2-SGCMGs与磁力矩器的对地姿态混合控制方法

针对故障后仅剩两单框架控制力矩陀螺（SGCMG）可工作的对地定向三轴稳定卫星姿态控制问题进行了研究，提出了2-SGCMGs系统与磁力矩组合的混合控制策略及方法，以克服两SGCMG欠驱动控制的鲁棒性问题。首先，给出2-SGCMGs零动量方式的标称框架角构型选择计算过程。然后，结合标称框架角构型，构造了一种不同于沿传统体轴的新型控制标架，将三维控制力矩指令空间分解为由SGCMG与磁力矩器分别控制执行的两正交子空间，实现对力矩输出特性差异较大的该两类执行机构的控制解耦，进而对不同子空间控制指令给出2-SGCMGs系统框架角速度指令及含磁卸载在内的磁力矩器磁矩指令的求解算法。最后，针对存在外界扰动的卫星对象，由数学仿真验证了所提出策略及方法的有效性，实现了姿态误差小于0.05°且稳定度优于0.0005°/s的控制性能，可满足一般高分辨率对地遥感卫星控制需求。

An attitude hybrid control method for earth-orienting satellite systems with 2-SGCMGs and magnet torquers

The attitude control problems were investigated for the earth-oriented three-axis stabilized satellite with a SGCMGs system that only two control moment gyros can be utilized for the others’ failures, and a hybrid control method combining 2 SGCMGs with magnet torquers was proposed to overcome the robustness deficiency of the 2-SGCMGs underactuated system. The nominal gimbal angles for the zero-momentum system were derived with the geometric method. On the basis of the nominal SGCMG gimbal configuration, a novel control frame was established to divide the 3dofs torque command space into two orthogonal subspaces, in which the control commands can be implemented with 2 SGCMGs and magnet torquers individually, and the decoupled control was in turn accomplished for the two different type actuators with significance of difference. Moreover, implementation algorithms of CMG gimbal rate commands and magnet torquer dipole moment commands were also presented. Finally, the effectiveness and robustness of the proposed method were demonstrated by the numerical simulation for the satellite dynamics in the presence of space environmental disturbance torques, and high accuracy performances were achieved with the attitude error less than 0.05° and the attitude stability higher than 0.0005°/s, which can satisfy the general application requirements of high resolution earth remote-sensing satellites.