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📋📋📋本文目录如下:🎁🎁🎁
目录
💥1 概述
在这个经典的控制系统案例中,我们使用了引导补偿器来解决“卫星姿态控制”问题,并通过ODE45进行了详尽的模拟。通过精心设计的双积分器引导和ODE45模拟,我们能够更好地理解和解决卫星在空间中的姿态控制挑战。这项工作不仅为控制系统设计提供了宝贵的实践经验,也为卫星技术的发展提供了重要的理论支持。
📚2 运行结果
部分代码:
% error for entire iteration interval is constant because we only
% "sample" it at the iteration loop rate
et(1:sz(1)) = err;
eout = [eout et]; % append the error vector for this iteration.
% Same for the reference input
rt(1:sz(1)) = refin;
refout = [refout rt];
% Apply the state-space 'C' matrix to the state matrix to obtain
% angular output for this iteration
yo = C*x';
% the "sampled" output for the next iteration is that last
% position solved in this iteration.
yout = yo(sz(1));
% the "sampled" position is the last value for this iteration
yzoh(1:sz(1)) = yo(sz(1));
yzohout = [yzohout yzoh];
R = [cos(yout) -sin(yout); sin(yout) cos(yout)];
vo = v*R;
% scale the thruster with the error
thruster_scale = 4;
th = [0 0; err*thruster_scale 0]
% paint the thruster out the proper side of the capsule...
% rotate the trust vector and offset it to the proper corner of the
% capsule.
if err>0,
thr = th*R + [vo(1,:); vo(1,:)];
else
thr = th*R + [vo(5,:); vo(5,:)];
end
% set the capsule graphic plot data for this iteration
set(hPlot(1),'XData',vo(:,1),'YData',vo(:,2));
set(hPlot(2),'XData',thr(:,1),'YData',thr(:,2));
% paint the capsule position and reference plot
yy = C*xout'
set(hPlotYout(1),'XData',tout,'YData',yy*180/pi);
set(hPlotYout(2),'XData',tout,'YData',refout*180/pi);
set(hPlotYout(3),'XData',tout,'YData',yzohout*180/pi);
% paint the current error plot
set(hPlotErr,'XData',tout,'YData',eout*180/pi);
% set the start time tm for the next iteraton.
tm = tm + tstep;
% write the figure frame to the video file
MM = getframe(fig);
writeVideo(vidfile,MM);
% loop back for the next iteration
end
🎉3 参考文献
文章中一些内容引自网络,会注明出处或引用为参考文献,难免有未尽之处,如有不妥,请随时联系删除。
[1]王荣本,周云山,张友坤,等.自动引导车辆系统的研究(五)控制器设计与试验[J].农业工程学报, 1995, 11(1):71-75.DOI:10.1007/BF02943515.
[2]张欢,秦刚.AGV自动引导车控制系统的设计与研究[J].企业导报, 2012(21):1.DOI:CNKI:SUN:QYDB.0.2012-21-226.