大型控制力矩陀螺动力学精细建模与仿真

控制力矩陀螺（CMG,control moment gyro）系统存在多种误差与扰动,影响航天器的姿态控制精度.分析了大型单框架控制力矩陀螺（SGCMG,single gimbal control moment gyro）各主要组成部分的特性、误差及扰动,包括转子动静不平衡、转子轴的安装误差、轴承摩擦、转子电机特性、框架电机特性和谐波减速器特性.通过建立大型SGCMG的动力学精细模型并进行数学仿真,得到了大型SGCMG主要误差与扰动对其输出力矩的影响：在框架伺服系统加装谐波齿轮减速机构可以明显提高SGCMG输出力矩精度,同时也给框架带来高频谐振；转子动不平衡造成的扰动力矩是导致SGCMG在其力矩输出轴和框架轴方向产生输出力矩偏差的主要原因.

Dynamics Fine Modeling and Simulation of Large-Scale Control Moment Gyro

A variety of errors and disturbances exist in control moment gyro （CMG） system, affecting the accuracy of spacecraft attitude control. This paper analyzes the characteristics of the main components of the large-scale single gimbal control moment gyro （SGCMG） as well as errors and disturbances, including the static and dynamic imbalances of rotor, installation error of rotor axis, friction of bearing, characteristics of rotor motor and gimbal motor, harmonic gear drive. Numerical simulation results of the dynamics fine model of large-scale SGCMG indicate that adding harmonic gear into gimbal servo system of large-scale SGCMG significantly improves output torque accuracy, simultaneously brings high-frequency resonance to gimbal. The disturbing torque caused by dynamic imbalance of rotor is the main factor that results in output torque deviation in the direction of gimbal rotation axis and the output torque direction of SGCMG.