| 五棱锥SGCMGs失效时奇异构型几何分析及操纵律设计 |
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| 引用本文： | 王焕杰,刘禹,张召弟.五棱锥SGCMGs失效时奇异构型几何分析及操纵律设计[J].上海航天,2018(4):35-41. |
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| 作者姓名： | 王焕杰 刘禹 张召弟 |
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| 作者单位： | 上海航天控制技术研究所;上海市空间智能控制技术重点实验室 |
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| 摘 要： | 单框架控制力矩陀螺群(SGCMGs)的奇异构型几何分析及相应的操纵律设计是其在使用中遇到的主要问题。针对五棱锥SGCMGs构型及其单只失效后的奇异情况进行几何分析,考虑五棱锥构型单只SGCMG失效后显奇异点深入角动量体内部这一特性,设计了一种既能充分利用零空间运动,又能实现显奇异点规避的SGCMGs操纵律。仿真分析结果表明:设计改进后的操纵律能在有效解决五棱锥SGCMGs构型中单只陀螺失效后带来内部复杂奇异问题的同时,实现控制精度的大幅提升。
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| 关 键 词： | 单框架控制力矩陀螺 几何分析 五棱锥 构型失效 显奇异点 隐奇异点 零运动 操纵律设计 |
| 收稿时间： | 2017/10/11 0:00:00 |
| 修稿时间： | 2017/11/26 0:00:00 |
Geometric analysis Based on Invalid Five Pyramid Configuration and Steering Law Design |
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| WANG Huanjie,LIU Yu and ZHANG Zhaodi.Geometric analysis Based on Invalid Five Pyramid Configuration and Steering Law Design[J].Aerospace Shanghai,2018(4):35-41. |
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| Authors: | WANG Huanjie LIU Yu and ZHANG Zhaodi |
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| Institution: | Shanghai Aerospace Control Technology Institute, Shanghai 201109, China;Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109, China,Shanghai Aerospace Control Technology Institute, Shanghai 201109, China;Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109, China and Shanghai Aerospace Control Technology Institute, Shanghai 201109, China;Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109, China |
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| Abstract: | Geometric analysis and steering law design of single gimbal control moment gyros (SGCMGs) are main issues encountered in practical application. In this paper, singularity analysis is introduced based on normal operating five pyramid configuration (FPC) and invalid situation where one SGCMG is invalid. Considering the characteristic that impassable singularity points are inside the angular momentum body deeply, one common steering law which can take advantage of null space motion and avoid impassable singularity is designed. Numerical simulation suggests that internal singularity situation becomes more observably complicated when one SGCMG is invalid, the control accuracy is improved significantly by using designed steering law and the singularity can also be avoided. |
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| Keywords: | single gimbal control moment gyro geometric analysis five pyramid configuration invalid configuration impassable singularity passable singularity null space motion steering law design |
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