姿态机动中SGCMG的一种改进奇异鲁棒操纵律设计

单框架控制力矩陀螺(SGCMG)在卫星姿态控制中以其具有大力矩输出能力而受到重视并已成功应用于在轨卫星,其应用难点是构形奇异问题,特别是在快速连续机动的过程中,CMG框架角必须迅速脱离奇异状态.使用描述CMG输出力矩和期望控制力矩夹角的奇异度量方法,以便在仿真中观察判别CMG构形的奇异程度.着重改进CMG的奇异鲁棒操纵律,应用高斯函数的方法确定鲁棒系数.仿真实例表明,与传统的梯度型零运动相比,该方法可以在卫星的连续快速机动中使CMG系统更为迅速地摆脱奇异,更为快速地完成机动并减小姿态抖动.

An Improved Singularity Robust Steering Law for Single-Gimbal Control Moment Gyros for Attitude Maneuver

The single gimbal control moment gyro,used in spacecraft attitude control system,deserves special attention in recent years due to its large control torque.However,the singularity problem is the major constraint on rapid attitude maneuver,especially in a continuous maneuver process,the spacecraft should escape from singularity rapidly.In this paper,based on the angle between desired control torque and output torque from CMG,a new singularity measurement is introduced.An improved singularity robust steering law are proposed,and a Gaussian function is adopted to determine the singularity robust coefficient.Simulation results demonstrate that compared with the traditional gradient null motion method,the proposed algorithm can finish attitude maneuver more quickly.It assures the singularity-escape more rapidly and reduces attitude chattering magnitude.