误差四元数及其在航天器姿态控制中的应用

以四元数作为定位参数对航天器进行姿态控制。首先导出了误差四元数矢量,从而解决了航天器姿态控制中最终姿态表示的非单值性问题;其次,通过一个典型例子提出了非线性三轴姿态控制方法,该方法以误差四元数作为反馈量,以控制力矩陀螺作为执行元件,利用李亚普诺夫函数对非线性系统进行控制,为大型航天器的姿态控制开辟了新的途径;最后,给出了仿真结果,从而说明了以误差四元数作为定位参数的航天器姿态控制法具有计算速度快、计算精度高等优点。

Error Quaternion and Its Application of Attitude Control for a Spacecraft

In this paper,the quaternion is taken for positional parameters to control the attitude of a spacecraft.First,a variation-the error quaternion vector can be attained.The non-single question of the end-attitude of the spacecraft can be solved.Second,the method of non-liner three-axis attitude controls is presented by a typical example,which uses the error quaternion as feedback and control moment gyros as a primary actuating device,and introduces Lyapunov functions to control the non-linear system.It is a new methodology for large spacecraft attitude control.Comparing with Euler's method,the method issued in this paper is much faster and higher precision