使用单框架控制力矩陀螺的空间站姿态控制系统建模与仿真

研究使用单框架控制力矩陀螺群(SGCMGs)的空间站的姿态控制。完成空间站在轨三轴稳定飞行模式下的动力学和执行机构的建模。基于最小二乘意义下的伪逆原理设计了SGCMGs的控制律。对于框架构形的隐奇异，采用零运动躲避的算法。同时建立了框架电机的动力学、干扰和控制器的仿真模型。提出了适合工程应用的SGCMGs构形显奇异和饱和奇异的工程性的判断条件及卸载方法。为了探讨伺服机构对系统响应特性的影响，进行了分系统级的仿真。仿真模型中包括了空间环境力矩、敏感器及姿态确定模型。仿真中使用了五棱锥构形的SGCMGs，这种构形具有好的冗余度和大的角动量包络。仿真结果验证了五棱锥构形SGCMGs对大型航天器的三轴姿态控制的可行性及有效性。

Modeling and simulation of attitude control for space station with SGCMG systems

This paper deals with the modeling and simulation problem of attitude control for space station using SGCMG systems.At first,the attitude dynamic model of space station was constructed.The steering logic was based on the pseudo inverse solution with least square norm.When any internal singularity of gimbal configurations was near,a null motion was added into the control logic so that large gimbal rate commands were prevented.At the same time,the judging condition and unload means for inescapable singularity were investigated.In order to study the influence of servo device,the simulation was performed.Space environment torques,sensor dynamics and attitude determination algorithms were taken into account in the Guidance,Navigation and Control (GNC) subsystem simulation.The SGCMGs with five pyramid configuration was used.The configuration has the advantage of both high redundancy and large angular momentum envelop.The simulation results show the feasibility and efficiency of the SGCMG systems on the attitude control in large spacecraft.