compensation is carried out：
Wherein, I is three axis moment of inertia matrix；ω0It is orbit angular velocity；It indicatesCorresponding attitude matrix；
Step S3.4, angle momentum coupling compensation is carried out at steady state：
Tc=Tc-ω×(H-Hz0)
Wherein, ω is the inertia angular speed that gyro to measure obtains；H is the angular momentum of current executing agency；Hz0It is that system is steady
The three shaft angle momentum biased when state.
The present invention devises the linearity error sliding-mode surface being made of quaternary number deviation and attitude angular velocity deviation, ensures system
It can normally be moved along sliding-mode surface, take processing method of the boundary layer functions for sign function, can effectively reduced and be
System trembles shake, improves the service life and the good electromechanical stationarity of system of single machine, also in mobile process coupling torque with
Angular momentum is compensated, and control accuracy is improved.
Description of the drawings
Fig. 1 is a kind of flow of sliding moding structure composite control method to be feedovered based on angular acceleration provided by the invention
Figure.
Specific implementation mode
Presently preferred embodiments of the present invention is illustrated below according to Fig. 1.
As shown in Figure 1, the present invention provides a kind of sliding moding structure composite control method to feedover based on angular acceleration, including
Following steps：
Step S1, linearity error sliding-mode surface function is calculated；
Step S2, boundary layer thickness is calculated；
Step S3, the control moment to feedover based on angular acceleration is calculated；
Step S4, the control instruction of corresponding executing agency is calculated according to control moment.
In the step S1, calculate linearity error sliding-mode surface function the step of include：
Step S1.1, sliding-mode surface coefficient is calculated；
Wherein, kbiBe system bandwidth is isolated multiple with flexible appendage fundamental frequency, can be taken as 0.05-0.5, passes through ground remote control
Parameter can be changed；ωf_minIt is flexible appendage fundamental frequency；ζiIt is system damping coefficient, can be taken as 0.1-2, passes through ground remote control parameter
It can change；
Step S1.2, sliding-mode surface function is calculated；
The form of three direction design sliding-mode surfaces is as follows：
Si=Kiqe+Ωe, i=x, y, z
Wherein, qe=qv-qvdIt is quaternary number vector error, qvIt is currently to measure obtained celestial body quaternary numberVector portion
Point, qvdIt is the attitude maneuver quaternary number Q of planningdVector section；It is attitude angular velocity error,It is currently to survey
The celestial body attitude angular velocity measured, ωdIt is the attitude maneuver angular speed of planning.
In the step S2, calculate boundary layer thickness the step of include：
Wherein, Tres_iIt is the reserved torque of system, is set according to the ability of practical executing agency；ζiIt is system damping system
Number；IiiIt is the principal moments in three directions of system；KiIt is sliding-mode surface coefficient.
In the step S3, the step of calculating the control moment to feedover based on angular acceleration, includes：
Step S3.1, control moment is calculated：
Step S3.2, angular acceleration feedforward is added in control moment：
Tci'=Tci'-Iiαdi, i=x, y, z
Wherein, αdiIt is the attitude maneuver angular acceleration instruction of planning；
Step S3.3, torque compensation is carried out：
Wherein, I is three axis moment of inertia matrix；ω0It is orbit angular velocity；It indicatesCorresponding attitude matrix；
Step S3.4, angle momentum coupling compensation is carried out at steady state：
Tc=Tc-ω×(H-Hz0)
Wherein, ω is the inertia angular speed that gyro to measure obtains；H is the angular momentum of current executing agency；Hz0It is that system is steady
The three shaft angle momentum biased when state.
In the step S4, the control instruction of corresponding executing agency is calculated according to control moment；
In one embodiment, it such as uses flywheel as executing agency, then calculates the rotary speed instruction of flywheel, be sent to winged
Wheel；
In another embodiment, it such as uses single-gimbal control moment gyros as executing agency, then calculates control force
The rotary speed instruction of square gyro outer framework, is sent to control-moment gyro.
