单框架控制力矩陀螺动态操纵律设计

作为应用在航天器上的惯性执行机构,单框架控制力矩陀螺(SGCMG)的操纵性能对航天器姿态控制精度有着极大的影响。在常规的SGCMG操纵律中,一般都需要计算Jacobi矩阵的伪逆。然而,当Jacobi矩阵奇异时,其伪逆不定,从而可能导致算法失败。为避免以上情况出现,本文设计了一种动态操纵律。该操纵律不用计算Jacobi阵的伪逆,而是代之以Jacobi阵的转置,从而避免了由Jacobi阵求伪逆带来的一系列问题。同时,该操纵律可使操纵误差在理论上指数收敛至零,且形式简单,易于实现。对某4 SGCMG系统的仿真结果表明,上述操纵律是可行的。

Dynamic Steering Law Design for Redundant Single Gimbal Control Moment Gyroscopes

As inertial actuators mounted on the spacecraft, Single Gimbal Control Moment Gyroscopes (SGCMGs) can affect the attitude control accuracy to a great extent. Usually, the pseudo-inverse of Jacobian matrix needs to be calculated in the conventional SGCMG steering laws. However, the steering law does not work when Jacobian matrix is singular and its pseudo-inverse is indefinite. To avoid the conditions stated above, a dynamic steering law is presented. This algorithm can deal with the singular conditions because it uses the transpose instead of the pseudo-inverse of Jacobian matrix. Although it has a simple form and is easy to be realized, it can make the steering error converge to zero exponentially. Finally, simulation analysis is conducted for a certain 4-SGCMG system mounted on a rigid spacecraft. Simulation results indicate that the steering law presented above is feasible.