›› 2011, Vol. 31 ›› Issue (6): 15-20.doi: 10.3780/j.issn.1000-758X.2011.06.003

• 研究探讨 • 上一篇    下一篇

航天器相对姿态跟踪的非线性前馈控制

 铁钰嘉, 杨伟, 岳晓奎   

  1. (西北工业大学,西安 710072)
  • 收稿日期:2010-12-14 修回日期:2011-12-25 出版日期:2011-12-25 发布日期:2011-12-25
  • 作者简介:铁钰嘉 1988年生,2008年毕业于西北工业大学航天学院飞行器设计与工程专业,现为西北工业大学航空学院博士研究生,研究方向为航天器动力学建模与控制。
  • 基金资助:

    国家自然科学基金(10772145)资助项目

Nonlinear Feedforward Control for Spacecraft Relative Attitude Tracking

 TIE  Yu-Jia, YANG  Wei, YUE  Xiao-Kui   

  1. (Northwestern Polytechnical University, Xi′an 710072)
  • Received:2010-12-14 Revised:2011-12-25 Online:2011-12-25 Published:2011-12-25

摘要: 针对航天器相对姿态跟踪过程中严重的非线性及控制器设计的复杂性,建立了基于修正罗德里格斯参数的航天器相对姿态运动学和动力学方程并根据Lyapunov直接法设计了非线性前馈控制律。设计的控制律不仅保证闭环系统稳定,还使得航天器相对姿态跟踪误差快速收敛到零点邻域内。通过在Matlab/Simulink环境下对航天器相对姿态跟踪进行数值仿真,验证了建立模型和设计控制律的有效性。

关键词:  修正罗德里格斯参数, 拉格朗日方程, 非线性控制, 姿态跟踪, 航天器

Abstract: The spacecraft relative attitude kinematics and dynamics based on modified rodrigues parameters (MRP) were proposed in the presence of serious nonlinear and controller design complexity during spacecraft relative attitude tracking control. A nonlinear feedforward controller was designed using Lyapunov method. The control law can not only ensure global  asymptotic steady of close loop system, but also make relative attitude tracking errors converge to zero field speedily. By using Matlab/Simulink programming, the modeling and simulation of spacecraft relative attitude tracking were discussed. Numerical simulations are exploited to verify the effectiveness of the model and control law.

Key words: Modified rodrigues parameters, Lagrange equation, Nonlinear control, Attitude tracking, Spacecraft