基于(w,z)参数化的微小卫星喷气欠驱动控制

针对欠驱动微小卫星的姿态稳定问题,提出了基于( w,z )参数化的稳定控制方案.( w,z )参数化是一种新的姿态描述方法,它通过两次垂直的旋转来表示卫星的姿态,补充了一次旋转的四元数法和三次旋转的欧拉角法等姿态描述的完整性.采用( w,z )参数化法建立了微小卫星的运动学和动力学模型,并设计了旋转轴稳定、角速率稳定以及姿态稳定等控制律,应用于非对称欠驱动卫星的稳定控制.以采用PWM(Pulse Width Modulation)技术的微型喷气系统作为执行机构进行欠驱动控制的仿真实验,表明了所提出控制方法的有效性.

Underactuated control of micro-satellite using thrusters based on (w,z) parametrization

Aimed at the attitude stabilization of micro-satellite under actuator failure,a control scheme based on the(w,z) parametrization was proposed.The(w,z) parametrization is a new attitude describing method,which describes the attitude of satellite using two perpendicular rotations thus complements the Euler angles and quaternion.Using(w,z) parametrization method the kinematics and dynamics model were established,and three controllers named spin-axis stabilization,angular velocities stabilization and attitude stabilization were designed,which applied on three aspect of non-symmetry satellite under actuator failure.Numerical examples of underactuated control by micro-thrusters which is based on pulse width modulation(PWM) technology demonstrated the effectiveness of the derived method.