三维变质心非交互控制的可实现性分析

为解决变质心三通道姿态跟踪问题，研究了三维变质心非交互式控制问题的可实现性。首先，基于矢量力学建立了变质心飞行器的仿射非线性模型；其次，通过推导和分析系统的解耦性矩阵，研究了三维变质心非交互控制的可解性问题，其间定义了变质心非交互控制的直接解耦性矩阵、奇异集及奇异特征参数，给出三种变质心非交互控制实现性类别及按照奇异集进行分类的判断方法；最后，通过数值分析和符号运算研究了变质心总体参数对奇异特征参数的影响，并从中得到了一些有用的结论。本文的研究揭示了变质心非交互控制可实现性的主要影响因素，并为变质心总体参数的优化设计提供了参考。

Solvability Analysis of Moving Mass Noninteracting Control Problem

To solve the three channel attitude tracking problem of moving mass control，the solvability of moving mass noninteracting control problem(MMNCP) is researched. Firstly，dynamic and kinematic models of a moving mass actuated vehicle are established based on the vector mechanics，and expressed in form of an affine nonlinear system. Secondly，noninteracting control problem of a moving mass actuated vehicle with three control variables defined as the MMNCP is studied by deriving and analyzing the system decoupled matrix. Direct decoupling matrix，singular set and singular feature parameter of MMNCP are defined. Besides，three types of solvability and the corresponding judgment criterion according to singular set are proposed. Finally，numerical and symbolic calculations are used to analyze the affection of moving mass general parameters on the singular feature parameter，from which some useful conclusions are obtained. This research reveals the main factors that influence the solvability of the MMNCP，and provides an reference for the optimization of moving mass general parameters.