Attitude compound control technology for micro/nanosatellite variable orbit maneuvering segment
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摘要:
针对仅安装单推力器的微纳卫星变轨机动期间无法解决长期推力偏心扰动控制的问题，提出一种质心配平+零动量控制的复合姿态控制方法。基于零动量轮系和二维平动伺服装置构建一种新型复合执行机构，建立并优化了考虑惯性主轴偏移与附加扰动力矩的姿态转动动力学和滑块平动动力学模型；设计了指数收敛干扰观测器实时观测推力偏心力矩；设计了姿态控制环模型预测控制 (MPC)控制器和推力偏心力矩补偿环离散比例积分微分(PID)控制器，构成双闭环复合姿态控制系统。数值仿真结果表明：在微纳卫星执行长周期变轨机动任务期间，干扰观测器能有效观测慢时变的推力偏心力矩，双闭环姿态控制器可有效收敛姿态角误差至±0.01°并确保动量轮系无饱和，验证了所提方法的可行性。
Abstract:A compound attitude control system combining zero-momentum control and moving mass technology is offered to address the problem of reducing long-term thrust eccentricity disturbances during orbital maneuvers for micro/nanosatellites using a single thruster. A novel composite actuator is constructed based on the zero-momentum wheel system and a two-dimensional translational servo mechanism. Models of slider translational dynamics and attitude rotation dynamics are developed and refined, taking into consideration additional disturbance torques and the offset of the inertia axis. A dual-loop compound attitude control system comprises an model predictive control (MPC) controller for attitude control and a discrete proportional-integral-derivative (PID) controller for compensating thrust eccentricity moment. According to numerical simulation results, the dual-loop attitude controller converges attitude angle errors to within ±0.01° while maintaining non-saturation of the Reaction wheel, and the disturbance observer successfully monitors slow-time-varying thrust eccentricity moments during extended orbital maneuver missions of micro/nanosatellites. These results validate the viability of the compound attitude control approach.
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图 1 复合执行机构工作原理示意图
Figure 1. Schematic diagram of operating principle of composite actuator
图 3 扰动力矩随复合执行机构质量变化曲线
Figure 3. Variation curves of disturbance torque with mass of composite actuator
图 4 质量矩滑块运动受力示意图
Figure 4. Schematic diagram of forces on motion of a moving mass slider
图 8 推力偏心力矩与干扰观测器变化曲线
Figure 8. Curves of thrust eccentricity moment versus interference observer variation
图 11 动量轮卸载时姿态参数变化
Figure 11. Curves of attitude parameters when reaction wheel of composite actuator unloading
图 12 不同推力作用下MRP模值变化曲线
Figure 12. Curves of MRP modulus variation under different thrust forces
表 1 仿真参数初始设置
Table 1. Initial setup of simulation parameters
参数 数值 卫星壳体质量/kg
复合执行机构可移动质量/kg
初始质心位置/mm5
0.5
[−1.714 0.001 −0.001]卫星转动惯量/$({\text{kg}} \cdot {{\text{m}}^{\text{2}}})$ $\left[ {\begin{array}{*{20}{c}} {8665.4}&{ - 47.14}&{86.53} \\ { - 47.14}&{23785.89}&{ - 125} \\ {86.53}&{ - 125}&{23785.89} \end{array}} \right] \times {10^{ - 6}} $ 推力器推力大小/${\text{mN}}$
推力指向误差/(°)
推力器安装偏差参数/${\text{mm}}$40
[−5 5 −5]
[0 2 −2]初始姿态欧拉角(312) /(°)
初始角速度/$((^\circ) \cdot {\text{s}}^{-1})$[30 −10 10]T
[0.5 0.5 0.5]T动量轮最大转速/(rad·min−1)
动量轮最大输出力矩/N·m6.28
0.002复合执行机构最大位移/mm
复合执行机构最大加速度/(m·s−2)20
0.1干扰观测器参数K
推力补偿控制环参数${k_{\text{p}}},{k_{\text{d}}},{k_{\text{i}}} $
姿态控制环参数${N_{\text{p}}} $1
0.09, 0.09, 0.1
10
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