单框架控制力矩陀螺动态操纵律设计

Dynamic Steering Law Design for Redundant Single Gimbal Control Moment Gyroscopes

作为应用在航天器上的惯性执行机构,单框架控制力矩陀螺(SGCMG)的操纵性能对航天器姿态控制精度有着极大的影响。在常规的SGCMG操纵律中,一般都需要计算Jacobi矩阵的伪逆。然而,当Jacobi矩阵奇异时,其伪逆不定,从而可能导致算法失败。为避免以上情况出现,本文设计了一种动态操纵律。该操纵律不用计算Jacobi阵的伪逆,而是代之以Jacobi阵的转置,从而避免了由Jacobi阵求伪逆带来的一系列问题。同时,该操纵律可使操纵误差在理论上指数收敛至零,且形式简单,易于实现。对某4 SGCMG系统的仿真结果表明,上述操纵律是可行的。

As inertial actuators mounted on the spacecraft, Single Gimbal Control Moment Gyroscopes (SGCMGs) can affect the attitude control accuracy to a great extent. Usually, the pseudo-inverse of Jacobian matrix needs to be calculated in the conventional SGCMG steering laws. However, the steering law does not work when Jacobian matrix is singular and its pseudo-inverse is indefinite. To avoid the conditions stated above, a dynamic steering law is presented. This algorithm can deal with the singular conditions because it uses the transpose instead of the pseudo-inverse of Jacobian matrix. Although it has a simple form and is easy to be realized, it can make the steering error converge to zero exponentially. Finally, simulation analysis is conducted for a certain 4-SGCMG system mounted on a rigid spacecraft. Simulation results indicate that the steering law presented above is feasible.