Using quaternion as attitude representation , the attitude kinematics function is established . 2 . several kinds of disturbance torques affecting the satellite attitude are directly computed through the models described in the paper , forming a closed loop stabilization system dumped by magnetic torques and provided with initial torques through flywheels , but other simulations only estimate it by experience ( 2 )很多仿真是根據(jù)經(jīng)驗(yàn)估算衛(wèi)星所受的干擾力矩,本文以某對地觀測小衛(wèi)星為背景,利用所建力學(xué)模型對衛(wèi)星所受數(shù)種干擾力矩進(jìn)行計(jì)算,形成了一個(gè)以飛輪作為主動(dòng)力矩、通過磁力矩卸載的閉環(huán)而且穩(wěn)定的姿態(tài)控制系統(tǒng)。
This controller has some advantages : when the initial error is large , the pd feedback part plays main role , and it avoids too large initial torque output ; when the initial error is small , the adaptive part plays main role , such guarantee the system has good dynamic character 該控制策略的優(yōu)點(diǎn)在于當(dāng)初始誤差較大時(shí), pd反饋部分起主要作用,而非線性pd的采用又避免了過大初始力矩輸出;當(dāng)誤差較小時(shí),自適應(yīng)控制器起主要作用,從而保證了系統(tǒng)具有良好的動(dòng)態(tài)性能。