Nonlinear Adaptive Attitude Control of Spacecraft

A model reference adaptive control law is presented for largeangle rotational maneuvers of spacecraft using reaction jets. It isassumed that the various parameters of the spacecraft arecompletely unknown, and unknown but bounded disturbancetorques are acting on the spacecraft. The controller includes adynamic system in the feedback path. Simulation results arepresented to show that fast, large angle rotational maneuvers can beperformed using the adaptive controller in spite of uncertainty inthe system.     

ATS-6 Experiment Summary

The ATS-6 is the most advanced experimental satellite that has evolved from the Application Technology Satellite Program conducted and implemented by NASA Goddard Space Flight Center (NASA/GSFC). This project utilizes a state-of-the-art spacecraft and ground terminal network to perform advance studies and to conduct technological demonstrations in a large number of scientific areas. The design and implementation of this unique spacecraft permitted multiple experimentation simultaneously. The control of the spacecraft is performed at ATS Operational Control Center (ATSOCC) located at NASA/GSFC. Experimentation which was performed covered a wide spectrum of communications, technological, meterorological, and scientific subjects. Three principal ground terminals are utilized to assist the experimenters to acquire data. Data reduction and analysis are performed by the many facilities at NASA/GSFC in support of the experimenters.     

ATS-6 Low Energy Electron-Proton Experiment

The Low Energy Electron-Proton Experiment was designed to continually monitor the spectra and pitch angle distributions of electrons and protons from 0 to 22 keV to aid in understanding the mechanisms responsible for substorms. The particle sensors were electrostatic analyzers using electron multiplier detectors. Unfortunately , little data have been obtained because of an unknown mode of interference between the experiment and the spacecraft.     

Adaptive Integral-type Sliding Mode Control for Spacecraft Attitude Maneuvering Under Actuator Stuck Failures

A fault tolerant control (FTC) design technique against actuator stuck faults is investigated using integral-type sliding mode control (ISMC) with application to spacecraft attitude maneuvering control system. The principle of the proposed FTC scheme is to design an integral-type sliding mode attitude controller using on-line parameter adaptive updating law to compensate for the effects of stuck actuators. This adaptive law also provides both the estimates of the system parameters and external disturbances such that a prior knowledge of the spacecraft inertia or boundedness of disturbances is not required. Moreover, by including the integral feedback term, the designed controller can not only tolerate actuator stuck faults, but also compensate the disturbances with constant components. For the synthesis of controller, the fault time, patterns and values are unknown in advance, as motivated from a practical spacecraft control application. Complete stability and performance analysis are presented and illustrative simulation results of application to a spacecraft show that high precise attitude control with zero steady-error is successfully achieved using various scenarios of stuck failures in actuators.     

ATS-6 Solar Cosmic Ray and Trapped Particle Experiment

The Solar Cosmic Ray and Trapped Particle Experiment was designed to study the entry, propagation, and loss of solar cosmic rays and the acceleration and loss of trapped electrons and protons in the magnetosphere. Two orthogonal proton and alpha partical telescopes measure protons from 300 keV to 250 MeV and alphas from 2 MeV to 200 MeV. Electron spectrometers measure electrons from 50 keV to 1 MeV and are used in conjunction with the 300-keV to 1.2-MeV proton channels to study the injection of electrons and protons into the magnetosphere during substorms. Two solar cosmic ray events were observed during the first four months of operation. The first of these began on July 3, 1974, and is probably one of the more complicated events in recent years. There were numerous flares and sudden commencements as well as intense fluxes of low energy plasma with a severly perturbed magnetosphere. The second solar cosmic ray event was smaller and was associated with an isolated east limb flare. The first increase was observed on September 11, 1974.     

Robust Nonlinear Attitude Control of Flexible Spacecraft

This paper presents an approach to large-angle rotationalmaneuvers of a spacecraft-beam-tip body configuration based onnonlinear invertibility and linear feedback stabilization. A controllaw Ud is derived for the decoupled control of attitude angles, lateralelastic deflections, slopes due to bending and angular deflection dueto torsion at the tip of the beam using torquers and force actuators.For the stabilization of the elastic modes, a linear feedback controllaw us is obtained based on a linearized model augmented with aservocompensator. Simulation results are presented to show thatlarge slewing and elastic mode stabilization can be accomplished.     

