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面向在轨服务的空间电磁对接技术具有广阔应用前景,但其姿态控制设计存在强非线性及耦合性问题需要解决,电磁/地磁力矩干扰姿态系统稳定。针对绝对/相对姿态动力学模型,分别采用反馈线性化以及鲁棒H∞控制综合方法、扩张状态观测器以及鲁棒H∞控制综合方法设计姿态控制系统。理论研究、对比分析两种控制策略特点,并通过仿真验证了所设计控制系统的可行性。理论研究及仿真结果表明:两种控制策略都是可行的,对模型参数变化及外界干扰具有较强鲁棒性;基于相对姿态动力学的综合控制设计方法能有效利用航天器相对姿态测量信息,且无需额外设计状态估计器。
However, the problem of strong nonlinearity and coupling of attitude control design needs to be solved, and the electromagnetic / geomagnetic torque disturbance attitude system is stable. For the absolute / relative attitude dynamics model, the attitude control system is designed by using the feedback linearization, the robust H∞ control synthesis method, the extended state observer and the robust H∞ control synthesis method respectively. Theoretical research, comparative analysis of the characteristics of the two control strategies and verify the feasibility of the design of the control system through simulation. The theoretical research and simulation results show that both control strategies are feasible and robust to model parameter changes and external disturbances. The integrated control design method based on relative attitude dynamics can effectively use the relative attitude measurement information of the spacecraft, No additional design state estimator is required.