一种非线性姿态系统的渐近解耦控制律  

An asymptotically decoupling control law for nonlinear attitude systems

作　　者：杨智民[1] 杨振强 庄显义[1] 

机构地区：[1]哈尔滨工业大学控制工程系,黑龙江哈尔滨150001 [2]青岛海信电器集团技术中心,山东青岛266071

出　　处：《哈尔滨工业大学学报》2000年第1期129-132,共4页Journal of Harbin Institute of Technology

摘　　要：介绍了一种非线性姿态系统的渐近解耦稳定控制律 .从卫星姿态控制的具体问题出发 ,针对姿态系统模型自身的非线性特点和控制任务要求 ,将原非线性控制系统变换为一渐近解耦、渐近稳定系统 .在三个体轴旋转角速度和三个姿态角都可以得到的前提下 ,选取姿态角偏差作为新的状态变量 ,给出角偏差方程解耦时体轴旋转角速度所应满足的一个条件 ,并通过构造一类稳定的系统 ,求解出使这个解耦条件渐近成立的非线性反馈稳定控制律 .所得到的渐近稳定系统既可以是线性的 ,也可以是非线性的 .对某卫星的姿态控制系统进行了数值仿真 ,仿真结果证明了该方法的有效性 .Based on the asymptotically decoupling method, a stabilizing control law for a nonlinear satellite's attitude control system is proposed. Taking the characteristics of the attitude system's model and the requirements of the control task under consideration, this paper converts the original nonlinear control system into an asymptotically decoupling and asymptotically stable system. Provided that both the three body angular velocities and the three attitude angles can be obtained, angle errors are chosen as new state variables. A condition which body angular velocities should satisfy when angle error equations are decoupled is presented. The nonlinear feedback stabilizing control law that guarantees this asymptotically decoupling condition is solved via designing a kind of stable system. The final asymptotically stable system can be linear or nonlinear. A numerical simulation for a satellite's attitude control system is performed. Simulation results show that the control law designed in this paper is effective.

关 键 词：姿态控制 非线性系统 渐近解耦控制律 卫星 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]