考虑姿态禁忌约束的航天器安全姿态跟踪控制  

Spacecraft safe attitude tracking control by considering attitude forbidden constraint

作　　者：郑重[1] 宋申民[1] 张保群[1] 

机构地区：[1]哈尔滨工业大学航天学院控制理论与制导技术研究中心,黑龙江哈尔滨150001

出　　处：《系统工程与电子技术》2013年第3期574-579,共6页Systems Engineering and Electronics

基　　金：国家自然科学基金(61174037)资助课题

摘　　要：针对航天器姿态跟踪过程中的姿态约束问题,提出了一种基于势函数的安全姿态机动控制算法。与姿态定点机动的姿态约束问题不同,引入误差四元数和误差角速度,建立了航天器姿态跟踪误差模型。采用四元数描述了姿态禁忌区域,并根据禁止姿态最小允许角构造了一种新的规避高斯势函数。利用规避势函数和吸引势函数得到安全姿态机动控制器,对于无扰动和有扰动的情况分别分析了闭环控制系统的Lyapunov稳定性。最后,对于有约束的姿态跟踪情况进行了计算机数值仿真。仿真结果表明,所提出的控制方法既能实现姿态跟踪的目的,又能确保航天器在机动过程中不会进入姿态禁忌区域。Considering the attitude constraint problem during spacecraft attitude tracking, a control algorithm based on potential function for safe attitude maneuver is presented. Different from the case of fixed-point maneuver, error quaternion and error angular velocity are introduced to construct the spacecraft attitude tracking error model. Quaternions are used to describe the region of forbidden attitude, and a new Gauss avoidant potential function is proposed using the minimum angle allowed by the forbidden attitude. A safe attitude maneuver controller is obtained by employing the avoidant potential function and an attractive potential function, meanwhile the Lyapunov stability of the closedloop control system is analyzed with and without disturbance torque respectively. Finally, computer numerical simulations are carried out in attitude tracking with attitude constraint. Simulation results show that the proposed control approach can not only achieve the purpose of attitude tracking, but also guarantee the spacecraft far away the region of the forbidden attitude.

关 键 词：安全姿态跟踪 姿态约束 势函数法 航天器 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]