基于MRP的航天器无角速度姿态控制算法  

Attitude Control of Angular Velocity Free Spacecraft Based on MRP

作　　者：陆智俊 吴敬玉 

机构地区：[1]上海航天控制技术研究所,上海200233

出　　处：《上海航天》2013年第2期13-16,21,共5页Aerospace Shanghai

摘　　要：对适于不携带惯组的小型航天器的姿态控制律设计进行了研究。考虑航天器实际运行中饱和广泛存在,在控制器设计中引入饱和特性函数,为改进饱和阀限引入双曲余弦函数。用一阶无源滤波器对姿态参数进行差分,提出了基于修正罗德里格参数(MRP)的采用饱和函数和双曲余弦函数的无角速度控制律。理论分析证明了系统的稳定性,数学仿真结果验证了这两种无角速度反馈控制律的有效性。提出的控制方法也可作为普通航天器惯组失效时的备份控制律。The attitude controller design for small spacecraft without inertial measurement unit （IMU） was studied in this paper. With the consideration of the saturation exiting generally during the spacecraft operation, the saturation function and hyperbolic cosine function were introduced in the controller design. The difference of attitude parameters was done through the 1st order passive filter. The angular velocity free control laws using saturation function and hyperbolic cosine function were proposed based on modified Rodrigues parameters. The stability of system was proved theoretically, and the effective of the two angular velocity free control laws were verified through mathematical simulation. The laws proposed could be regarded as backup control laws of general spacecrafts when the IMU came out failure.

关 键 词：卫星姿态控制 无角速度测量 无源滤波器 修正罗德里格参数 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]