宇航学报

宇航学报 ›› 2020, Vol. 41 ›› Issue (8): 1042-1048.doi: 10.3873/j.issn.1000-1328.2020.08.007

• 制导、导航、控制与电子 • 上一篇    下一篇

考虑多禁止指向区域的航天器反步姿态机动控制

马广富，柳明旻，王靓玥，郭延宁   

  1. 1. 哈尔滨工业大学控制科学与工程系，哈尔滨 150001； 2. 上海航天控制技术研究所，上海 200233
  • 收稿日期:2019-09-01 修回日期:2019-11-20 出版日期:2020-08-15 发布日期:2020-08-25
  • 基金资助:
    国家自然科学基金 （61973100，61673135）；装备预研重点实验室基金重点项目（6142208180401）

Spacecraft Backstepping Attitude Control Considering Multiple Forbidden Pointing Regions

MA Guang fu, LIU Ming min, WANG Liang yue, GUO Yan ning   

  1. 1. Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China; 2.Shanghai Institute of Aerospace Control Technology, Shanghai 200233, China
  • Received:2019-09-01 Revised:2019-11-20 Online:2020-08-15 Published:2020-08-25

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摘要： 针对规避多个禁止指向区域的航天器姿态机动控制问题，本文在利用势函数法构造约束条件的基础上设计了一种基于反步法的航天器姿态机动控制律。首先，构造了一种通用的基于误差四元数的航天器锥形禁止指向姿态集描述，并将其转化为凸约束集形式。其次，基于该凸约束集，提出了一种物理意义明确的新型凸势函数构造方法，且该势函数仅存在唯一全局最小值，避免了传统势函数的局部极小值问题。进一步地，考虑多个禁止指向区域，设计了一种基于反步法的航天器姿态机动控制律。最后，通过典型数值仿真算例表明了本文所提出控制算法的有效性和优越性。

关键词: 航天器, 凸势函数, 姿态控制, 反步法

Abstract: Aiming at the spacecraft attitude maneuver control for avoiding multiple forbidden pointing regions, a spacecraft attitude control law based on the backstepping method is designed in this paper, which uses a potential function method to construct constraints. Firstly, based on the error quaternion, a general description of spacecraft’s conical forbidden pointing attitude set is built and then transformed into the convex constraints set. Secondly, based on the convex constraints set, a new convex potential function with explicit physical meaning is proposed, and the potential function only has a unique global minimum, which avoids the local minimum of the traditional potential function. Furthermore, a backstepping control law considering multiple forbidden pointing regions is designed for spacecraft attitude maneuver. Finally, the effectiveness and superiority of the proposed control algorithm is proved by a typical numerical simulation.

Key words: Spacecraft, Convex potential function, Attitude control, Backstepping method

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