空间飞行器的姿态识别

研究不变矢量在固联和轨道坐标系下的表达,得出了一个坐标系在另一个坐标系中旋转的变换矩阵。并且通过2个不变矢量在不同坐标系中的表达,识别了飞行器在空间绕质心旋转运动的3个欧拉旋转角。此方法已应用于工程实际。     

可变弯尾飞行器空间螺旋机动的实现

可变弯尾飞行器具有气动控制独特、机动范围可调等特点,是高超声速飞行器实现机动飞行的有效途径。可变弯尾飞行器不仅可以实现射面内的拉起和下压机动,还可以利用入轨时起旋与尾部的上下摆动实现空间的螺旋机动,并且可以在不起旋时利用可变的弯尾部分进行绕球铰的空间转动使飞行器产生空间螺旋运动。通过气动力工程预测方法与飞行器六自由度弹道的耦合计算,研究了此类飞行器在再入过程中的螺旋运动、稳定性及飞行特性。     

静不稳定飞行器的姿态运动

本文对于多变量飞行器的纵向姿态运动放宽静稳定性后,利用最佳控制理论,研究了运动状态方程有解的条件,即飞行器具有内在的状态转移的能力。由飞行器纵向运动状态方程给出了特征方程含系数矩阵迹的矢量计算公式.推论了飞行器状态完全可控必须满足的条件,由此得到了计算静不稳定程度的方法.继而关于采用自动驾驶仪的飞行器,分析了广义的状态反馈,并用极点配置法介绍了静不稳定飞行器与静稳定行飞器的相比较,选取反馈系数的方法。通过算例分析,所得方法简易,便于论证飞行器总体设计方案时应用,且适合计算机运算。     

无人飞行器参数依赖鲁棒控制研究

研究了具有参数不确定性的无人飞行器参数依赖鲁棒控制器设计问题。采用误差四元数建立姿态运动方程,避免了欧拉角描述姿态运动存在奇异性的问题。通过引入附加的松弛矩阵使Lyapunov矩阵和系统矩阵分离,并利用平方和工具箱求解非线性矩阵不等式得到了系统的鲁棒控制器。仿真结果表明了所提出的控制器设计方法的可行性和有效性。     

广义螺旋运动与复杂回转刀具几何建模

 针对现代机械加工中广泛使用的复杂回转刀具,如模具铣刀、旋转锉、球形滚刀等,提出了任意回转面上的点和线的广义螺旋运动概念,并运用这一概念分别建立了复杂回转刀具广义螺旋线模型和广义螺旋面模型。该模型适用于任意回转刀具,克服了传统的螺旋运动概念和螺旋线、螺旋面理论只是针对圆柱形回转刀具的缺点。最后以球头刀具前刀面几何建模为例说明广义螺旋运动概念和复杂回转刀具几何建模方法的具体应用。     

高超声速再入飞行器气动轴研究

根据根据力学中的力螺旋概念，论述了再入飞行器的气动轴存在的一般性，分析了再入飞行器气动轴的三种类型，提供了确定气动轴的方法，建立了计算非对称再入飞行器飞动轴的近似方法和数值方法，近似方法基于修正的牛顿流理论和推广的内伏牛顿流理论，数值方法基于Ｊ．Ｅ．Ｄａｙｗｉｔｔ教授发展的分离系数矩阵欧拉方程时间相关方法和张鲁民研究员发展的三维定常分离系数矩阵欧拉方程的空间推进方法。     

旋转钝锥高超声速自由飞气动导数非对称性

分别从采用轴对称假设和考虑非对称性的角运动方程出发,通过对高超声速下(M=6)10°半锥角旋转钝锥双平面拍摄风洞自由飞试验结果进行气动参数辨识,对旋转钝锥高超声速自由飞行状态下气动导数的非对称性问题进行了分析。通过对比辨识曲线与观测值的重合性,证明轴对称旋转飞行器存在气动导数非对称的问题,其动导数和Magnus力矩导数均存在较明显的非对称性,动导数的非对称性尤其严重,而静导数的对称性则较好。进一步分析发现气动导数的非对称性对旋转飞行器的瞬态角运动、及总迎角的峰、谷值及相位均存在明显影响,采用轴对称假设而获得的瞬态角运动将存在一定误差。旋转飞行器气动导数非对称性的影响不可忽略。     

旋转钝锥高超声速自由飞气动导数非对称性北大核心CSCD

分别从采用轴对称假设和考虑非对称性的角运动方程出发,通过对高超声速下(M=6)10°半锥角旋转钝锥双平面拍摄风洞自由飞试验结果进行气动参数辨识,对旋转钝锥高超声速自由飞行状态下气动导数的非对称性问题进行了分析。通过对比辨识曲线与观测值的重合性,证明轴对称旋转飞行器存在气动导数非对称的问题,其动导数和Magnus力矩导数均存在较明显的非对称性,动导数的非对称性尤其严重,而静导数的对称性则较好。进一步分析发现气动导数的非对称性对旋转飞行器的瞬态角运动、及总迎角的峰、谷值及相位均存在明显影响,采用轴对称假设而获得的瞬态角运动将存在一定误差。旋转飞行器气动导数非对称性的影响不可忽略。     

