【作者】 徐帆；

【导师】 马广富；

【作者基本信息】 哈尔滨工业大学 ， 导航、制导与控制， 2006， 硕士

【摘要】 卫星在空间的运动可以分为轨道运动和姿态运动,姿态运动是卫星姿态控制所研究的问题,卫星的姿态控制又可以分为姿态确定、姿态控制规律设计和执行机构三部分,姿态确定系统的精度是影响姿态控制的决定性因素,姿态控制规律的好坏也必将影响到姿态控制的精度,本文以某在研惯性定向卫星为研究对象进行姿态确定和姿态控制研究,主要完成了以下几个方面的工作:采用欧拉角和四元数建立了惯性定向卫星姿态运动学方程,根据刚体动量矩定理,建立了惯性定向刚体卫星姿态动力学方程。应用扩展卡尔曼滤波技术,推导了基于陀螺和星敏感器的姿态估计算法。主要包括,建立星敏感器和陀螺的数学模型,阐述了扩展卡尔曼滤波算法的原理,利用惯性定向卫星姿态运动学方程建立了以陀螺偏差和误差四元数为状态的姿态估计模型,对卫星的姿态进行了估计。在姿态确定的基础上,设计了以下三种控制规律:基于线性化姿态动力学模型的欧拉角反馈控制器;基于非线性姿态动力学,利用李亚普诺夫方法设计的四元数反馈控制器和欧拉角反馈控制器,利用稳定性理论证明了所设计的控制器都能使系统稳定。为进行姿态控制仿真分析,在Matlab 6.5环境下设计了姿态确定和姿态控制系统仿真软件,仿真结果显示这三种姿态控制器都能使卫星姿态达到预期目标。在上述研究结果的基础上,利用Visual C++编译环境,设计了可独立运行的三轴稳定卫星姿态控制系统仿真软件,该软件具有可视化、模块化、使用简便的特点,并且运行效果良好。更多还原

【Abstract】 The locomotion of satellite is usually divided into two parts, one is orbit movement, the other is attitude movement. Satellite attitude control researches the attitude movement. Satellite attitude control is divided into attitude determination, execution institution and design of attitude control low, the precision of attitude control is depended both on attitude determination and attitude control low. Under the background of a inertial directional satellite being developed, attitude determination and attitude control low have been studied in the thesis. The main contents are as follows:The attitude kinematics model of the inertia directional satellite is developed employing Euler-angle representations and quaternion representations. According to the low of angular momentum, the attitude dynamics model of rigid satellite is derived.Attitude estimation algorithm based on gyroscope and star tracker is designed using the extended Kalman Filter (EKF). Measure model of gyroscope and star tracker are established, the principle of EKF is introduced, and the attitude estimation algorithm of the inertia directional satellite is established by using gyroscope bias and error quaternion as state.Three attitude control low is designed after the research of attitude determination. First, linear dynamics model is developed and a PID controller is designed using Euler-angle feedback. Secondly, a quaternion feedback controller is designed employing Lyapunov method based on the nonlinear dynamics model, thirdly, a Euler-angle feedback controller is designed employing Lyapunov method based on the nonlinear dynamics model, too. The second and third controllers are proved to be asymptotically Stable. A simulation software of attitude determination and attitude control is designed in the environment of Matlab 6.5. Simulation result shows that these three controllers can satisfy the control aim.The last, according to the above research, satellite attitude control system simulation software is developed in the environment of Visual C++. The software is characterized by modularization, visualization and simple use. Simulation result of this software is good.更多还原