基于退步法的敏捷航天器姿态控制方法

Research on the Control System of Agile Spacecraft Based on Back-Stepping Control Method

主要研究敏捷航天器大角度姿态机动问题。首先,以SGCMG(Single Gimbal Control Momentum Gyroscope,单框架控制力矩陀螺)为执行机构,建立了基于四元数的航天器姿态机动数学模型;然后,针对SGCMG的奇异问题,研究了基于力矩输出和回避奇异能力最优的联合操纵律;最后,基于敏捷航天器姿态误差模型和李雅普诺夫稳定理论设计了一种退步控制律。仿真结果表明,该控制方法能够很好地实现大角度机动目标并有效避免了SGCMG的奇异状态,满足姿态机动任务的控制精度和稳定度要求。

This paper focuses on the large-angle attitude maneuver problem of the agile spacecraft. First, a kinematics model is established based on the spacecraft attitude quaternion with the SGCMG （Single Gimbal Control Momentum Gyroscope） system as its actuator. Then, research is done on a united steering law which performs well in outputting torque and escaping the singularity state to solve the singularity problem of SGCMG. Finally, a backstepping control method based on the attitude error model of agile spacecraft and Lyapunov stability theory is designed. Numerical simulation indicates that the control method successfully facilitates large-angle attitude maneuver and effectively solves the singularity problem of SGCMG while meeting control accuracy and stability requirements of attitude maneuver missions.