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采用VSCMGs的航天器IPACS设计的一种投影矩阵方法
引用本文:张军,徐世杰.采用VSCMGs的航天器IPACS设计的一种投影矩阵方法[J].宇航学报,2006,27(4):609-615.
作者姓名:张军  徐世杰
作者单位:北京航空航天大学,宇航学院,北京,100083
摘    要:研究以变速控制力矩陀螺群(VSCMGs)为执行机构的能量/姿态一体化控制系统(IPACS)中的操纵律设计问题。建立了带VSCMGs的刚性航天器的动力学方程,用Lyapunov方法设计了渐近稳定的姿态控制律;在对VSCMGs的动力学进行详细分析的基础上,用投影矩阵法设计了一种操纵律,该算法将姿态控制指令力矩分解成两个力矩分量之和,其中一个由陀螺模式提供,另一个由飞轮模式提供,从而使VSCMGs处于构型奇异时陀螺模式也处于工作状态,降低了飞轮模式的负荷;文中证明了IPACS所需的变速控制力矩陀螺(VSCMG)个数最少为3,并分析证明了所设计的算法可以有效地解决姿控/储能一体化设计中可能出现的奇异问题。仿真结果验证了所设计算法的可行性。

关 键 词:姿态控制  储能  投影矩阵  奇异构型  变速控制力矩陀螺
文章编号:1000-1328(2006)04-0609-07
收稿时间:02 4 2005 12:00AM
修稿时间:2005-02-042006-01-23

A Projection Matrix Approach for Design of IPACS of Spacecraft with VSCMGs
ZHANG Jun,XU Shi-jie.A Projection Matrix Approach for Design of IPACS of Spacecraft with VSCMGs[J].Journal of Astronautics,2006,27(4):609-615.
Authors:ZHANG Jun  XU Shi-jie
Institution:Beijing University of Aeronautics and Astronautics, Beijing 100083, China
Abstract:The steering law of variable speed control moment gyros(VSCMGs) used in integrated power/attitude control system(IPACS) is studied.The dynamical equations of a rigid spacecraft with VSCMGs were established.An attitude control law which guarantees asymptotic stability was designed by Lyapunov theory.On the analysis of the VSCMGs' dynamics a steering law is designed by projection matrix.In the steering law the commanded torque was decomposed into two sub-torques,one of which is produced by the control moment gyro(CMG) mode,and the other by the reaction wheel(RW) mode.The CMG mode is valid even when VSCMGs are in the singular configuration and thus abates the load of the RW mode.The steering law demands at least three VSCMGs for IPACS.It is proved the steering law can solve the singularity of IPACS effectively.Simulation validates the feasibility of the scheme.
Keywords:Attitude control  Energy storage  Projection matrix  Singular configuration  VSCMG
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