SGCMG系统的力矩指令调节及动态分配操纵方法
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摘要
针对邻近奇异框架构型时解算低速框架角速度指令过大乃至饱和问题,开展了指令幅值抑制的控制力矩陀螺操纵方法研究。首先提出了力矩分配动态调整策略,设计以控制力矩陀螺历史指令信息为输入的权重系数自主调整律;然后重新定义了考虑权重分配的系统奇异度量,给出了一种综合力矩动态分配策略、零运动奇异规避与指令力矩随奇异度量相应调节手段的控制力矩陀螺操纵律,以抑制控制力矩陀螺低速框架指令幅值过大并提升系统奇异规避能力。最后所提出方法的有效性通过了姿态快速机动数学仿真校验。
The problem of eliminating the phenomenon that the calculated gimbal angular rate command amplitude is too large or even saturate in the vicinity the CMG( Control moment gyro) singular configuration is investigated. A torque dynamic distribution strategy is proposed,and a corresponding self-updating law of the weighting value is designed by taking the historical gimbal rate command as the input. In consideration of the introduced weights a singularity measure is redefined in a new form,and a comprehensive steering law is proposed,which integrates torque dynamic distribution strategy with the null motion algorithm and a vector adjustment technical means by changing the torque command direction and its amplitude with the singularity measurement automatically,to suppress the oversize amplitude of the computed gimbal rate commands and to promote the singularity avoiding ability. The effectiveness of the proposed method is verified by the numerical simulations.
The problem of eliminating the phenomenon that the calculated gimbal angular rate command amplitude is too large or even saturate in the vicinity the CMG( Control moment gyro) singular configuration is investigated. A torque dynamic distribution strategy is proposed,and a corresponding self-updating law of the weighting value is designed by taking the historical gimbal rate command as the input. In consideration of the introduced weights a singularity measure is redefined in a new form,and a comprehensive steering law is proposed,which integrates torque dynamic distribution strategy with the null motion algorithm and a vector adjustment technical means by changing the torque command direction and its amplitude with the singularity measurement automatically,to suppress the oversize amplitude of the computed gimbal rate commands and to promote the singularity avoiding ability. The effectiveness of the proposed method is verified by the numerical simulations.
引文
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[11]孙羽佳,袁利,雷拥军.基于指令力矩螺旋式搜索的SGCMG奇异规避方法[J].空间控制技术与应用,2016,42(6):26-30.[Sun Yu-jia,Yuan Li,Lei Yong-jun.SGCMG singularity avoidance method based on command torque vector helix search[J].Aerospace Control and Application,2016,42(6):26-30.]
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[14]Nanamori Y,Takahashi M.An integrated steering law considering biased loads and singularity for control moment gyros[C].AIAA Guidance,Navigation,and Control Conference,Kissimmee,USA,January 5-9,2015.
[15]Defendini A,Faucheux P,Guay P,et al.A compact CMGproduct for agile satellite[C].The 5th ESA International Conference on Spacecraft Guidance,Navigation and Control System,Frascati,Italy,October 22-25,2002.
[16]Burt R,Loffi R W.Failure analysis of international space station control moment gyro[C].The 10th European Space Mechanisms and Tribology Symposium,San Sebastian,Spain,September 24-26,2003.
[17]郑慧娆,陈绍林,莫中息,等.数值计算方法[M].武汉:武汉大学出版社,2002:508-511.
[18]章仁为.卫星轨道姿态动力学与控制[M].北京:北京航空航天大学出版社,1998:278-293.
[2]Damilano P.Pleiades high resolution satellite:a solution for military and civilian needs in metric-class optical observation[C].The 15th Annual/USU Conference on Small Satellites,Utah,USA,August 13-16,2001.
[3]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.[Wu Zhong,Wu Hong-xin.Survey of steering laws for single gimbal control moment gyroscope systems[J].Journal of Astronautics,2000,21(4):140-145.]
[4]Wie B.Singularity escape/avoidance steering logic for control moment gyro systems[J].Journal of Guidance,Control,and Dynamics,2005,28(5):948-956.
[5]Kurokawa H.Constrained steering law of pyramid-type control moment gyros and ground tests[J].Journal of Guidance,Control,and Dynamics,1997,20(3):445-449.
[6]张志方,董文强,张锦江,等.控制力矩陀螺在天宫一号目标飞行器姿态控制上的应用[J].空间控制技术与应用,2011,37(6):52-59.[Zhang Zhi-fang,Dong Wen-qiang,Zhang Jin-jiang,et al.The Application of control moment gyro in attitude control of tiangong-1 spacecraft[J].Aerospace Control and Application,2011,37(6):52-59.]
[7]Wie B,Bailey D,Heiberg C.Singularity robust steering logic for redundant single-gimbal control moment gyros[C].AIAAGuidance,Navigation,and Control Conference and Exhibit,Denever,USA,August 14-17,2000.
[8]刘德庆,吴敬玉,操宏磊.一种SGCMG系统奇异逃离方法[J].宇航学报,2016,37(8):1001-1005.[Liu De-qing,Wu Jing-yu,Cao Hong-lei.A singularity escape method for SGCMG system[J].Journal of Astronautis,2016,37(8):1001-1005.]
[9]李利文,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.[Li Li-wen,Zhou Jun,Huang He,et al.Steering law design for SGCMGsystem based on appending gimbal rates[J].Journal of Astronautis,2014,35(1):69-75.]
[10]袁利,雷拥军,姚宁,等.具有SGCMG系统的挠性卫星姿态机动控制及验证[J].宇航学报,2018,39(1):43-51.[Yuan Li,Lei Yong-jun,Yao Ning,et al.Maneuver attitude control method and in-orbit verification for flexible satellites with single-gimbal control moment gyros[J].Journal of Astronautics,2018,39(1):43-51.]
[11]孙羽佳,袁利,雷拥军.基于指令力矩螺旋式搜索的SGCMG奇异规避方法[J].空间控制技术与应用,2016,42(6):26-30.[Sun Yu-jia,Yuan Li,Lei Yong-jun.SGCMG singularity avoidance method based on command torque vector helix search[J].Aerospace Control and Application,2016,42(6):26-30.]
[12]Thieuw A,Marcille H.Pleiades-HR CMGs-based attitude control,system design,development status and performance[C].The 17th IFAC Symposium on Automatic Control in Aerospace,Toulouse,France,June 25-29,2007.
[13]于沫尧,唐国金,黄海兵.变锥角SGCMG系统的奇异躲避路径规划策略[J].宇航学报,2016,37(7):776-783.[Yu Mo-yao,Tang Guo-jin,Huang Hai-bing.Singular escape path planning strategy of adjustable-skew SGCMG[J].Journal of Astronautics,2016,37(7):776-783.]
[14]Nanamori Y,Takahashi M.An integrated steering law considering biased loads and singularity for control moment gyros[C].AIAA Guidance,Navigation,and Control Conference,Kissimmee,USA,January 5-9,2015.
[15]Defendini A,Faucheux P,Guay P,et al.A compact CMGproduct for agile satellite[C].The 5th ESA International Conference on Spacecraft Guidance,Navigation and Control System,Frascati,Italy,October 22-25,2002.
[16]Burt R,Loffi R W.Failure analysis of international space station control moment gyro[C].The 10th European Space Mechanisms and Tribology Symposium,San Sebastian,Spain,September 24-26,2003.
[17]郑慧娆,陈绍林,莫中息,等.数值计算方法[M].武汉:武汉大学出版社,2002:508-511.
[18]章仁为.卫星轨道姿态动力学与控制[M].北京:北京航空航天大学出版社,1998:278-293.