太阳帆航天器被动姿态控制研究

针对由有效载荷、太阳帆和4个控制叶片所组成的太阳帆航天器系统,从物理模型出发,利用欧拉方程建立了姿态动力学模型,并通过数值仿真对太阳帆航天器基于控制叶片的对日定向性能进行了研究。研究结果表明,在行星际飞行中太阳帆航天器可以通过使控制叶片保持偏置来保持姿态稳定。     

大载荷摆动情况下飞行器姿态控制研究(英文)

天文观测卫星的主敏感器安装在一个具有二自由度、并直接与卫星平台相连的万向支架上。因敏感器的质量和长度不能忽略,故卫星姿态及其质心位置、转动惯量等结构参数将因敏感器与卫星间的角运动而发生改变,因此大载荷摆动情况下的飞行器姿态控制是本文研究的重点。本文根据动量矩定理推导出了存在内部相对运动的二刚体动力学模型,卫星系统的转动惯量将由该模型确定。由卫星的当前及其期望姿态四元数,构建出描述卫星姿态偏差的拟欧拉角;对拟欧拉角进行规范化处理,以保证三通道所对应的拟欧拉角分量分别由控制力矩的3个分量所控制。之后,提出了基于拟欧拉角的姿态开关控制律,该控制律可保证三通道所对应的相轨迹可沿开关线滑向坐标原点(其期望状态)。仿真结果表明,即使是在结构不对称和三通道严重耦合的情况下,该控制律也能保证卫星姿态可以得到较好的控制。     

Adaptive Spacecraft Attitude Tracking Controller Design Based on Similar Skew-symmetric Structure

This article presents an adaptive attitude tracking controller with external disturbances and unknown inertia parameters. The similar skew-symmetric structure is extended from the autonomous case to the non-autonomous case. The non-autonomous similar skew-symmetric is chosen as the desired structure of the closed loop system for attitude controller design. Based on this structure, a novel adaptive backstepping scheme is proposed to design the attitude controller by taking full advantage of the symmetry and the positive definiteness of the inertia matrix. The attitude tracking precision is enhanced by employing the linear parameterized form of the external disturbance torques. Simulation results demonstrate the effectiveness of the proposed attitude controller.     

ATS-6 Technical Aspects of the Health/Education Telecommunications Experiment

The Health/Education Telecommunications (HET) Experiment involved six different experiments conducted under the auspices of the Department of Health, Education, and Welfare (HEW) with technical assistance from NASA. The HET Experiment on ATS-6 was operated and controlled from a network coordination center in Denver, Colo., which included a 4-and 6-GHz Earth station. The HET Experiment used remote Earth terminals with 3-m-diameter dishes having a 35 dB gain at 2.5 GHz. In addition, comprehensive terminals operating at both C-band and S-band were used for communications with Alaska. The total network involved a complex of satellite and land links at C-band, S-band, and very high frequency (VHF), using the ATS-1, ATS-3, and ATS-6 satellites. The network performance exceeded expectations with remote terminal operations exhibiting a peak-to-peak signal to weighted rms noise ratio of 49 dB at least 99 percent of the time. The remote site operators performed well and were well motivated although they had little previous technical experience.     

ATS-6 Solar Cell Flight Experiment After 325 Days in Synchronous Orbit

Preliminary Applications Technology Satellite-6 (ATS-6) solar cell flight experiment data through the first 325 days in synchronous orbit is present. The experiment is transmitting data on 16 different solar cell/cover glass configurations. The experiment is designed to study the effect of this orbit on select solar cells and cover glass parameters such as solar cell thickness and base resistivity, cover glass thickness variation, new cover and adhesive processes and materials such as 7940 and 7070 integral covers and the fluorinated ethylene propylene (FEP) covers, the COMSAT "violet" cell, and backside irradiation effects. The in-spece solar cell data indicate short circuit currents are higher by 1 to 8 percent than measurements made with solar simulations; maximum power varied between -1 to +6 percent . Degradation of /sc due to ultraviolet effects was determined to be about 2 percent after 50 days in orbit. All cells performed well through 325 days in orbit, except the FEP-covered cells, which appear to have increased their rate of degradation during the first eclipse season.     

空间飞行器大角度机动飞行的变结构姿态控制

研究了空间飞行器大角度机动飞行的变结构姿态控制。应用四元数来描述姿态运动，以消除大角度机动飞行时欧拉角描述所存在的奇异性。基于Lyapunov方法设计了变结构控制的切换函数，以保证系统的滑动模态．亦即四元数偏差的稳定性。基于所给切换函数，设计了变结构控制器。数值仿真的结果说明了设计方法的有效性。     

ATS-6 Preliminary Results from the 13/18-GHz COMSAT Propagation Experiment

The 13/18-GHz COMSAT Propagation Experiment (CPE) is reviewed, the data acquisition and processing are discussed, and samples of preliminary results are presented. The need for measurements of both hydrometeor-induced attenuation statistics and diversity effectiveness is brought out The facilitation of the experiment-CPE dual frequency and diversity site location, the CPE ground transmit terminals, the CPE transponder on Applications Technology Satellite-6 (ATS-6), and the CPE receive and data acquisition system-is briefly examined. The on-line preprocessing of the received signal is reviewed, followed by a discussion of the off-line processing of this database to remove signal fluctuations not due to hydrometeors. Finally, samples of the results of first-level analysis of the resultant data for the 18-GHz diversity site near Boston, Mass., and for the dual frequency 13/18-GHz site near Detroit, Mich., are presented and discussed.     

