论文总字数：21821字

摘 要

随着科学技术的快速发展，航天器编队飞行技术也在随着科技的发展而发展。航天器编队飞行的研究在1990年前后开始盛行，是一种随着机械智能化等新兴技术以及新能源等新兴产业的发展而出现的新型航空航天技术。在这项飞行技术当中，决定航天器编队飞行任务能否成功的最重要的因素之一就是航天器编队能否完成姿态的协同控制。

本文首先介绍了航天器编队技术研究的背景和意义；其次介绍了在本次研究中需要用到的的理论基础知识，其中包括了三类适用范围较广的坐标系的建立方式以及常用的几种航天器姿态运动的描述方法，并根据这些理论知识得出姿态动力学方程；之后介绍了一些用于姿态协同控制的稳定性理论，并利用基于一致性的控制思想和代数图论等理论工具建立了航天器姿态协同控制的数学模型，并针对此模型设计了相应的控制器。本文基于一致性算法，首先设计在理想状态下的控制器并运用仿真工具进行了仿真；其次针对干扰力矩存在的情况下，设计了航天器姿态协同控制器并进行了仿真；接着针对航天器转动惯量不确定的情况，设计控制器并进行仿真；最后总结了本次研究的成果以及不足之处。

关键词：编队飞行 姿态协同 代数图论 一致性算法 自适应

Attitude Coordination Control of Spacecraft Formation Based on Consensus Algorithm

Abstract

With the quick development of science and technology, spacecraft formation flying technology is also developing quickly. The research of spacecraft formation flight began to flourish around 1990. It is a new aerospace technology that has emerged with the development of emerging technologies such as mechanical intelligence and new industries such as new energy. In this flight technology, one of the most significant elements that determine the triumph of a spacecraft formation mission is whether the spacecraft formation can complete coordinated attitude control.

This thesis firstly introduces the background and significance of spacecraft formation technology research; secondly introduces the theoretical basic knowledge needed in this research, including the establishment of three types of coordinate systems with a wide range of application and several commonly used A method for describing the attitude motion of a spacecraft, and the attitude dynamic equations are derived based on these theoretical knowledge; afterwards, some stability theories used for attitude cooperative control are introduced, and theoretical tools such as consistent control ideas and algebraic graph theory are used The mathematical model of spacecraft attitude cooperative control is established, and the corresponding controller is designed according to this model. Based on the consensus algorithm, this paper first designs the controller in an ideal state and simulates it with a simulation tool; secondly, it designs a spacecraft attitude cooperative controller and simulates it in the presence of interference torque; then it focuses on the spacecraft rotation In the case of uncertain inertia, design the controller and simulate it; finally summarize the results and shortcomings of this study.

Key Words: Formation flight; Cooperative Control; Algebraic graph theory; Consensus algorithm; Adaptive Control

目 录

摘 要 I

Abstract II

目 录 III

1.1 研究的背景和意义 1

1.2 航天器编队协同控制概述 2

1.3 航天器编队飞行国内外研究现状 3

1.4 本文的主要内容 4

第二章 航天器编队协同控制理论基础 5

2.1 引言 5

2.2 坐标系定义 5

2.2.1 地心惯性坐标系 5

2.2.2 航天器本体坐标系 6

2.2.3相对运动坐标系 6

2.3 姿态描述法 7

2.3.1 旋转矩阵 7

2.3.2 欧拉角 8

2.3.3 四元数 9

2.3.4 修正罗德里格参数 10

2.4 稳定性理论 12

2.4.1 稳定性理论 12

2.4.2 不变集原理 15

2.4.3 引理 15

2.5 16

2.5.1 16

2.5.2 17

第三章 基于一致性的航天器编队姿态控制 18

3.1 18

3.2 18

3.3 19

3.3.1 19

3.3.2 20

3.3.3 21

3.4 23

3.4.1 23

3.4.2 25

3.4.3 26

3.5 27

3.5.1 27

3.5.2 28

3.5.3 simlink仿真 29

总结与展望 32

参考文献 34

致谢 37

第一章 绪论

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