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针对航天器三轴姿态大角度机动时动力学特性耦合强烈的情况,同时考虑外界干扰及执行器的不确定性,根据扩张状态观测器的相关理论,提出了航天器姿态机动的一种自适应输出反馈控制策略。首先,采用动量矩定理和欧拉法建立了航天器的姿态动力学模型。然后,在此基础上,利用扩张状态观测器能够准确地获取航天器三轴间非线性耦合及其他未知的外界干扰信息的能力,设计了一种仅需要姿态角测量值的自适应输出反馈控制律,使航天器在大角度姿态机动的同时能够通过自适应律补偿控制力矩的输出偏差。仿真结果表明,在多种任务模式下,航天器都可以很好地完成姿态机动任务,从而验证了控制律的正确性和有效性。
Aiming at the strong coupling of dynamic characteristics of large-angle maneuvering spacecraft with three-axis attitude and taking into account the external disturbances and the uncertainties of the actuator, an adaptive adaptive attitude maneuver of spacecraft is proposed according to the related theory of the extended state observer. Output feedback control strategy. First, the attitude dynamics model of the spacecraft is established by using momentum theorem and Euler method. Then, based on this, using the extended state observer to accurately acquire the nonlinear coupling of the spacecraft and other unknown external disturbance information, an adaptive output feedback control The law enables the spacecraft to compensate the output deviation of the control torque through the adaptive law while maneuvering in a large angle attitude. The simulation results show that the spacecraft can accomplish the attitude maneuver tasks well under various mission modes, which verifies the correctness and effectiveness of the control law.