旋转飞行器固体火箭发动机内涡核流动的数值分析

为分析旋转飞行器固体火箭发动机内涡核流动,采用数值计算的方法对发动机流场进行模拟。计算结果显示发动机的旋转增强了轴向涡核流动,随着涡核的不断延伸,在喷管入口处,由于潜入式喷管结构以及喷喉直径较小,振荡运动随之加强。涡核在流经喷管时的不断增强,在喷管区域形成了非对称的压力形式,并且产生了实际中的扰动侧向力,最终导致了飞行器的章动不稳定性。     

弹性飞行器纵向稳定性问题

 本文研究考虑气动弹性时飞行器的纵向稳定性问题。首先由弹性飞行器的纵向扰动运动方程出发,导出了便于计算采用的弹性飞行器纵向扰动方程的标准矩阵形式,作出作为控制对象的弹性飞行器在考虑一阶、二阶及三阶振型时的传递函数;其次分析气动弹性对整个飞行器系统的稳定性的影响,并提出对飞行器自动驾驶仪敏感元件的可能合适位置选择的要求。最后还建立了计算气动弹性对飞行器气动导数值影响的理论式。     

The Use of a Spinning Dissipator for Attitude Stabilization of Earth-Orbiting Satellites

This paper considers a novel attitude stabilizing system which acts both as a passive nutation damper and a momentum source for an Earth-orbiting satellite. The system may be designed to use four identical wheels mounted coaxially with and at the ends of the arms of a cruciform structure. The structure may then be spun about the axis perpendicular to the arms to provide angular momentum along the spacecraft spin axis. The wheels experience torques produced by inertial forces. The necessary damping and restoring (spring) torques are provided by means of a torsional arrangement built around the center of each wheel. The performance characteristics of the proposed stabilizing unit are evaluated by considering spacecraft parameters used in one phase of development of the Communications Technology Satellite (CTS). The results obtained for a specific design of the stabilizer indicate that global stability of the desired attitude motion of the spacecraft can be guaranteed with associated damping time constant as low as one second.     

Momentum wheel start-up method for HAUSAT-2 ultra-small satellite

This paper addresses a newly proposed start-up method of the HAUSAT-2 satellite momentum wheel. The HAUSAT-2 is a 25 kg class nanosatellite which is stabilized to an earth pointing attitude by 3-axis active control method. A momentum wheel performs two functions. It provides a pitch-axis momentum bias while measuring satellite pitch and roll attitude. Pitch control is accomplished in a conventional way by driving a momentum wheel in response to pitch attitude errors. Precession control and nutation damping are provided by operating the pitch-axis magnetic torquer. A momentum wheel is nominally spinning at a particular rate, and speed changes are made as needed. Spinning the momentum wheel redistributes the angular momentum to the spacecraft body. If the wheel is suddenly spun up to its nominal speed, the large momentum produced together with the existing momentum due to the nominal rotational motions will result in a high disturbance and unstable motion. This simulation study investigates the feasibility and performance of a proposed strategy for starting-up the wheel. A proposed strategy to start-up the wheel shows that its pitch momentum wheel can start-up successfully to its nominal speed from rest, and can be stabilized to nadir pointing within about three orbits.     

Local controllability and stabilization of spacecraft attitude by two single-gimbal control moment gyros

The attitude control problem of a spacecraft underactuated by two single-gimbal control moment gyros （SGCMGs） is investigated. Small-time local controllability （STLC） of the attitude dynamics of the spacecraft-SGCMGs system is analyzed via nonlinear controllability theory. The conditions that guarantee STLC of the spacecraft attitude by two non-coaxial SGCMGs are obtained with the momentum of the SGCMGs as inputs, implying that the spacecraft attitude is STLC when the total angular momentum of the whole system is zero. Moreover, our results indi- cate that under the zero-momentum restriction, full attitude stabilization is possible for a spacecraft using two non-coaxial SGCMGs. For the case of two coaxial SGCMGs, the STLC property of the spacecraft cannot be determined. In this case, an improvement to the previous full attitude stabilizing control law, which requires zero-momentum presumption, is proposed to account for the singu- larity of SGCMGs and enhance the steady state performance. Numerical simulation results demonstrate the effectiveness and advantages of the new control law.     

