| 引用本文: | 宗群,谷友博,张秀云,刘文静.角速度约束卫星编队控制与虚拟演示验证[J].哈尔滨工业大学学报,2021,53(3):193.DOI:10.11918/202007131 |
| ZONG Qun,GU Youbo,ZHANG Xiuyun,LIU Wenjing.Satellite formation control and virtual demonstration verification under angular velocity constraint[J].Journal of Harbin Institute of Technology,2021,53(3):193.DOI:10.11918/202007131 |
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| 摘要: |
| 针对角速度约束下卫星编队姿态同步控制问题,提出一种附加系统动态-姿态同步控制器综合设计策略. 首先,考虑角速度约束影响,建立约束下卫星编队模型；其次,建立姿态跟踪误差方程,将角速度约束转化为角速度跟踪误差约束,并设计新型有限时间附加系统动态,保证姿态变化满足约束要求；然后,基于附加系统状态,设计姿态同步控制器,实现卫星编队有限时间姿态同步；最后,搭建分布式实时仿真验证平台,主控单元由仿真单元提取实时数据绘制仿真曲线,同时将数据发送至视景单元进行场景驱动,通过实时仿真曲线与离线仿真结果的对比分析以及编队控制过程的三维可视化演示,实现了实时环境下控制算法的可靠性验证. |
| 关键词: 卫星编队 姿态同步 角速度约束 实时仿真 视景演示 |
| DOI：10.11918/202007131 |
| 分类号:TP273 |
| 文献标识码:A |
| 基金项目:国家自然科学基金(0,4)；国防科技重点实验室基金(2,1) |
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| Satellite formation control and virtual demonstration verification under angular velocity constraint |
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ZONG Qun1,GU Youbo1,ZHANG Xiuyun1,LIU Wenjing2
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(1. School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China; 2. Science and Technology on Space Intelligent Control Laboratory (Beijing Institute of Control Engineering), Beijing 100190, China)
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| Abstract: |
| To tackle the problem of attitude synchronization control of satellite formation under angular velocity constraint, a comprehensive design strategy of additional system dynamic-attitude synchronization controller was proposed. Firstly, considering the influence of angular velocity constraint, a spacecraft formation model was established. Then, an attitude tracking error equation was established. The angular velocity constraint was converted into angular velocity tracking error constraint, and a new finite-time additional system dynamic was designed to ensure that the attitude change met the constraint requirements. Next, based on the state of the additional system, an attitude synchronization controller was designed to realize the finite-time attitude synchronization of satellite formation. Finally, a distributed real-time simulation verification platform was built. The main control unit extracted real-time data from the simulation unit to draw a simulation curve, and sent the data to the visual unit for scene driving. Through the comparative analysis of the real-time simulation curve and the offline simulation results, as well as the three-dimensional visualization demonstration of the formation control process, the reliability verification of the control algorithm in real-time environment was realized. |
| Key words: satellite formation attitude synchronization angular velocity constraint real-time simulation visual presentation |
