单框架控制力矩陀螺复合操纵律设计

Hybrid Steering Law with Feedback and Feedforward for Single Gimbal Control Moment Gyroscopes

为改善单框架控制力矩陀螺(SGCMG)动态操纵律的奇异回避和逃逸性能,文章设计了一种基于前馈和反馈的复合操纵律。当SGCMG系统远离奇异时,不引入前馈,仅采用基于反馈的动态操纵律;当SGCMG系统接近或陷入奇异时,在动态操纵律的基础上,引入前馈信息,辅助SGCMG系统回避或逃逸奇异。复合操纵律不但可以保留动态操纵律的优点,不需计算Jacobi矩阵的伪逆,计算简单,易于实现,而且可以逃逸椭圆型内部奇点。对某SGCMG系统的仿真结果表明,复合操纵律是可行的。

In order to improve the performance in singularity avoidance and escape of the dynamic steering law for single gimbal control moment gyroscopes （SGCMGs）, a hybrid steering law with feedback and feedforward was proposed. When SGCMGs was not singular, the dynamic steering law with feedback was used. When SGCMGs approaching to or locked in the singular points, the feedforward was constructed to help them avoid or detour round the singular points. Compared with the conventional dynamic steering laws, the hybrid one has much more superior performances in singularity avoidance and escape. Meanwhile, the algorithm has little calculation amount and is easy to implement since it only needs the transpose rather than the pseudo inverse of the Jacobian matrix. Extensive simulation results demonstrate the effectiveness of the algorithm.