质量矩固体推进微纳卫星自适应反演控制律设计

Design of Adaptive Backstepping Control for Moving Mass Micro-nano Satellite with Solid Rocket Motor

关键词:  固体火箭发动机  质量矩  微纳卫星  不确定性  自适应反演控制

Key words:  Solid rocket motor  Moving mass  Micro-nano satellite  Uncertainly  Adaptive backstepping control

摘要:

为解决微纳卫星利用固体火箭推进器进行快速轨道机动时的姿态翻滚问题，提出了利用质量矩技术对卫星的俯仰、偏航通道姿态进行稳定控制。首先考虑推进剂燃烧、质量块运动等因素引起的系统质量特性参数的变化，建立质量矩固体推进微纳卫星姿态动力学模型；然后分析了推进剂燃烧、质量矩控制引入的系统模型参数不确定性、连续有界未知干扰；随后基于反演控制方法，设计了卫星姿态角和姿态角速度双回路自适应滑模动态面控制器，利用自适应算法调节控制参数估计来补偿不确定因素的影响；基于Lyapunov函数证明了闭环系统的稳定性。最后，通过数值仿真验证了控制算法的有效性，卫星姿态稳定调节时间小于1s，姿态稳定误差小于0.5％。

Abstract:

In order to solve the problem of attitude tumbling of micro-nano satellite using solid rocket motor for fast orbit maneuver， moving mass technology is proposed to stabilize the attitude of the satellite in pitch and yaw channel. Firstly， the attitude dynamic model of moving mass micro-nano satellite with solid rocket motor is established by considering the changes in system mass characteristic parameters caused by propellant combustion， mass movement and other factors. Then， the system model parameter uncertainties and continuous bounded unknown disturbances introduced by propellant combustion and mass moment control are analyzed. Subsequently， the double-loop adaptive sliding mode dynamic surface controller for satellite attitude angle and angle velocity is proposed based on the backstepping control method， and the adaptive algorithm is used to adjust the control parameter estimation to compensate for the influence of uncertain factors. The stability of the closed-loop system is proved by Lyapunov function. Finally， the effectiveness of the control algorithm is verified by numerical simulation. The satellite attitude stability adjustment time is less than 1s， and the attitude stability error is less than 0.5%.