摘要
针对刚体卫星的姿态调节问题,提出了一种滑模PID控制器设计方法.根据李亚普诺夫方法,推导出了采用PID形式的切换面的滑模PID控制器.在卫星转动惯量参数存在不确定性和存在外干扰时,该控制律也具有全局稳定性和鲁棒性.最后对卫星姿态控制系统进行了仿真研究.结果表明,所设计的控制方案在实现姿态调节控制的同时,对于卫星转动惯量的摄动及外部扰动力矩是鲁棒的.
To solve the problem of attitude regulation of a rigid satellite, a sliding PID mode controller with PID sliding surface is presented. Lyapunov stability theory was utilized to achieve the stability analysis. And while there exists uncertainty in satellite inertia parameters or external disturbance, this control scheme has global stability and robustness. Simulations were performed for the satellite attitude control system. The results demonstrate that the control scheme realizes the attitude regulation control and is robust to the uncertainty in satellite inertia parameters and external disturbance torques.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2008年第7期1009-1012,共4页
Journal of Harbin Institute of Technology
基金
教育部博士点专项基金资助项目(20050213010)
国家自然科学基金资助项目(60674101)
关键词
姿态调节
滑模PID控制
修正罗德里格参数
attitude regulation
sliding mode PID control
modified rodrigues parameter
