四元数在伴随卫星姿态控制中的应用

针对传统的欧拉角方法不适用于航天器大幅度姿态机动运动的数值仿真。研究了用四元 空间站伴随卫星的姿态控制问题。介绍了空间站伴随卫星的概念及任务;根据航天器动力学方程,利用李雅普诺夫直接法推导出用四元数表示的空间站伴随卫星姿态控制律,并对该控制律进行了仿真计算,仿真结果表明,所推导的控制律能对空间站伴随卫星进行准确、快速的姿态控制。     

On the Optimum Stabilization of a Satellite

The problem of stabilizing a tumbling satellite prior to attitude control is discussed. The method of Hamilton-Jacobi theory is used to derive an explicit closed-loop control law for the problem.     

一种基于信息一致性的卫星编队协同控制策略

提出一种基于信息一致性的分布式协同控制策略,实现了卫星编队的构型建立、保持与整体机动。首先根据编队各星的初始相对状态,应用一阶一致性算法,协商估计出编队整体系统基准参考点的相对状态;再根据编队整体系统模型预测方程,以凸优化方法规划出期望重构机动路径;之后设计了基于二阶一致性算法的反馈协同控制律,使各星彼此协同地跟踪期望路径与构型、整体机动参考信息,并证明了系统的稳定性。仿真结果表明:只要在基准参考点一致性估计过程中信息拓扑图中存在最大生成树,该策略就能实现卫星编队的协同机动;反馈协同控制律能有效消除相对初始状态误差与地球非球形摄动J2项引起的各星状态偏离,并具有较好的容错性;与传统方法相比,本文方法在燃料消耗总量与均衡性方面均有所改善,且在构型快速建立或重构时,燃料消耗总量方面优势较为明显。     

带时变通信时间延迟的卫星编队姿态协同自适应L2增益控制

针对卫星编队姿态协同分布式控制问题,提出一种基于Lyapunov方法的编队飞行协同控制策略.首先,考虑到实际编队飞行中星问通信存在时变时间延迟及模型不确定问题,结合变结构控制的思想设计一种针对时滞系统稳定性分析的Lyapunov函数,从而由直接Lyapunov方法得到可对模型参数进行估计的自适应分布式姿态协同控制器,并...     

Nonlinear adaptive spacecraft attitude control using solar radiation pressure

Spacecraft and interplanetary probes orbiting at high altitudes experience forces due to solar radiation pressure, which can be used for maneuvering. The question of large angle pitch attitude maneuvers of satellites using solar radiation torque is considered. For pitch axis maneuver, two highly reflective control surfaces are used to generate radiation moment. The solar radiation moment is a complex nonlinear function of the attitude and parameters of the satellite, the orbital parameters, and the deflection angles of the reflective control surfaces. It is assumed that the parameters of the satellite model are unknown. Based on a backstepping design technique, a nonlinear adaptive control law is derived for the control of the pitch angle. In the closed-loop system, the pitch angle asymptotically tracks prescribed reference trajectories. Simulation results are presented to show that the adaptive control system accomplishes attitude control of the satellite in spite of the parameter uncertainties in the system.     

Asymptotic Reproducibility in Nonlinear Systems and Attitude Control of Gyrostat

A control law is presented for asymptotic function reproducibility in a class of nonlinear-systems such that the output of the system asympotically tends to a given function. The controller consists of a prefilter and a servocompensator. Based on this result, a nonlinear feedback control law for the attitude control of a satellite containing symmetric rotors, in a circular orbit, is derived. In the closed-loop system, given trajectories of pitch, yaw, and roll angles are asymptotically followed, and set point control of attitude is accomplished. Digital simulation results are presented to show the capability of the nonlinear controller.     

基于变结构控制器的敏捷卫星姿态机动方法

随着遥感卫星观测能力的逐步提升,对卫星敏捷机动能力提出了更高的要求。针对敏捷卫星大角度姿态机动问题,以6个单框架控制力矩陀螺(SGCMG)组成五棱锥构型的姿态控制系统执行机构,在构建敏捷卫星姿态运动数学模型以及设计SGCMG系统操纵律的基础上,对卫星绕Euler轴进行姿态机动的角轨迹进行规划,并设计了一种基于误差四元数与误差角速度的变结构控制器。仿真及在轨验证结果表明,该控制器能够完成规划轨迹的良好跟踪且具有较强的鲁棒性,研究成果对敏捷卫星姿态控制系统的设计具有重要的参考意义。     

基于LQR的飞机纵向控制律设计

介绍了最优二次型理论 LQR,以及加权矩阵 Q的选取。建立了某型固定翼飞机的纵向小扰动方程,利用显模型最优二次型法设计了飞机的纵向控制律,对飞机的 C*响应进行了改善。利用低阶等效系统方法,对飞机的法向过载和俯仰角速率进行拟配,并对设计的控制律进行飞行品质的评价,仿真结果表明所设计的控制律符合 而现代控制理论可以得到系统的状态变量模型,相比éêê ê? GJB 185-86的相关规范。     

Line-of-sight pointing stability for "drifting" satellites

Explored here is the feasibility of a new attitude control approach for satellites in high altitude elliptic orbits, in order to compensate for the effect of longitudinal periodic drift relative to the ground station. A simple attitude control technique using tethers has been proposed for achieving the fixed apparent satellite orientation with respect to the ground segment of the space mission. Combining the proposed feedback tether length control law with the analytically developed open-loop control policy results in a significant improvement of the controller performance. To illustrate implementation of the proposed concept, the particular case of 24 h elliptic orbits has been considered. A high degree of satellite pointing along the drifting line-of-sight made possible even with modest tether lengths makes the concept particularly attractive.     

