Parameter tuning for the attitude control algorithm of wheel controlled spacecraft based on time and frequency domain analysis

The problem of attitude control law design and parameter tuning for wheel controlled spacecraft is investigated. By using the xyz rotation sequence Euler angle to represent spacecraft attitude, the attitude dynamics and kinematics equations are given. A nonlinear decoupling control law is developed to ensure that the PID controller can be designed separately for each control loop. After that, taking roll loop for example, the relationship between PD control parameters and system bandwidth, cross frequency and phase margin are obtained, and can be used to design more effective controller to deal with vibration of flexible structure and time delay of the system. Then integral parameter selection rule and the integral saturation suppression strategy are proposed based on the characteristics of attitude control system. Besides, the efficiency of wheel and disturbing torques are also considered for control parameter tuning. Finally, a series of numerical simulations are performed to verify effectiveness and practicability of the proposed parameter tuning strategy.