Integrated Dynamics Modeling And Control For Spacecraft Based On Dual Quaternion

With the development of space technology, the new space missions such as micro-satellite formation flying, spacecraft docking intersection, spacecraft space approach, in which existing attitude and orbit coupling (coupling of control input and implementing agencies) problem, it makes a more stringent requirement in the spacecraft dynamics and control. To solve the problem, in this paper one made use of dual quaternions to study the integrated kinematics and dynamics modeling and control methods for spacecraft attitude and orbit motion. The work of this paper is divided into the following some aspects.Firstly, the characteristics of dual quaternions in describing movement and the kinematics modeling methods was studied. Considering an on-orbit spacecraft, its general space movement was described in an integrated manner utilizing dual quaternions, that is the kinematics model of spacecrafs was formulated. Including the description of spacecraft motion, the advantages of dual quaternion compared to the traditional tool and the transformaton between them in description method.Secondly, the integrated dynamics modeling methods for spacecraft attitude and orbit motion was studied. Considering the coupling problem in spacecraft dynamic characteristics, firstly the dual quaternions representation of motion parameters, a variety of forces and moments was given; and then the model of relationship between the spacecraft general spatial motion and the external forces and torques using Newton-Euler approach was formulated, namely the integrated dynamics model; at last, the relative dynamic model for two spacecrafts was established and the necessary analysis about the model was done.Thirdly, a generalized PDcontrol law based on logarithmic feedback on Lie--group was designed; then the stability of the subsystem presented by dual and real part respectively was proved by selecting their appropriate Lyapunov functions, furthermore the stability of the whole system was verified.Fourthly, a variable-structure control law based on dual quaternions, then the stability of the whole system was analyzed by selecting the appropriate Lyapunov functions; furthermore considering the model uncertainties and disturbances, the control law was verified; in addition the two control laws were compared.Finally, taking the dual numbers as the variables, based on MATLAB software, mathematical simulation system was designed and built to vetify the research results detailedly and comprehensively, then compared to the traditional modeling and control tools, the advantages and prospects in the field of spacecraft dynamics modeling and control based on dual quaternion was analyzed.