【作者】 徐乐；

【导师】 杨旭；

【作者基本信息】 哈尔滨工业大学 ， 人机与环境工程， 2006， 硕士

【摘要】 从20世纪80年代美国军方提出了现代小卫星的概念以来,现代微小卫星由于具有重量轻、性能好、研制周期短、造价低等优点,成为目前航天器发展的一个重要方向。利用地磁场特性进行主动磁控是现代小卫星的关键技术。采用传统PD控制,微小卫星姿态捕获时间较长,控制精度较低。本文以缩短主动磁控小卫星姿态捕获时间,提高控制精度为目标,从理论和应用两个方面深入研究了非线性自抗扰控制新技术及其在主动磁控小卫星姿态控制系统中的应用。为研究主动磁控小卫星姿态控制系统,首先建立了主动磁控小卫星动力学、运动学模型,并给出了姿态四元数的相关理论。从地磁场模型出发,深入研究了主动磁控的原理。从近几年有关文献中总结了自抗扰控制新技术,系统介绍了自抗扰控制理论,其中包括跟踪微分器(TD)、扩张状态观测器(ESO)、非线性PID、非线性反馈(NF)和自抗扰控制器(ADRC)等。设计了主动磁控小卫星PD姿态控制系统。指出采用PD姿态控制,微小卫星姿态捕获时间较长,姿态控制精度较低。为了克服这个问题,本文从自抗扰控制理论中的核心“fal函数”出发,基于fal ( e,α,δ)函数具有:小误差,大增益;大误差,小增益的特性,设计了一种非线性PID姿态控制器,比较好的缩短了小卫星姿态捕获时间,一定程度上提高了姿态控制的精度。在深入研究了自抗扰控制理论的基础上,将自抗扰控制新技术应用于主动磁控小卫星姿态控制系统中。设计出了一种双闭环自抗扰姿态控制系统。仿真结果表明:双闭环自抗扰姿态控制器极大的缩短了小卫星姿态捕获时间,提高了姿态控制的精度,性能明显优于传统PD姿态控制。这一研究成果,对实现主动磁控小卫星快速、高精度姿态控制具有很高的应用价值。更多还原

【Abstract】 From the 1980s, the U.S. military introduced the modern concept of small satellites, modern small satellite technology has developed very rapidly due to the advantages of lightweight, good performance, short development cycle, and low cost. Thus modern small satellite become to an important direction. Using magnetic characteristics to control a modern small satellite become to the key technologies. Using traditional PD control, the time of small satellite gesture capture is long and control precision is low. The aim of this article is to shorten the gesture capture time and to improve control precision. Author from both theoretical and applied researches the using of a nonlinear active disturbance rejection control technologies in small satellite gesture capture system.In order to study small satellite attitude control system, the author first establishes the small satellite dynamics, kinematic models, and gives the theories of the quarternion, then study in-depth of the principles of the active magnetic control.The new ADRC technique was concluded from the related references in recent years, and the ADRC theory was systemically introduced, which included Tracking-Differentiator (TD), Extended State Observer (ESO), Nonlinear PID, Nonlinear Feedback (NF) and Active Disturbance Rejection Controller (ADRC), and etc.The author first designs a PD attitude control system, indicating: using PD attitude control, the time of small satellite gesture capture is long and the precision of control is low. To overcome this problem, the author researching from the core of active disturbance rejection control theory " fal function", having the advantage of: small errors, large gains; big error, the small gains character, designs a nonlinear PID gesture controller. Simulation results showed that the design of nonlinear PID controller shortening the small satellite gesture catch time and improving the attitude control precision.On the base of active disturbance rejection control, author use active disturbance rejection control in small satellite attitude control system and designs a two-loop active disturbance rejection attitude control system. Simulation results更多还原