Satellite Charges for a Mixed Pre-Demand-Assigned System

The problems of satellite charges with reduced G/T stations for different pre-assigned and demand-assigned modes of operation are considered. A mixed pre-assigned demand-assigned operation is assumed as a model, in which large standard stations use the demand-assigned system for their overflow traffic. Determination of the optimum percentage of overflow for each link and of the global satellite revenue and occupancy, in terms of a general traffic matrix, is carried out and then used in the specific case of the Atlantic satellites to establish demand-assignment and pre-assignment charges as a function of G/T, based on a cost per unit bandwidth criterion. The effects of various demand-assignment systems on the economic balance is also considered.     

Radar Altimeter Optimization for Geodesy Over the Sea

The optimum processor and its accuracy limit for radar altimetry for geodetic use over the sea are studied with a model accounting for random surface reflectivity, sea height variation, additive noise, and pointing errors, and allowing for arbitrary antenna patterns, signal modulations, and other system parameters. The ?threshold? case solution (which can have any specified accuracy) dictates a signal modulation bandwidth just shy of resolving the sea height variation and/or illuminated sea area (as scaled into time delay and ?smeared? by pointing errors). For such a modulation a relatively complete solution is obtained. These results are used to determine practical radar altimeter designs, additionally accounting for antenna size, stability, and peak power restraints. Conditions allowing neglecting of limiting or complicating effects due to temporally varying reflectivity, sea height, and vehicle position are given and shown to be satisfied for a typical satellite.     

跟踪弹道导弹时预警卫星姿态前馈协同控制

基于角动量守恒定理,推导了跟踪弹道导弹时,具有活动部件的预警卫星姿态前馈协同控制。该控制算法基于角动量守恒方程估计红外相机运动产生的角动量扰动以及为抑制该扰动所需的期望飞轮转速,将期望飞轮转速与实际转速的偏差作为前馈信号加入到传统控制系统中,推导出预警卫星姿态前馈控制模型。最后通过数值仿真验证了控制方法,仿真结果与理论分析具有很好的一致性。并且该控制方法简单、可靠,能够适应卫星在轨实时控制。     

直连式三体绳系卫星姿态鲁棒最优跟踪控制

 针对存在参数不确定性以及外部有界干扰的直连式三体旋转绳系卫星系统姿态跟踪控制问题,提出了一种分布式鲁棒最优控制方法。该方法首先针对单体绳系卫星姿态模型,在不考虑参数不确定性和干扰的条件下,应用Hamilton-Jacobi-Bellman方程设计了最优控制器;接着,考虑到实际系统存在参数不确定性和干扰,采用自适应与鲁棒误差积分方法在线学习参数不确定性和有界干扰,与最优控制器结合设计了鲁棒最优控制器,使闭环系统满足了性能指标达到最小的要求,并应用Lyapunov稳定性定理证明了其闭环系统的渐近稳定性。进一步考虑到绳系卫星系统的运动同步性,将单体绳系卫星姿态控制器设计扩展至直连式三体绳系卫星姿态系统,设计了分布式鲁棒最优控制器。最后在MATLAB/Simulink平台上进行了仿真,验证了方法的可行性与有效性,表明其具有潜在的应用前景。     

柔性天线面对漂浮基星载天线扰动分析及抑制

 为了研究柔性天线面弹性变形对漂浮基星载天线的扰动,采用固定界面模态综合法和Lagrange方法,通过轴末端与天线面交界面的协调关系,推导了大范围运动的星载天线刚柔耦合动力学模型,其所建立的动力学模型计算效率高并具有足够的精度。分析了柔性天线面弹性变形对星载天线的扰动,利用PD+振动力反馈控制抑制系统振动,并基于Lyapunov方法证明了控制系统的渐近稳定性。仿真结果表明：天线工作过程激起了柔性天线面弹性振动,进而引起星载天线的抖动,严重影响了星载天线的指向精度;利用其控制策略能快速抑制系统振动。结论对天线指向精度的分析与控制具有重要的理论价值及工程实际意义。     

Solar Pressure Attitude Stabilization of Earth-Pointing Spacecraft

The development of a solar pressure control system for three-axis attitude control of Earth-oriented spacecraft is presented. A controller configuration consisting of two rotatable mirrorlike surfaces, representing the minimum hardware implementation, is considered. Optimal control theory is applied to synthesize a feedback control law directly governing the differential rotation of the control surfaces. The system performance is evaluated through the response analysis of a satellite subject to destabilizing gravity gradient torques as well as external disturbances. Even under such adverse conditions, the results indicate a moderately sized controller to be quite effective in maintaining the desired Earth-pointing spacecraft orientation. The validity of the optimal control law is established for all times of the year, and the feasibility of implementing suboptimal control policies is also examined.     

