An Optimal Attitude Control Method of the Combined Double Flywheel-single Jet for an Underactuated Spacecraft
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摘要: 欠驱动航天器的姿态控制能够增强航天器的可靠性.本文针对欠驱动航天器姿态控制, 从喷气姿态阻尼的角动量等效原理出发, 推导脉宽调制公式, 得到燃料消耗最小时给定姿态、非给定姿态两种情况下的喷气最优组合方案.同时, 为了实现喷气全局最优, 提出欠驱动飞轮姿态控制策略, 实现了运动航天器机动至预期姿态.进一步分析欠驱动飞轮航天器的姿态控制原理及稳定性, 提出了共面双飞轮-单喷气的配置方案, 通过双飞轮组合稳定航天器的角速度, 使得航天器到达预期姿态机动时燃料全局最省.结合绕两个旋转轴的姿态机动路径规划方法, 通过姿态机动时序关系的实时分配可实现航天器姿态机动与稳定控制.最后, 通过航天器姿态控制仿真和对比分析, 发现共面双飞轮-单喷气的欠驱动姿态阻尼及姿轨控制方案能够在较少硬件配置下实现对航天器的姿态控制, 且消耗燃料最少.Abstract: Attitude control of the underactuated spacecraft enhances the reliability of the spacecraft. In this paper, based on the angular momentum equivalent principle of jet attitude damping, the pulse width modulation formula is derived to obtain the optimal attitude of the jet in the given attitude and the non-given attitude. Meanwhile, in order to achieve the goal of the global optimal jet, the underactuated flywheel attitude control strategy is proposed to realize the maneuvering of the spacecraft to the expected attitude. The attitude control principle and stability of the underactuated flywheel spacecraft are further analyzed. The hardware configuration scheme of the coplanar double flywheel-single jet is proposed. The angular velocity of the spacecraft is stabilized by the double flywheel combination, and the most realistic expected attitude and maneuver of the fuel are achieved. The attitude maneuver path planning method based on two axis rotation can realize the spacecraft attitude maneuver and stability control through the real-time allocation of attitude maneuver timing relations. Finally, the spacecraft attitude control simulation results show that the coplanar double flywheel-single jet owes the drive attitude damping scheme, enables attitude control of the spacecraft with less hardware configuration, and consumes the least fuel.
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Key words:
- Attitude control /
- underactuated spacecraft /
- coplanar double flywheel-single jet /
- optimal jet
1) 本文责任编委 倪茂林 -
图 4 双飞轮阻尼时航天器角速度的变化
Fig. 4 The variation of spacecraft angular velocity by two flywheels' damping
图 5 双飞轮姿态机动喷气阻尼的航天器角速度变化
Fig. 5 The variation of spacecraft angular velocity by two flywheels' maneuver and jet's damping
图 6 双飞轮姿态机动喷气阻尼的航天器角动量变化
Fig. 6 The variation of spacecraft angular momentum by two flywheels' maneuver and jet's damping
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