The orbital manoeuvre of a CubeSat is an essential ability in the process of constellation deployment and other missions. Therefore, an attitude control method based on piece-wise affine (PWA) MPC was proposed for CubeSats during orbital manoeuvres. Then, a solid thruster with high thrust that was previously applied only to large and traditional satellites was innovatively applied to CubeSats for orbital manoeuvres. However, the solid thruster with high thrust has a large eccentric torque from the thrust deviation, so it will cause rapid attitude rolling and result in orbital manoeuvre mission failure. Hence, PWA-MPC strategy with the disturbance observer was designed, which can solve the eccentric torque problem and achieve high accuracy attitude control by a hybrid actuator composed of momentum wheels and a cold gas thruster. In addition, during the orbital manoeuvre process, propellant consumption results in a continuous change in the moment of inertia of a CubeSat. In order to offset this change, the guide rail of the cold gas thruster was innovatively designed to move the cold gas thruster in the working process of the solid thruster. Finally, real-time hardware-in-loop simulation results show that the PWA-MPC strategy has higher attitude stability than those of other MPC strategies in the orbital manoeuvre process of a CubeSat and deserves to be applied.

立方体卫星的轨道机动是星座部署和其他任务过程中必不可少的能力。因此，提出了一种基于分段仿射（PWA）MPC的姿态控制方法，用于立方体卫星在轨道机动期间。然后，一种以前仅适用于大型传统卫星的高推力固体推进器被创新地应用于立方体卫星进行轨道机动。然而，大推力的固体推进器由于推力偏差而产生较大的偏心力矩，因此会引起快速姿态滚转，导致轨道机动任务失败。因此，设计了带有扰动观测器的 PWA-MPC 策略，该策略可以通过由动量轮和冷气推进器组成的混合执行器来解决偏心扭矩问题并实现高精度姿态控制。此外，在轨道机动过程中，推进剂消耗导致立方体卫星惯性矩的不断变化。为了抵消这种变化，冷气推进器的导轨被创新设计，在固体推进器的工作过程中移动冷气推进器。最后，实时硬件在环仿真结果表明，在立方体卫星轨道机动过程中，PWA-MPC策略比其他MPC策略具有更高的姿态稳定性，值得应用。