第19卷第11期 2011年11月
文章编号
1004-924X(2011)11-2715-09
光学精密工程
Optics and Precision Engineering
Vol. 19No.11
Nov,2011
视频小卫星凝视姿态跟踪的仿真与实验
孙志远1.2·，张刘，金光"，徐开1，陈茂胜1.2
（1.中国科学院长春光学精密机械与物理研究所，吉林长春130033）
（2.中国科学院研究生院，北京100039）
摘要：对视频卫星实现对地凝视成像时的数学模型、姿态跟踪控制器设计和全物理仿真进行了研究。首先，根据卫星轨道运动与姿态运动相关理论，推导了对地凝视时视频小卫星相对轨道坐标系的期望四元数和期望姿态角速度的变化规律。设计了基于误差四元数和误差姿态角速度的PD控制器，并采用李雅普诺夫稳定性理论证明了所设计控制器的稳定性。然后，以在曝光时间内的面阵CCD成像偏差不超过0.3pixel为要求，给出了姿态角控制精度和姿态角速度控制精度的最小极限值。最后，在设计的基于小型三轴气浮台的小卫星姿态控制系统全物理仿真平台上对视频小卫星凝视摄像进行了仿真验证。实验结果表明，小型三轴气浮台的姿态角控制精度优于0.1°，姿态角速度控制精度优于0.01（(")/s，基本满足视频小卫星凝规时面阵CCD高质量成像的要求。
关键词：视卫星；面阵CCD；小型三轴气浮台；全物理仿真，李氏函数
中图分类号：V474.262
文献标识码：A
doi:10.3788/OPE.20111911.2715
Simulation and experiment on attitude tracking control of
smallTsatellite
SUN Zhi-yuanl.·, ZHANG Liu', JIN Guang',XU Kai', CHEN Mao-sheng-2
(1.ChangchunInstituteof Optics,FineMechanicsand Physics,ChineseAcademy of Sciences
Changchun130033,China;
2.GraduateUniversity of ChineseAcademy of Sciences,Beijing100039,China)
Correspondingauthor，E-mail:sduszyhotmail.com
Abstract: This paper focuses mainly on the mathematical model of ground target tracking of a video satellite and the design of an attitude tracking controller. Firstly, the desired attitude quaternion and the desired attitude angular velocity are presented respectively according to the orbit kinematic and at-titude kinematic. Then, a feedback PD controller based on the error quaternion and error attitude an-gular velocity is designed, and the stability of the designed controller is analyzed by using the Lya-punov stability theory. By setting the deviation of area CCD in the exposal time to be smaller than O. 3 pixel, the minimum attitude pointing error and attitude velocity error are induced. Finally, physical simulation of staring-imaging by a video camera is conducted on the minitype three-axis air bearing ta-
收稿日期：2011-03-01；修订日期：2011-04-01.
基金项目：国家自然科学青年基金资助项目（No.61008046)