| Related citation: | Yonghai Wang,Gang Meng,Jianlin Li,Yongtao Shui,Baogang Lu.An Improved Dynamic Friction Rejection Attitude Stability Control Strategy[J].Journal of Harbin Institute Of Technology(New Series),2019,26(5):79-87.DOI:10.11916/j.issn.1005-9113.17152. |
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| Author Name | Affiliation | | Yonghai Wang | Beijing Institute of Space Long March Vehicle, China Academy of Launch Vehicle Technology , Beijing 100076, China | | Gang Meng | Beijing Institute of Space Long March Vehicle, China Academy of Launch Vehicle Technology , Beijing 100076, China | | Jianlin Li | Beijing Institute of Space Long March Vehicle, China Academy of Launch Vehicle Technology , Beijing 100076, China | | Yongtao Shui | Beijing Institute of Space Long March Vehicle, China Academy of Launch Vehicle Technology , Beijing 100076, China | | Baogang Lu | Beijing Institute of Space Long March Vehicle, China Academy of Launch Vehicle Technology , Beijing 100076, China |
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| Abstract: |
| The attitude stability control of under-actuated spacecraft that used two reaction wheels in the presence of dynamic friction disturbance is handled. A novel improved control approach with a combination of a singular control law based on quaternion and extended state observer (ESO) is employed to establish a stabilization control so as to restrain the effect of friction. The corresponding simulation results demonstrate the highly stable accuracy and performance compensated dynamic friction. Furthermore, if there is a non-zero initial condition in under-actuated axis, the attitude stability can be enhanced with a magnetic torquer. Simulations for a nano-spacecraft denote a potential application value in pointing accuracy using two reaction wheels and a magnetic torquer. |
| Key words: nanospacecraft dynamic friction singular control linear extended state observer magnetic torquer |
| DOI：10.11916/j.issn.1005-9113.17152 |
| Clc Number:TP273.2 |
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| Descriptions in Chinese: |
| 一种改进的动摩擦姿态稳定控制策略 王永海，孟刚，李建林，水涌涛，卢宝刚 （北京航天长征飞行器研究所，中国航天科技集团公司，北京100076） 创新点说明：1）结合基于四元数的反馈控制律和扩张状态观测器对动摩擦力影响进行抑制； 2）当欠驱动轴存在非零初始状态量时，应用基于磁力矩的控制策略实现姿态稳定。 研究目的： 研究带有两个反作用飞轮的欠驱动航天器在动态摩擦扰动影响下的高精度姿态稳定控制。 研究方法： 采用理论分析法与仿真验证法相结合。理论推导所得控制器的稳定性通过李雅普诺夫函数进行了严格证明。方法的优越性以及在实际问题中的适用性通过matlab数学仿真分析进行验证。 研究结果： 本文提出的控制方法相比传统方法具有更好的稳态收敛精度以及更强的动摩擦补偿能力。 结论： 本文提出的控制策略相比传统方法在收敛精度与控制鲁棒性方面有很大的提升。能有效补偿动摩擦以及外部扰动产生的影响。 关键词：纳卫星；动摩擦；奇异控制；线性扩张状态观测器；磁力矩器。 |
