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研究刚体卫星的高精度大角度指向跟踪控制问题。为保证姿态描述的全局性,由修正Rodrigues参数描述相对姿态。设计PD型姿态指向跟踪控制器,可同时实现角度跟踪和角速度跟踪。为提高控制精度,同时避免控制输出进入饱和域,本文在控制器的基础上设计了增益分配律。通过数值仿真,在存在初始指向偏差和输出饱和约束条件下,控制器可实现大椭圆轨道卫星对静止轨道卫星的高精度姿态指向跟踪。当转动惯量存在常值误差时,控制器仍然适用。
Research rigid-body satellite high-precision large-angle tracking control problem. In order to ensure the overall description of the gesture, the modified Rodrigues parameters describe the relative attitude. Design PD attitude pointing tracking controller, can achieve both angle tracking and angular velocity tracking. In order to improve the control accuracy and prevent the control output from entering the saturation domain, this paper designs the gain distribution law based on the controller. Through the numerical simulation, the controller can achieve high-precision attitude pointing and tracking of geostationary orbit satellites in the presence of initial pointing errors and output saturation constraints. The controller still works when there is a constant error in moment of inertia.