摘要
针对多星部署先进上面级变轨段三轴姿态严重耦合以及主发动机开机引起的较大干扰力矩问题,研究了基于反馈线性化的姿态解耦算法。通过给出上面级多星部署任务中的坐标系和姿态角定义,建立了欧拉角描述的姿态动力学与运动学方程。分析了推力矢量与姿控发动机的控制方案,描述了该方案中主发动机、伺服机构和姿控发动机的配置结构,推导了推力矢量控制中的主发动机摆角计算公式和主发动机工作时质心偏移引起的干扰力矩。基于反馈线性化理论,设计了上面级姿态解耦控制律。算例验证结果表明姿态角速率误差和姿态角误差能够快速趋于1°/s和0.5°。文中设计的姿态解耦控制算法具有良好的稳定性和可行性。
For the issues of attitude strong coupling and large disturbances of advanced upper stage with multi-satellite deploying when the main engine is working,a feedback linearization-based attitude decoupling control algorithm is presented.By definitions of coordinates and the attitude angle during multi-satellite deploying,the attitude dynamics and kinematics equations described by Euler angles are built.A control method combining thrust vector control of the main engine and attitude control thrusters is proposed.The configuration of these actuators is described.The formulas of swing angles of the main engine are derived.A feedback linearization-based attitude PD control law is designed.An example of mathematical simulation is completed.And the errors of attitude angular velocity and attitude angle can quickly tend to 1°/s and 0.5°respectively.Simulation results show that the decoupling control algorithm has good stability and feasibility.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2011年第9期1911-1917,共7页
Journal of Astronautics
基金
航天科技创新基金(CASC20090201)
关键词
上面级
姿态控制
解耦控制
推力矢量控制
反馈线性化
Upper stage
Attitude control
Decoupling control
Thrust vector control
Feedback linearization
