| 摘要 |
A method of attitude control for spacecraft with flexible structures utilizes an estimator/state controller pair with on-board time-varying gain scheduling. The control method includes an attitude estimator (100) for each axis, which uses rate input from inertial reference sensors (4, 5, 6) to produce estimates (37, 38, 39) of each of the state variables. The estimator employs a predictor-corrector structure which computes initial rate and position estimates for each sample interval and corrects these values by weighing them with iteratively-calculated time-varying gains according to equations 35 and 36. The state controller (40) for each axis operates on these inputs, combining them with position and rate commands (41, 42) and weighing the results with time-varying gains calculated iteratively for each sample period according to equations 46, 47, and 48. The final result is a commanded control acceleration (50) which is forwarded to a thruster modulation logic.
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