基于角动量空间的SGCMGs姿态控制策略

针对单框架控制力矩陀螺（SGCMGs）的奇异问题，旨在建立一种基于角动量空间而非力矩空间的SGCMGs姿态控制策略，从根源上解决SGCMGs的操纵奇异，且不失其敏捷特性.由于此控制方案的动量管理环节需要另外一套动量交换机构参与，故引入反作用飞轮（RWs）组成混合执行机构，同时RWs可在机动末端用于高精度姿态稳定.针对双平行SGCMGs，采用特征轴时间最优路径进行角速度规划，并基于角动量空间设计控制策略.同时，针对一个陀螺失效的情况设计了相似的角动量控制算法.仿真结果表明，采用角动量控制律不涉及奇异问题，且敏捷性与稳定性良好.

Attitude Control in Angular Momentum Domain Using SGCMGs

A new attitude control method for single gimbal control moment gyros (SGCMGs) that is based on angular momentum domain is presented. In this method, the attitude error is translated to SGCMGs’ angular momentum requirement (rather than torque requirement) without having to consider singularities. With double parallel SGCMGs, the SGCMGs are free to perform their eigenaxis time optimal path, when the RWs compensate for the variable unexpected system angular momentum bias. Meanwhile, similar strategy is designed for single gyro failure. Numerical simulations demonstrate that control law in angular momentum domain does not involving singularity, meanwhile with the capability of rapid maneuver and high-level stabilization.