摘要
为使单框架控制力矩陀螺(SGCMG)系统在操纵过程中尽量回避内部奇异状态,设计了一种新的基于附加框架角速度的SGCMG系统操纵律。首先在分析SGCMG系统接近奇异状态时期望力矩投影与各个SGCMG角动量夹角关系的基础上,提出对角动量靠近期望力矩投影方向的SGCMG添加附加框架角速度的方法使SGCMG系统避免陷入内部奇异;然后基于奇异值分解理论证明该操纵律不存在框架锁死现象,并分析了操纵律产生的力矩误差;最后以金字塔构型的SGCMG系统为例对设计的操纵律进行了力矩输出仿真,结果表明设计的操纵律能有效地回避和脱离内部奇异状态,且操纵过程中产生的力矩误差较小。
To avoid internal singularities when a single-gimbal control moment gyros （SGCMGs） system steers, a new steering law based on appending gimbal rates is designed in this paper. Firstly, with analyzing the relation between the desired torque projection and the SGCMGs＇ angular momentum when the system is near singularity, appending gimbal rates for the SGCMGs whose angular momentum are close to the desired torque is proposed to avoid internal singularities. Then the singular values decomposition theory is adopted to analyze the output torque error, and prove that there is no gimbal lock phenomenon for the proposed steering law. Finally, as an example, simulations for the designed steering law are accomplished on a pyramidal SGCMG system. The results show that the designed steering law could avoid and escape internal singularities effectively, and produce little torque error.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2014年第1期69-75,共7页
Journal of Astronautics
基金
国家863课题(2012AA120602)
