低轨道卫星的高精度姿态控制系统设计
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摘要
随着当今航天科技的发展,国内外对低轨道小卫星的需求逐渐增大。姿态控制系统是保证卫星稳定运行和基本功能的关键,本文针对低轨道小卫星,系统的研究三轴稳定卫星姿态控制系统,并在星敏感器在轨标定以及控制器设计两方面进行深入研究。
描述卫星常用坐标系以及姿态描述方法,建立动力学与运动学模型,引入H_∞控制理论,介绍H_∞控制理论的主要思想及基本理论,为在轨标定及控制器设计奠定理论基础。
应用H_∞滤波算法,利用高精度陀螺实现对星敏感器常值误差的在轨标定。采用高精度陀螺获得连续的三轴姿态角速度信息,结合卫星姿态运动学方程,针对星敏感器的常值误差建立星敏感器在轨标定模型,分别应用H_∞滤波算法与卡尔曼滤波算法,完成在轨标定,以确保星敏感器的在轨工作精度。并应用仿真手段对两种算法进行仿真验证。
针对低轨道卫星,设计状态反馈H_∞控制器。根据低轨道卫星的特点以及在轨环境,详细分析系统的不确定性以及环境干扰,根据H_∞控制理论针对所选卫星设计状态反馈H_∞控制器,并应用线性矩阵不等式方法求解控制器参数,以简化计算过程。
基于以上研究,完成低轨道卫星的高精度三轴稳定姿态控制系统设计。利用高精度陀螺和星敏感器的测量值,通过H_∞滤波算法得到姿态信息,将此姿态信息输送给状态反馈H_∞控制器得出控制指令,利用零动量飞轮根据控制指令对卫星施加相应的控制力矩完成高精度姿态控制任务。同时建立姿态控制系统的闭环仿真环境,对前文设计的姿态控制系统进行验证与分析。
仿真结果均验证算法的有效性,证明针对低轨道卫星设计的三轴姿态稳定控制系统可以达到高精度、高稳定度的姿态控制要求。
With the development of the aerospace technology, the demand of low-orbit micro-satellite is increasing. The attitude control system is the key to ensure the stable operation and the basic functions of the satellite. This dissertation designs a high precision attitude control system of the three-axis stabilized satellite. Besides the controller, further research on the on-orbit calibration of the star sensor also be done.
This paper firstly describes the common attitude coordinate system, then establishes the dynamics and kinematics model, introduces the H_∞control theory at last. The introduction of H_∞control theory sets a foundation for the in-orbit calibration and the design of controller.
A system that can identify the constant error of the star sensor through high-precision gyro with H_∞filter is designed. High-precision gyro can give the attitude angle of satellite. This dissertation uses the star sensor’s constant error as state variables to get an identify model of the star sensor’s constant error, then uses two different filters and compares their results.
H_∞state feedback controller of the low-orbit satellite is designed. Then based on the analysis of the system uncertainty and the environment disturbance, the attitude controller of the satellite is proposed. To make the computation easier, the LMI method is adopted to find out the coefficient of the controller.
After all the works above, a high-precision control system of the low-orbit satellite need to be built. We can get the attitude data. We need by the high-precision gyro/star sensor and the attitude determination based on the H_∞theory. Then the controller get the data to compute the control instructions which are put into the fly-wheels, the fly-wheels putout the control torque, finally the whole system can finish the task of the attitude control. Simulation proves the design satisfies the demands.
The simulation proves the algorithms useful, and the low-orbit satellite attitude control system can achieve the requirements.
