挠性卫星的姿态机动滚动优化控制

Moving optimization control of flexible satellite attitude maneuver

提出了一种基于控制力矩陀螺的挠性卫星姿态大角度快速机动控制方法。结合卫星姿态动力学,运动学和挠性附件的振动方程,建立了面向预测控制方法的非线性预测方程;在建立了包含卫星姿态跟踪误差,控制力矩能量以及挠性附件振动能量的优化目标函数基础上,采用非线性模型预测控制方法设计了兼顾机动性能与抑制附件振动的卫星姿态机动律。为进一步消除挠性附件振动,采用输入成形技术对规划的控制力矩进行处理,成形出合理的控制力矩指令。最后以成形后的控制力矩指令为输入条件,基于鲁棒伪逆方法设计了金字塔控制力矩陀螺群的操纵律,完成挠性卫星姿态机动的非线性滚动控制。针对算例的研究表明:卫星滚动轴姿态能够在约27 s内机动50°,且具有指向精度小于0.03°,姿态稳定度小于0.03(°)/s的性能。

A rapid attitude maneuver method of flexible satellite based on control moment gyroscope was presented. Combining the attitude dynamical equation, kinematic equation and vibration equation of flexible parts, the nonlinear predictive equation was given. Based on the optimization objective including tracking error, the energy of control moment and the energy of flexible parts, the nonlinear model predictive control method was used to propose the attitude maneuver law which had the rapid maneuver performance and attenuate the vibration of flexible parts. To further attenuate the flexible part ＇s vibration, the input shaping method was applied to obtain the actual commands of control moment. Based on the actual control commands, the steering law of CMG pyramidal configuration was designed using the robust inverse approach, and achieved the moving optimization control of flexible satellite attitude maneuver. Simulation result indicates that, the designed control method can achieve 50 ° large attitude maneuver in 27 s,and the corresponding pointing accuracy and stability are 0.03 °and 0.03（°）/s.