SGCMG系统的力矩指令调节及动态分配操纵方法

针对邻近奇异框架构型时解算低速框架角速度指令过大乃至饱和问题，开展了指令幅值抑制的控制力矩陀螺操纵方法研究。首先提出了力矩分配动态调整策略，设计以控制力矩陀螺历史指令信息为输入的权重系数自主调整律；然后重新定义了考虑权重分配的系统奇异度量，给出了一种综合力矩动态分配策略、零运动奇异规避与指令力矩随奇异度量相应调节手段的控制力矩陀螺操纵律，以抑制控制力矩陀螺低速框架指令幅值过大并提升系统奇异规避能力。最后所提出方法的有效性通过了姿态快速机动数学仿真校验。

A Steering Method with Torque Command Adjustment and Dynamic Distribution for Single Gimbal Control Moment Gyro Systems

The problem of eliminating the phenomenon that the calculated gimbal angular rate command amplitude is too large or even saturate in the vicinity the CMG (Control moment gyro) singular configuration is investigated. A torque dynamic distribution strategy is proposed, and a corresponding self-updating law of the weighting value is designed by taking the historical gimbal rate command as the input. In consideration of the introduced weights a singularity measure is redefined in a new form, and a comprehensive steering law is proposed, which integrates torque dynamic distribution strategy with the null motion algorithm and a vector adjustment technical means by changing the torque command direction and its amplitude with the singularity measurement automatically, to suppress the oversize amplitude of the computed gimbal rate commands and to promote the singularity avoiding ability. The effectiveness of the proposed method is verified by the numerical simulations.