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论文第一次系统地研究并给出了适用于多种姿态参数的相对姿态运动学方程和相对动力学方程,所得结果为发展虚拟平台、相对导航和编队飞行提供了理论基础。论文中还给出了相对姿态运动学方程和相对动力学方程在航天器大角度机动控制问题中的应用, 及相应的渐进稳定非线性姿态控制器设计。与其他文献仅用位置反馈来实现姿态机动的跟踪问题相比, 本文用状态反馈, 不仅实现了姿态机动跟踪控制, 还得到了满意的跟踪过程动态品质。这对实现分布卫星具有平稳跟踪品质的相对指向控制,具有重要意义。
For the first time, the thesis systematically studies and presents the relative attitude kinematics equations and relative dynamic equations that are suitable for a variety of attitude parameters. The results provide a theoretical basis for the development of virtual platforms, relative navigation and formation flight. The paper also gives the application of relative attitude kinematics equation and relative dynamic equation in large angle maneuvering control of spacecraft, and the corresponding design of asymptotic stable nonlinear attitude controller. Compared with other literatures, which only use position feedback to realize attitude maneuver tracking, this paper not only realizes attitude maneuver tracking control but also obtains satisfactory tracking dynamic quality. This is of great importance to achieve relative tracking control of distributed satellites with smooth tracking quality.