三轴稳定式卫星的热特性研究

热特性研究是卫星热控制系统、红外辐射特性研究、红外隐身设计的基础和重要组成部分。建立卫星运行轨道计算模型,获得不同时刻卫星三维坐标及轨道高度。根据太阳、卫星、地球三者位置关系,建立三轴稳定式卫星空间热流计算模型。综合考虑空间热流、向外辐射、内部热载荷等因素,对卫星进行传热分析计算,获得各时刻卫星各面温度分布。分析了太阳吸收系数和卫星内部热载荷对表面温度分布的影响。研究结果表明:卫星在地球阴影区各面温度明显降低;除了散热面,太阳吸收系数对卫星表面温度影响显著;可以根据散热面大致地判断卫星运行状况。     

Execute Command in Space Communications

Two types of feedback systems for a command channel are described. a) Complex Feedback?where, for each command, an identification is relayed back over the feedback channel. b) Decision Feedback?where the feedback channel is used only to state whether the satellite recognized the transmission as a command word. For a), the decision as to whether a command was properly received at the satellite is made on the ground, while for b), the decision is made at the satellite, the only purpose of the feedback channel being to cause the ground station to retransmit the command word if the satellite did not recognize the initial transmission. The decision feedback system then amounts to a one-way channel, since the satellite makes a decision after the initial transmission as to whether or not a command word was sent. If the transmitted command word is interpreted as a command, whether correct or not, the ground station has no further control. The following theorem is proved rigorously: ``It is always possible to specify a decision feedback system which gives the same error performance as a given complex feedback system.'     

Optimization of biased proportional navigation [guided projectiles]

An analytical treatment of the biased proportional navigation (BPN) is carried out with the aim of optimizing the bias parameter. It is shown that optimum biasing can lead to significantly more control-effort-efficient PN guidance in a wide variety of engagement situations, especially those involving higher target maneuvers. The performance of the BPN is compared with the standard (unbiased) PN system for the general case of a maneuvering target, and performance of the BPN is maximised to obtain the optimum bias value. The optimum bias is expressed through a simple algebraic equation, which can be readily solved. For the special (and very useful) case of the effective navigation constant being equal to three, the equation reduces to a quadratic, leading to an explicit expression for the optimum bias. Specific examples are provided to show the benefits of the BPN law. The higher control efficiency of the law is especially useful in extra-atmospheric interception, where the savings in control effort directly translates to a saving of propellent which forms part of the payload     

Low cost satellite ground control facility design

A design approach common to the areas of satellite operations command and control, tracking, subsystem analysis, system planning and scheduling, orbit determination and maintenance, and data routing and control is discussed. Specific satellite mission applications and operations are isolated from the remainder of the design to allow application to a broad variety of satellite systems. Discussions of specific satellite missions are limited to the context of understanding the general magnitude and scope of what a ground control facility is required to support. By isolating the common satellite operational functions, a low cost generic approach that allows for phased implementation of system changes with minimal impact to on-orbit assets and mission performance is developed. The goals of this approach are to provide the capability for growth, maintainability, and operability of the satellite system. A brief discussion of satellite systems followed by the introduction of the general function of any satellite control facility sets the stage for the overall design approach. The factors that define the design along with the key design features are presented, with a discussion of each product available in each functional area     

Resolution Limits with Propagation Phase Errors

Resolution limits and corresponding optimum linear apertures are determined in the presence of phase errors. Let ?(t) be the phase aberration at position t across the aperture; it is assumed that the random process ? has a power law structure function, E{[(?(t)-?(?)]2}= c|t-?|n. Beam tilting caused by the phase error is "removed" (for each sample of ?), then resolution formulas are developed. An approximate analysis is obtained in closed form and yields an optimum resolution proportional to c1/n for O < n < 2. The exact analysis is given for Gaussian ?, and again the optimum resolution is proportional to c1/n. In applications n= 5/3 is of interest, and in the Gaussian case the best obtainable equivalent rectangle resolution is ? ?)/2? (0.975)c3/5 radians with a corresponding optimum linear aperture of 14c-3/5. When long exposures are considered, imaging without removing beam tilting is of interest, and resolution is degraded by a factor of about 2.5 for a linear aperture. Alternatively, in some applications optimum focus as well as beam tilt should be considered, in this case resolution is improved by a factor of about 1.4 (again for n= 5/3). Finally, joint (tilt corrected) optimization over aperture length and taper is treated; however, as one might expect, the use of taper offers negligible resolution improvement.