五棱锥SGCMGs失效时奇异构型几何分析及操纵律设计
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摘要
单框架控制力矩陀螺群(SGCMGs)的奇异构型几何分析及相应的操纵律设计是其在使用中遇到的主要问题。针对五棱锥SGCMGs构型及其单只失效后的奇异情况进行几何分析,考虑五棱锥构型单只SGCMG失效后显奇异点深入角动量体内部这一特性,设计了一种既能充分利用零空间运动,又能实现显奇异点规避的SGCMGs操纵律。仿真分析结果表明:设计改进后的操纵律能在有效解决五棱锥SGCMGs构型中单只陀螺失效后带来内部复杂奇异问题的同时,实现控制精度的大幅提升。
Geometric analysis and steering law design of single gimbal control moment gyros(SGCMGs)are main issues encountered in practical application.In this paper,singularity analysis is introduced based on normal operating five pyramid configuration(FPC)and invalid situation where one SGCMG is invalid.Considering the characteristic that impassable singularity points are inside the angular momentum body deeply,one common steering law which can take advantage of null space motion and avoid impassable singularity is designed.Numerical simulation suggests that internal singularity situation becomes more observably complicated when one SGCMG is invalid,the control accuracy is improved significantly by using designed steering law and the singularity can also be avoided.
Geometric analysis and steering law design of single gimbal control moment gyros(SGCMGs)are main issues encountered in practical application.In this paper,singularity analysis is introduced based on normal operating five pyramid configuration(FPC)and invalid situation where one SGCMG is invalid.Considering the characteristic that impassable singularity points are inside the angular momentum body deeply,one common steering law which can take advantage of null space motion and avoid impassable singularity is designed.Numerical simulation suggests that internal singularity situation becomes more observably complicated when one SGCMG is invalid,the control accuracy is improved significantly by using designed steering law and the singularity can also be avoided.
引文
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[3]MARGULIES G,AUBRUN J N.Geometric theory of single-gimbal control moment gyro systems[J].Journal of the Astronautical Sciences,1978,26(2):159-191.
[4]VADALI S.Feedback control and steering laws for spacecraft using single gimbal control moment gyros[J].Journal of the Astronautical Sciences,1991,39(2):183-203.
[5]赵波林,刘昆,张立.控制力矩陀螺的动态扫描成像卫星姿态控制[J].国防科技大学学报,2016,38(4):119-124.
[6]HEIBERG C,WIE B,BAILEY D.Singularity robust steering logic for redundant single-gimbal control moment gyros[J].Journal of Guidance Control and Dynamics,2001,24(5):865-872.
[7]吴忠,吴宏鑫.“和平号”空间站SGCMG系统及其操纵[J].航天控制,1999(2):76-80.
[8]王璐,郭毓,郭健.一种变鲁棒系数的SGCMGs伪逆操纵律[J].南京理工大学学报(自然科学版),2016,40(1):102-109.
[9]李力文,周军,黄河,等.附加框架角速度的SGCMG操纵律设计[J].宇航学报,2014,35(1):69-75.
[10]孙志远,金光,徐开,等.基于力矩输出能力最优的SGCMG操纵律设计[J].空间科学学报,2012,32(1):113-122.
[11]程国栋.应用控制力矩陀螺的敏捷卫星姿态机动控制研究[D].哈尔滨:哈尔滨工业大学,2014.
[12]汤亮,徐世杰.单框架控制力矩陀螺群的奇异几何分析[J].中国航空学报(英文版),2005,18(4):295-303.
[13]张锦江.单框架控制力矩陀螺系统的构型分析和对比研究[J].中国空间科学技术,2003,23(3):52-56.
[14]金磊,徐世杰.采用单框架控制力矩陀螺和动量轮的航天器姿态跟踪控制研究[J].宇航学报,2008,29(3):916-921.
[2]吴忠,吴宏鑫.单框架控制力矩陀螺系统操纵律研究综述[J].宇航学报,2000,21(4):140-145.
[3]MARGULIES G,AUBRUN J N.Geometric theory of single-gimbal control moment gyro systems[J].Journal of the Astronautical Sciences,1978,26(2):159-191.
[4]VADALI S.Feedback control and steering laws for spacecraft using single gimbal control moment gyros[J].Journal of the Astronautical Sciences,1991,39(2):183-203.
[5]赵波林,刘昆,张立.控制力矩陀螺的动态扫描成像卫星姿态控制[J].国防科技大学学报,2016,38(4):119-124.
[6]HEIBERG C,WIE B,BAILEY D.Singularity robust steering logic for redundant single-gimbal control moment gyros[J].Journal of Guidance Control and Dynamics,2001,24(5):865-872.
[7]吴忠,吴宏鑫.“和平号”空间站SGCMG系统及其操纵[J].航天控制,1999(2):76-80.
[8]王璐,郭毓,郭健.一种变鲁棒系数的SGCMGs伪逆操纵律[J].南京理工大学学报(自然科学版),2016,40(1):102-109.
[9]李力文,周军,黄河,等.附加框架角速度的SGCMG操纵律设计[J].宇航学报,2014,35(1):69-75.
[10]孙志远,金光,徐开,等.基于力矩输出能力最优的SGCMG操纵律设计[J].空间科学学报,2012,32(1):113-122.
[11]程国栋.应用控制力矩陀螺的敏捷卫星姿态机动控制研究[D].哈尔滨:哈尔滨工业大学,2014.
[12]汤亮,徐世杰.单框架控制力矩陀螺群的奇异几何分析[J].中国航空学报(英文版),2005,18(4):295-303.
[13]张锦江.单框架控制力矩陀螺系统的构型分析和对比研究[J].中国空间科学技术,2003,23(3):52-56.
[14]金磊,徐世杰.采用单框架控制力矩陀螺和动量轮的航天器姿态跟踪控制研究[J].宇航学报,2008,29(3):916-921.