基于奇异值分解的单框架变速控制力矩陀螺角动量管理方法
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摘要
本文提出一种新的变速控制力矩陀螺(VSCMGs)的角动量管理方法.将VSCMGs的控制力矩(CMGs)模式和飞轮模式分开求解同步输出,对CMGs模式力矩输出进行奇异值分解,只有CMGs模式接近奇异的时候,在奇异方向上的指令力矩才会分配一部分给RWs模式,从而在保证VSCMGs输出精度的情况下尽量充分的利用VSCMGs的执行能力.同时角动量管理算法中还引入零运动来实现转子轮速平衡以及框架构型避奇异,并且考虑了框架角速度死区非线性以及忽略项的补偿问题.仿真结果表明,所设计的操纵律在航天器大角度快速姿态机动时,可以实现高精度的大力矩输出.
A new angular momentum management method for variable speed control moment gyroscope( VSCMGs) is proposed in this paper. The control torque( CMGs) mode and the flywheel mode from the VSCMGs is seperated,and the singular value decomposition on the CMGs mode torque output is performed. Only when the CMGs mode is close to singular,the command torque in the singular direction be distributed to RWs mode,so as to make full use of VSCMGs execution ability while ensuring VSCMGs output accuracy. At the same time,zero motion is also introduced into the angular momentum management algorithm to achieve rotor wheel speed balance and frame structure avoidance singularity,and the nonlinearity of the dead-zone of the frame angular velocity and the compensation of neglected items are considered. Simulation results show that the designed control law can achieve high-precision high-torque output when maneuvering large-angle and high-speed spacecraft.
A new angular momentum management method for variable speed control moment gyroscope( VSCMGs) is proposed in this paper. The control torque( CMGs) mode and the flywheel mode from the VSCMGs is seperated,and the singular value decomposition on the CMGs mode torque output is performed. Only when the CMGs mode is close to singular,the command torque in the singular direction be distributed to RWs mode,so as to make full use of VSCMGs execution ability while ensuring VSCMGs output accuracy. At the same time,zero motion is also introduced into the angular momentum management algorithm to achieve rotor wheel speed balance and frame structure avoidance singularity,and the nonlinearity of the dead-zone of the frame angular velocity and the compensation of neglected items are considered. Simulation results show that the designed control law can achieve high-precision high-torque output when maneuvering large-angle and high-speed spacecraft.
引文
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[15]孙志远,金光,张刘,等.基于自适应高斯伪谱法的SGCMG无奇异框架角轨迹规划[J].宇航学报,2012,33(5):597-604.SUN Z Y,JIN G,ZHANG L,et al.SGCMG non-singularity trajectory programming algorithm based on adaptive Gauss pseudospectral method[J].Journal of Astronautics,2012,33(5):597-604.
[16]刘军,韩潮.应用变速控制力矩陀螺的卫星姿态机动的非线性控制[J].航天控制,2007,25(5):33-38.LIU J,HAN C.Nonlinear control of attitude maneuver for satellite using variable speed control moment gyros[J].Aerospace Control,2007,25(5):33-38.
[17]HUANG X,JIA Y,Xu S,et al.A new steering approach for VSCMGs with high precision[J].Chinese Journal of Aeronautics,2016,29(6):1673-1684.
[2]SCHAUB H,VADALI S R,JUNKINS J L.Feedback control law for variable speed control moment gyros[J].The Journal of The Astronautical Sciences,1998,46(3):307-328.
[3]JOHN E F.A Reactive torque control law for gyroscopically controlled space vehicles[R].NASA TM X-64790,N74 10419,1973.
[4]CRENSHAW J W.2-Speed,a single gimbal cmg attitude control system[C]//AIAA Guidance and Control Conference.New York,1973.
[5]YOSHIKAWA T.Steering law for roof type configuration control moment gyro system[J].Automatica,1977,13:359-368.
[6]RICHARD V,RIPER V,SAM P L.A new fail operational control moment gyro configuration[R].AIAA1971-936.
[7]NAKAMURA Y,HANAFUSA H.Inverse kinematic solutions withsingularity robustness for robot manipulator control[J].Journal of Dynamic Systems,Measurement,and Control,1986,108(3):163-171.
[8]PARADISO J A.global steering of single gimbaled cmgs using a directed search[J].Journal of Guidance,Control,and Dynamics,1992,15(5):1236-1244.
[9]VADALI S R,OH H S,walk Er S R.preferred gimbal angles for single gimbal control moment gyros[J].Journal of Guidance,Control,and Dynamics,1990,13(6):1090-1095.
[10]TOKAR E N.Efficient design of powered gyrostabilizer systems[R].Cosmic Research,1978,16-23.
[11]YOON H,TSIOTRAS P.spacecraft adaptive attitude control and power tracking with variable speed control moment gyroscopes[J].Journal of Guidance,Control,and Dynamics,2002,25(6):1081-1090.
[12]贾英宏.航天器姿态与能量一体化控制研究[D].哈尔滨:哈尔滨工业大学,2004.
[13]贾英宏,徐世杰.采用平行构型变速控制力矩陀螺群的航天器姿态控制[J].宇航学报,2003,24(5):490-495.JIA Y H,XU S J.Spacecraft attitude control using parallel-gimbaled variable speed control moment gyros group[J].Journal of Astronautics,2003,24(5):490-495.
[14]张景瑞,李俊峰.航天器能量/姿态一体化控制器设计与及功率规划[J].清华大学学报,2005,45(2):280-284.ZHANG J R,LI J F.Integrated power and attitude control system(IPACS)and power controller for spacecraft[J].Journal of Tsinghua University(Science and Technology),2005,45(2):280-284.
[15]孙志远,金光,张刘,等.基于自适应高斯伪谱法的SGCMG无奇异框架角轨迹规划[J].宇航学报,2012,33(5):597-604.SUN Z Y,JIN G,ZHANG L,et al.SGCMG non-singularity trajectory programming algorithm based on adaptive Gauss pseudospectral method[J].Journal of Astronautics,2012,33(5):597-604.
[16]刘军,韩潮.应用变速控制力矩陀螺的卫星姿态机动的非线性控制[J].航天控制,2007,25(5):33-38.LIU J,HAN C.Nonlinear control of attitude maneuver for satellite using variable speed control moment gyros[J].Aerospace Control,2007,25(5):33-38.
[17]HUANG X,JIA Y,Xu S,et al.A new steering approach for VSCMGs with high precision[J].Chinese Journal of Aeronautics,2016,29(6):1673-1684.