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针对机械飞轮内干扰可能导致小卫星姿态控制系统性能下降问题,提出了一种加入机械飞轮干扰补偿的自适应滑模变结构姿态控制方法。本文针对基于机械飞轮的三轴稳定卫星姿态控制系统,首先建立系统详细的数学模型,包括基于机械飞轮的三轴稳定卫星姿态动力学方程和机械飞轮控制系统模型,然后针对此系统设计了一种基于机械飞轮干扰补偿的自适应滑模变结构控制器,其中通过设计一种状态观测器得到机械飞轮摩擦干扰的估计值,用于对机械飞轮摩擦干扰的补偿,并通过Lyapunov定理证明了此控制律能保证系统的渐近稳定性。最后仿真结果显示,此方法缩短了飞轮转速过零时间,降低了最大的姿态扰动量且提高了卫星姿态控制的精度和稳定度。
Aiming at the problem that the mechanical flywheel jamming may lead to the performance degradation of small satellite attitude control system, an adaptive sliding mode variable structure attitude control method based on mechanical flywheel interference compensation is proposed. In this paper, a three-axis stabilized satellite attitude control system based on mechanical flywheel is established. Firstly, a detailed mathematical model of the system is established, including three-axis stabilized satellite attitude dynamics equation based on mechanical flywheel and mechanical flywheel control system model. Then a An adaptive sliding mode variable structure controller based on mechanical flywheel disturbance compensation is proposed. An estimated value of mechanical flywheel friction disturbance is obtained by designing a state observer, which is used to compensate the frictional disturbance of mechanical flywheel. The Lyapunov theorem proves this control Law can guarantee the asymptotic stability of the system. The simulation results show that this method can shorten the zero-crossing time of flywheel, reduce the maximum amount of attitude disturbance and improve the accuracy and stability of satellite attitude control.