航天器快速绕飞姿控脉宽调制研究

针对航天器快速绕飞姿态控制和脉宽调制,提出了脉宽调制指令算法,结合航天器转动惯量、期望状态、控制力矩等进行了姿态控制可行性分析.基于误差四元数的姿态滑模控制,结合不同的控制力矩和脉宽调制档次,采用姿态角误差分析了脉宽调制、控制力矩、姿控精度的关系.通过数值仿真,验证了脉宽调制控制指令的有效性和姿态控制应用的可行性.     

Optimal Estimation and Attitude Control of a Solar Electric Propulsion Spacecraft

Established procedures of linear, quadratic, Gaussian optimal estimation and control are developed and interpreted for their application ion to the problem of attitude control of spacecraft with dycallyamially significant elastic appendages. Results are presented both in general terms and for specific application to a solar electric spacecraft. aft. Comparisons are made between alternative coordinattems, systems, and a realistic range of design parameters is considered. For single axis control, system evaluation is accomplished by simulation of a fifteenth-order spacecraft plant with alternative second-order, fourth-order, and sixth-order constant gain estimators. Results point out the importance of modeling errors.     

基于输入成形的挠性航天器自适应滑模控制

针对大型挠性航天器姿态机动过程中的振动抑制问题,提出一种输入成形(IS)与自适应滑模控制(ASMC)相结合的控制策略.该控制策略利用输入成形抑制标称挠性系统的残余振动,并通过滑模控制保证实际系统在参数不确定性和外部干扰的影响下实现对标称系统的跟踪,解决了输入成形对参数不确定性和外部干扰的敏感性问题.进一步采用自适应技术去除了滑模切换增益对参数不确定性和干扰上界的先验性要求.仿真结果表明,在参数不确定性和外界干扰的影响下,该控制方法能够保证在完成姿态机动的同时抑制航天器的挠性振动.     

基于分数阶滑模的挠性航天器姿态鲁棒跟踪控制

针对挠性航天器姿态跟踪控制问题,提出一种新型的具有强鲁棒性的分数阶滑模控制器.利用分数阶微分算子的快速收敛性与信息记忆性,在滑模面与控制输入中均引入分数阶微分算子,使新型控制器具有分数阶微分与滑模控制的双重优点,从而使姿态跟踪控制系统具有更好的快速性、强鲁棒性和良好的抗干扰性.进一步使用Lyapunov理论与分数阶稳定性理论证明了整个系统的稳定性,分析了分数阶滑模面的优点.数值仿真验证了分数阶滑模控制器的有效性与良好的控制性能.     

喷嘴为执行机构的空间飞行器基于误差四元数的非线性姿态跟踪控制

研究带喷嘴空间飞行器在姿态跟踪机动时的多轴耦合非线性姿态控制问题。姿态运动学和动力学用误差四元数描述。通过线性变换将误差四元数动力学方程转换成 4个摄动双积分系统 ,并基于此摄动双积分系统设计了开关控制器。由误差四元数及其导数构成的抛物型开关函数决定了控制器中的逻辑。文章考虑了最短的姿态捕获路径、外部干扰抑制、和不确定参数补偿问题。控制器允许力矩矩阵为非对称 ,从而使喷气执行机构的安装有更好的灵活性。由于不需要目标的加速度反馈 ,控制器可用于对机动目标的跟踪。用相平面方法分析了闭环系统的鲁棒稳定性。仿真结果验证了控制方案的可行性     

Exponential Time-varying Sliding Mode Control for Large Angle Attitude Eigenaxis Maneuver of Rigid Spacecraft

An eigenaxis maneuver strategy with global robustness is studied for large angle attitude maneuver of rigid spacecraft. A sliding mode attitude control algorithm with an exponential time-varying sliding surface is designed, which guarantees the sliding mode occurrence at the beginning and eliminates the reaching phase of time-invariant sliding mode control. The proposed control law is global robust against matched external disturbances and system uncertainties, and ensures the eigenaxis rotation in the presence of disturbances and parametric uncertainties. The stability of the control law and the existence of global siding mode are proved by Lyapunov method. Furthermore, the system states can be fully predicted by the analytical solution of state equations, which indicates that the attitude error does not exhibit any overshoots and the system has a good dynamic response. A control torque command regulator is introduced to ensure the eigenaxis rotation under the actuator saturation. Finally, a numerical simulation is employed to illustrate the advantages of the proposed control law.