利用变速控制力矩陀螺的航天器集成能量与姿态控制

 利用变速控制力矩陀螺(VSCMG)的航天器姿态与能量一体化控制问题。针对以VSCMG为姿态控制执行机构的刚体航天器设计了全局渐近稳定的姿态跟踪控制律。将VSCMG的框架角速度和转子角加速度作为控制输入向量设计操纵律。利用加权的最小范数解得到VSCMG的姿态控制输入向量,并用与之正交的控制输入向量来以给定的功率存储/释放能量。提出了同时表征力矩陀螺模式构型奇异和转子轮速平衡的混合指标函数。对控制自由度有冗余的系统,在混合指标函数的基础上利用梯度法构建了VSCMG的空转运动,以回避力矩陀螺模式的构型奇异,并同时减小转子转速差过大引起的转速饱和以及VSCMG零奇异的可能性。利用反馈转子动能的方法规划日照期间的储能功率,以维持系统长时间工作的能量平衡。基于某太阳同步轨道卫星的数值仿真结果验证了系统的有效性。     

Spacecraft attitude maneuver control using two parallel mounted 3-DOF spherical actuators

A parallel configuration using two 3-degree-of-freedom (3-DOF) spherical electromag-netic momentum exchange actuators is investigated for large angle spacecraft attitude maneuvers. First, the full dynamic equations of motion for the spacecraft system are derived by the Newton-Euler method. To facilitate computation, virtual gimbal coordinate frames are established. Second, a nonlinear control law in terms of quaternions is developed via backstepping method. The pro-posed control law compensates the coupling torques arising from the spacecraft rotation, and is robust against the external disturbances. Then, the singularity problem is analyzed. To avoid sin-gularities, a modified weighed Moore-Pseudo inverse velocity steering law based on null motion is proposed. The weighted matrices are carefully designed to switch the actuators and redistribute the control torques. The null motion is used to reorient the rotor away from the tilt angle saturation state. Finally, numerical simulations of rest-to-rest maneuvers are performed to validate the effec-tiveness of the proposed method.     

Analytical Synthesis of Stabilization Laws for Spacecraft Orbit Attitude Using Information on an Angle and the Full Vector of Angular Velocity

The problem of stabilizing the spacecraft orbit attitude was solved analytically for the sixth order model of its rotary motion with the use of the output feedback control synthesis that is based on decomposition of a control object. Numerical simulation data are presented.     

在轨服务的相对运动耦合动力学建模与分析

研究在轨服务航天器逼近与捕获目标航天器的相对轨道姿态耦合动力学建模问题。考虑航天器姿态与对接位置的运动耦合,建立目标运行在任意轨道下的相对轨道姿态耦合动力学模型,并对模型中的运动耦合进行深入分析。设计一种非线性的输出反馈姿态控制律,将建立耦合动力学模型与CW方程进行仿真比较,验证轨道与姿态的运动耦合对两航天器对接点之间相对位置的运动影响。     

Dynamics of Momentum Biased Spacecraft in a Near-Polar Orbit

The equations of motion of a momentum biased spacecraft are derived in a general form. The spacecraft is assumed to be orbiting in a near-elliptical orbit. An aerodynamic torque model which accounts for the atmospheric superrotation is assumed. The equilibrium attitude angles are obtained in terms of modified Bessel functions. Analytic expressions for the long-term motion of the momentum biased axis are derived for special cases. The analysis is applicable to the Magsat mission.     

Momentum transfer-based attitude control of spacecraft with backstepping

A nonlinear control law design based upon the backstepping approach is addressed for attitude maneuver control of spacecraft by momentum transfer (MT) in the presence of disturbance. For MT, a traditional method usually applies constant torque as an input, which tends to produce significant residual oscillation. Enhanced methods such as optimal control can somewhat reduce the residual oscillation, but may not be enough for minimum residual motion. Feedback linearization technique can drive the final nutation angle small enough, but it is rather sensitive to parameter uncertainty. The proposed method here takes advantage of nonlinear control approach with small steady-state nutation angle. Sensitivity about parameter uncertainties by feedback linearization can be reduced by the backstepping technique. Stability of the resulting control law is guaranteed by the Lyapunov stability theory. Boundedness of the control law is presented to validate practical merit of the proposed control law.     

地球同步轨道薄膜太阳帆的姿态轨道控制方法

薄膜太阳帆（FSS）是集推进、发电和姿轨控功能于一体化的超大型挠性太阳帆式航天器,通过调整薄膜反射率产生可变推力和力矩,实现其姿态和轨道运动控制。结合薄膜太阳帆在地球同步轨道运行时的受力特性进行了轨道漂移分析。通过建立薄膜太阳帆动力学模型及受力模型,提出了调整帆面角度轨道修正方法以及基于薄膜光压力矩角动量卸载的长期在轨对日定向面内双轴动量轮稳定控制方法。通过系统仿真验证表明所提的轨道修正和对日定向控制方法是合理有效的,可使薄膜太阳帆长期在定点位置维持对日定向。