The present invention devises the linearity error sliding-mode surface being made of quaternary number deviation and attitude angular velocity deviation, ensures system
It can normally be moved along sliding-mode surface, take processing method of the boundary layer functions for sign function, can effectively reduced and be
System trembles shake, improves the service life and the good electromechanical stationarity of system of single machine, also in mobile process coupling torque with
Angular momentum is compensated, and control accuracy 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 (1)
1. a kind of sliding moding structure composite control method based on angular acceleration feedforward, which is characterized in that comprise the steps of：
Step S1, linearity error sliding-mode surface function is calculated；
Step S2, boundary layer thickness is calculated；
Step S3, the control moment to feedover based on angular acceleration is calculated；
Step S4, the control instruction of corresponding executing agency is calculated according to control moment；
In the step S1, calculate linearity error sliding-mode surface function the step of include：
Step S1.1, sliding-mode surface coefficient is calculated；
Wherein, kbiBe system bandwidth is isolated multiple with flexible appendage fundamental frequency；ωf_minIt is flexible appendage fundamental frequency；ζiIt is system resistance
Buddhist nun's coefficient；
Step S1.2, sliding-mode surface function is calculated；
The form of three direction design sliding-mode surfaces is as follows：
Si=Kiqe+Ωe, i=x, y, z
Wherein, qe=qv-qvdIt is quaternary number vector error, qvIt is currently to measure obtained celestial body quaternary numberVector section,
qvdIt is the attitude maneuver quaternary number Q of planningdVector section；It is attitude angular velocity error,It is currently to survey
The celestial body attitude angular velocity measured, ωdIt is the attitude maneuver angular speed of planning；
In the step S2, calculate boundary layer thickness the step of include：
Wherein, Tres_iIt is the reserved torque of system；ζiIt is system damping coefficient；IiiIt is the principal moments in three directions of system；KiIt is
Sliding-mode surface coefficient；
In the step S3, the step of calculating the control moment to feedover based on angular acceleration, includes：Step S3.1, control is calculated
Torque：
Wherein, Tci 1It is the intermediate variable 1 in control moment calculating process；
Step S3.2, angular acceleration feedforward is added in control moment：
Tci 2=Tci 1-Iiiadi, i=x, y, z
Wherein, αdiIt is the attitude maneuver angular acceleration instruction of planning；Tci 2It is the intermediate variable 2 in control moment calculating process；
Step S3.3, torque compensation is carried out：
Wherein, I is three axis moment of inertia matrix；ω0It is the orbit angular velocity of satellite；It indicatesCorresponding posture square
Battle array；Tci 3It is the intermediate variable 3 in control moment calculating process；
Step S3.4, angle momentum coupling compensation is carried out at steady state：
Tci=Tci 3-ω×(H-Hz0)
Wherein, ω is the inertia angular speed that gyro to measure obtains；H is the angular momentum of current executing agency；Hz0When being systematic steady state
Three shaft angle momentum of biasing；TciIt is final control moment.
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| CN107089348B (en) * | 2017-04-01 | 2019-04-30 | 中国空间技术研究院 | On-orbit fault countermeasure method based on multi-flex accessory satellite dynamics optimization control mode |
| CN107933967A (en) * | 2017-11-23 | 2018-04-20 | 北京控制工程研究所 | A kind of in-orbit identification method of satellite rotary inertia |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10250697A (en) * | 1997-03-17 | 1998-09-22 | Mitsubishi Electric Corp | Thruster controller |
| CN103412491A (en) * | 2013-08-27 | 2013-11-27 | 北京理工大学 | Method for controlling index time-varying slide mode of flexible spacecraft characteristic shaft attitude maneuver |
| CN103708044A (en) * | 2013-12-06 | 2014-04-09 | 上海新跃仪表厂 | Saturated sliding mode variable structure control method for rapidly maneuvering attitudes of satellites |
| CN104570742A (en) * | 2015-01-29 | 2015-04-29 | 哈尔滨工业大学 | Feedforward PID (proportion, integration and differentiation) control based rapid high-precision relative pointing control method of noncoplanar rendezvous orbit |
| CN104898431A (en) * | 2015-06-10 | 2015-09-09 | 北京理工大学 | Reentry aircraft finite time control method based on disturbance observer |
-
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- 2016-09-09 CN CN201610814894.7A patent/CN106379558B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10250697A (en) * | 1997-03-17 | 1998-09-22 | Mitsubishi Electric Corp | Thruster controller |
| CN103412491A (en) * | 2013-08-27 | 2013-11-27 | 北京理工大学 | Method for controlling index time-varying slide mode of flexible spacecraft characteristic shaft attitude maneuver |
| CN103708044A (en) * | 2013-12-06 | 2014-04-09 | 上海新跃仪表厂 | Saturated sliding mode variable structure control method for rapidly maneuvering attitudes of satellites |
| CN104570742A (en) * | 2015-01-29 | 2015-04-29 | 哈尔滨工业大学 | Feedforward PID (proportion, integration and differentiation) control based rapid high-precision relative pointing control method of noncoplanar rendezvous orbit |
| CN104898431A (en) * | 2015-06-10 | 2015-09-09 | 北京理工大学 | Reentry aircraft finite time control method based on disturbance observer |
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