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卫星编队飞行在轨执行任务时,除了对相对位置有特定要求外,还需根据不同任务需求保持一定的相对姿态,为此研究了两颗卫星相对姿态的保持控制。根据刚体运动学推导了两个星体坐标系之间的坐标转换矩阵,给出了从星始终指向主星所需的目标姿态和角速度。基于卫星姿态动力学给出了3个相互垂直安装的反作用轮的控制律,并利用Lyapunov稳定性理论证明了闭环系统的渐近稳定性。最后通过数值仿真验证了控制算法的正确性,其相对误差小于10-6。
In addition to the specific requirements of relative positions, satellite formation flying missions on the orbit need to maintain a certain relative attitude according to the needs of different missions. Therefore, the control of the relative attitude of two satellites is studied. According to the rigid body kinematics, the coordinate transformation matrix between the two astral coordinate systems is deduced, and the target attitude and angular velocity required from the star to the main star are given. The control law of three reaction wheels mounted perpendicular to each other is given based on satellite attitude dynamics. The asymptotic stability of the closed-loop system is proved by the Lyapunov stability theory. Finally, the correctness of the control algorithm is verified by numerical simulation, the relative error is less than 10-6.