基于角动量空间的SGCMGs姿态控制策略

doi:10.3969/j.issn.1674-1579.2016.05.004

摘要/Abstract

摘要： 针对单框架控制力矩陀螺（SGCMGs）的奇异问题，旨在建立一种基于角动量空间而非力矩空间的SGCMGs姿态控制策略，从根源上解决SGCMGs的操纵奇异，且不失其敏捷特性.由于此控制方案的动量管理环节需要另外一套动量交换机构参与，故引入反作用飞轮（RWs）组成混合执行机构，同时RWs可在机动末端用于高精度姿态稳定.针对双平行SGCMGs，采用特征轴时间最优路径进行角速度规划，并基于角动量空间设计控制策略.同时，针对一个陀螺失效的情况设计了相似的角动量控制算法.仿真结果表明，采用角动量控制律不涉及奇异问题，且敏捷性与稳定性良好.

关键词: 操纵奇异, 角动量空间, 特征轴旋转, 角动量管理

Abstract: A new attitude control method for single gimbal control moment gyros (SGCMGs) that is based on angular momentum domain is presented. In this method, the attitude error is translated to SGCMGs’ angular momentum requirement (rather than torque requirement) without having to consider singularities. With double parallel SGCMGs, the SGCMGs are free to perform their eigenaxis time optimal path, when the RWs compensate for the variable unexpected system angular momentum bias. Meanwhile, similar strategy is designed for single gyro failure. Numerical simulations demonstrate that control law in angular momentum domain does not involving singularity, meanwhile with the capability of rapid maneuver and high-level stabilization.

中图分类号:

V448.22

梁金金, 张小柯, 宋效正, 吕旺. 基于角动量空间的SGCMGs姿态控制策略[J]. 空间控制技术与应用, 2016, 42(5): 19-.

LIANG Jin-Jin, ZHANG Xiao-Ke, SONG Xiao-Zheng, 吕Wang . Attitude Control in Angular Momentum Domain Using SGCMGs[J]. , 2016, 42(5): 19-.

参考文献

［1］BEDROSSIAN N S, PARADISO J, BERGMANN E V, et al. Steering law design for redundant single gimbal control moment gyroscopes［J］. Journal of Guidance, Control, and Dynamic, 1990, 13(6): 10831089. ［2］BROWN D, PECK M A. Scissoredpair control moment gyros: a mechanical constraint saves power［J］. Journal of Guidance, Control, and Dynamic, 2008, 31(6): 18231826. ［3］WEI B, BAILEY D A, HEIBERG C J. Singularity robust steering logic for redundant singlegimbal control moment gyros［J］. Journal of Guidance Control, and Dynamic, 2001, 24(5): 865872. ［4］JIN J, ZHANG J R, LIU Z Z. Error analysis and a new steering law design for spacecraft control system using SGCMGs［J］. Acta Mechanica Sinica, 2011, 27(5): 803808. ［5］李传江, 郭延宁, 马广富. 单框架控制力矩陀螺的奇异分析及操纵律设计［J］. 宇航学报, 2010, 31(10): 23462353. LI C J, GUO Y N, MA G F. Singularity analysis and steering law design for singlegimbal control moment gyroscopes［J］. Journal of Astronautics, 2010, 31(10): 23462353. ［6］金磊, 徐世杰. 采用单框架控制力矩陀螺和动量轮的航天器姿态跟踪控制研究［J］. 宇航学报, 2008, 29(3): 916921. JIN L, XU S J. Attitude tracking control of a spacecraft using single gimbal moment gyros and momentum wheels［J］. Journal of Astronautics, 2008, 29(3): 916921. ［7］章仁为.卫星轨道姿态动力学与控制［M］.北京：北京航空航天大学出版社,1998: 143145. ［8］VERBIN D, LAPPAS V J, BENASHER J Z. Timeefficient angular steering laws for rigid satellite［J］. Journal of Guidance, Control, and Dynamics, 2011, 34(3): 878892. ［9］VERBIN D, LAPPAS V J. Rapid rotational maneuvering of rigid satellites with hybrid actuators configuration［J］. Journal of Guidance, Control, and Dynamics, 2013, 36(2): 532547.

[1]	王淑一, 雷拥军, 王新民, 袁军 . 轨控大干扰下的系统角动量管理[J]. 空间控制技术与应用, 2018, 44(2): 19-24.
[2]	薛锐, 崔雁, 王晓磊. 嫦娥五号飞行试验器服务舱环月期间的角动量管理[J]. 空间控制技术与应用, 2016, 42(4): 53-.
[3]	朱孟萍, 徐世杰, 陈新龙 , 李志 , 江玲. 基于参数辨识的大型航天器自适应角动量管理[J]. 空间控制技术与应用, 2014, 40(3): 47-52.
[4]	张军, 马艳红, 何英姿 . 空间站组合体惯性系内角动量管理控制[J]. 空间控制技术与应用, 2010, 36(6): 1-5.