描述卫星常用坐标系以及姿态描述方法,建立动力学与运动学模型,引入H_∞控制理论,介绍H_∞控制理论的主要思想及基本理论,为在轨标定及控制器设计奠定理论基础。
应用H_∞滤波算法,利用高精度陀螺实现对星敏感器常值误差的在轨标定。采用高精度陀螺获得连续的三轴姿态角速度信息,结合卫星姿态运动学方程,针对星敏感器的常值误差建立星敏感器在轨标定模型,分别应用H_∞滤波算法与卡尔曼滤波算法,完成在轨标定,以确保星敏感器的在轨工作精度。并应用仿真手段对两种算法进行仿真验证。
针对低轨道卫星,设计状态反馈H_∞控制器。根据低轨道卫星的特点以及在轨环境,详细分析系统的不确定性以及环境干扰,根据H_∞控制理论针对所选卫星设计状态反馈H_∞控制器,并应用线性矩阵不等式方法求解控制器参数,以简化计算过程。
基于以上研究,完成低轨道卫星的高精度三轴稳定姿态控制系统设计。利用高精度陀螺和星敏感器的测量值,通过H_∞滤波算法得到姿态信息,将此姿态信息输送给状态反馈H_∞控制器得出控制指令,利用零动量飞轮根据控制指令对卫星施加相应的控制力矩完成高精度姿态控制任务。同时建立姿态控制系统的闭环仿真环境,对前文设计的姿态控制系统进行验证与分析。
仿真结果均验证算法的有效性,证明针对低轨道卫星设计的三轴姿态稳定控制系统可以达到高精度、高稳定度的姿态控制要求。
With the development of the aerospace technology, the demand of low-orbit micro-satellite is increasing. The attitude control system is the key to ensure the stable operation and the basic functions of the satellite. This dissertation designs a high precision attitude control system of the three-axis stabilized satellite. Besides the controller, further research on the on-orbit calibration of the star sensor also be done.
This paper firstly describes the common attitude coordinate system, then establishes the dynamics and kinematics model, introduces the H_∞control theory at last. The introduction of H_∞control theory sets a foundation for the in-orbit calibration and the design of controller.
A system that can identify the constant error of the star sensor through high-precision gyro with H_∞filter is designed. High-precision gyro can give the attitude angle of satellite. This dissertation uses the star sensor’s constant error as state variables to get an identify model of the star sensor’s constant error, then uses two different filters and compares their results.
H_∞state feedback controller of the low-orbit satellite is designed. Then based on the analysis of the system uncertainty and the environment disturbance, the attitude controller of the satellite is proposed. To make the computation easier, the LMI method is adopted to find out the coefficient of the controller.
After all the works above, a high-precision control system of the low-orbit satellite need to be built. We can get the attitude data. We need by the high-precision gyro/star sensor and the attitude determination based on the H_∞theory. Then the controller get the data to compute the control instructions which are put into the fly-wheels, the fly-wheels putout the control torque, finally the whole system can finish the task of the attitude control. Simulation proves the design satisfies the demands.
The simulation proves the algorithms useful, and the low-orbit satellite attitude control system can achieve the requirements.
引文
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15陈浩,谭久彬.一种改进TRIAD飞行器姿态确定方法.系统仿真学报. 2008,(8):2101~2104
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2王端骧.低轨道卫星通信的发展.微波与卫星通信. 1998,(4):11~14
3苑立伟,杨建军,刘海平.国外低轨道卫星综述.航天返回与遥感, 2004,25(4):54~61
