In general, the actuator of in-orbit spacecraft has typical nonlinear characteristics which directly affects the performance of attitude control. Based on the framework of attitude control system, the models of switch lines are developed using phase plane analysis method for the actuator which has both relay and delay characteristics. Applying these switch line models, the parameters of limit cycle are derived according to phase trajectories, so the steady-state errors of attitude control are obtained. Simulation results illustrate that the proposed analysis method is correct and effective.%在轨航天器执行机构一般具有典型的非线性特性,直接影响飞行姿态控制性能.基于姿态控制系统模型,应用相平面分析方法,建立含继电器和时延两类非线性特性的执行机构开关线模型.以开关线模型为基础,根据相轨迹图求解极限环参数,获得姿态控制的稳态特性.仿真结果表明非线性姿态控制系统特性的计算模型和方法正确、有效.
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