参数不确定SGCMG系统的鲁棒操纵律设计

在单框架控制力矩陀螺(SGCMG)系统操纵律的设计中，如果考虑框架伺服特性，往往假设系统的物理参数是确切已知的。为消除参数的不确定性对操纵性能的影响，设计了一种鲁棒操纵律。该操纵律仅采用系统物理参数的预估值，根据航天器姿态控制给出的角动量(或力矩)指令，可直接计算出每个框架驱动系统所需的控制力矩。由于操纵律没有算法奇异，在SGCMG系统不出现运动奇异的情况下，可使操纵误差指数收敛至零。同时，该操纵律对系统参数变化具有良好的鲁棒性。且形式简单．易于实现。对应用在航天器上的某4-SGCMG系统的仿真结果表明，上述操纵律是可行的。

Robust steering law design for single gimbal control moment gyroscopes with parameter uncertainty

Physical parameters of Single Gimbal Control Moment Gyroscopes (SGCMGs) are often assumed to be known exactly when steering law is designed taking gimbal servo characteristics into account.However,exact physical parameters can not be achieved due to system complexity.In order to attenuate the effect of parameter uncertainty on steering performance,a robust steering law is presented.This steering law uses only estimate of physical parameters and can calculate the control torque for each SGCMG gimbal directly according to the momentum (or torque) command.Since it has no arithmetic singularity,steering error can be made converge to zero exponentially when system singularities do not appear.Meanwhile,the steering law is guaranteed to have strong robustness to parameter variations through the proper choice of the controller gain.Comparatively,it has a simple form and is easy to be realized.Finally,simulation analysis is conducted for a certain 4-SGCMG system mounted on a rigid spacecraft.Simulation results indicate that the steering law stated above is feasible.