4周军.航天器控制原理.西北工业大学出版社, 2000:62~64
5孙兆伟,耿云海.微小卫星高精度三轴稳定控制算法研究.上海航天. 2002,(2):1~6
6陈洁,汤建国.中低轨道卫星控制方法.上海航天. 2005,(1):24~30
7李于衡,易克初,田红心.一种提高红外地平仪确定卫星姿态精度的方法.红外与毫米波学报. 2007,26(3):178~181
8黄琳,荆武兴.卫星姿态确定与三轴磁强计校正.宇航学报. 2008,29(3):854~859
9何丽,胡以华.太阳敏感器原理技术发展浅析.传感器世界. 2006,(1):12~14
10吴校生,陈文元.角加速度计发展综述.中国惯性技术学报. 2007,15(4):458~463
11崔乃刚,凡友华,周文艳.卫星地球——射频敏感器组合定姿滤波算法研究.上海航天. 2002,(2):11~15
12 TW Flatlet, JK Forden, DA Henretty. Onboard Attitude Extermination and Controlalgorithms for SAMPEX[A]. Proceedings of the Flight Mechanics/Estimation Theory Symposium[C]. Greenbelt, MD, NASA/Goddard Space Flight Center, 1990:379~390
13杨锋.三轴稳定卫星姿态确定及控制系统的研究.西北工业大学硕士学位论文. 2006:1~3
14袁彦红.星敏感器在轨标定算法研究.哈尔滨工业大学硕士学位论. 2007:1~3
15陈浩,谭久彬.一种改进TRIAD飞行器姿态确定方法.系统仿真学报. 2008,(8):2101~2104
16章仁为.卫星轨道姿态动力学与控制.北京航空航天大学出版社, 1997:214~222
17 R. Wertz. Spacecraft Attitude Determination and Control. D.Reidel Holland, 1978:1~10
18 EJ. Lefferts, FL. Markly, MD. Shuster. Kalman Filtering for Spacecraft. AttitudeEstimation. Journal of Guidance and Control. 1982,8(5):25~30
19 A. Francis. A Course in H∞Control Theory. Springer-Verlab, 1987:1~21
20高会军,王常虹.参数摄动系统的鲁棒H∞状态估计.控制与决策. 2004,19(2):147~152
21 M.D. Shuster, S.D. Oh. Three-Axis Attitude Determination from Vector Observations. AIAA-81-4003, 1981:70~77
22 P. Davenport, G. Welter. Algorithm for In-Flight Calibration of Gyros Flight Mechanics and Estimation Theory Symposium.CP-3011,NASA,1988
23 Glenn Creamer. Attitude Determination and Control of Clementine During Lunar Mapping. Journal of Guidance Control &Dynamics. 1996, 19(3):12~16
24钱勇.高精度三轴稳定卫星姿态确定和控制系统研究.西北工业大学博士学位论文. 2002:1~10
25胡跃明.变结构控制与应用.科学出版社, 2002:1~45
26俞立.鲁棒控制——线性矩阵不等式处理方法.清华大学出版社, 2002:1~15
27 B.J. Kim, H. Lee, S.D. Choui. Three Axis Reaction Wheel Attitude Control System for KITSAT-3 Microsatellite. Space Technology. 1996:305~346
28黄圳圭.航天器姿态动力学.国防科技大学出版社, 1~40
29屠善澄.卫星姿态动力学与控制.宇航出版社, 2001:20~46
30陈雪芹,耿云海,张迎春,王峰.基于LMI的鲁棒容错控制及其在卫星姿态控制中的应用.控制理论与应用. 2008,25(1):95~99
31李传锋,邓志翔,王永骥.基于INA-QFT的高超声速飞行器鲁棒控制器设计.计算技术与自动化. 2009,1(28):46~49
32 J.C Doyle, K. Glover, P.P. Khargonekar, Francis B.A. State-Space Solutions to Standard H2 and H∞Control Problems. IEEE Transactions on Automatic Control. 1989,34(8):831~847
33申铁龙. H∞控制理论与应用.清华大学出版社, 1996:1~15
34贾英民.鲁棒H∞控制.科学工业出版社, 2007:216~227
35王广雄. H∞控制理论应用中的若干问题.中国控制会议论文集.青岛, 1996:127~132
36王广雄. H∞控制器中的LMI算法分析.电机与控制学报. 2002,6(1):46~49
37周克敏, J.C. Doyle, K. Glover.鲁棒与最优控制.国防工业出版社, 2001:250~256&506~534
38陈雪芹,耿云海.一种利用星敏感器对陀螺进行在轨标定的算法.系统工程与电子技术. 2005,27(12):2112~2116
39周世勤.光纤陀螺技术的发展.飞航导弹. 2000.2(2):42~45
40杨锋,周宗锡,刘曙光.基于星敏感器/光纤陀螺的卫星姿态确定算法.控制工程. 2006,13(4):374~393
41 Cho. Sangwoo, Chun. Joohwan. Bayesian Bootstrap Filtering Determination Using a Star Sensor. Proceedings of SPIE-The International Society for Optical Engineering v4477. 2001:88~95
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