采用MSCMG群的卫星平台敏捷机动控制地面闭环试验验证

Ground Closed-Loop Experiment Verification of Agile Maneuvering Control for Satellite Platform by Using MSCMG Group

针对新型惯性执行机构磁悬浮控制力矩陀螺(Magnetically suspended control moment gyro,MSCMG),基于金字塔构型开展卫星平台敏捷机动控制地面闭环试验研究,以验证MSCMG的姿态控制性能。首先基于MSCMG搭建卫星平台控制地面试验系统,建立数学模型;接着针对气浮台外界扰动抑制及大角度敏捷机动控制问题,基于变参数滑模控制设计姿态控制算法,采用鲁棒伪逆方法进行MSCMG群框架角速度分配;并针对MSCMG的特性对框架角速度和角加速度进行了限幅,开展闭环控制试验研究。试验结果表明,采用MSCMG进行气浮台姿态稳定控制实验,可以实现姿态稳定度优于5×10^(-4)(°)/s,且在实现30°/15 s的机动指标时,MSCMG框架角速度具有良好的跟踪性能,且磁悬浮转子在输出大力矩时仍然保持稳定悬浮,具有较强的鲁棒性。通过地面闭环试验验证了MSCMG作为姿控执行机构的优异性能,为其未来进一步应用研究奠定基础。

In this paper,aiming at a new type of inertial actuator,magnetically suspended control moment gyro(MSCMG),based on the pyramid configuration,the ground closed-loop test research for satellite platform agile maneuvering control is carried out to verify its attitude control performance.Firstly,the ground test system for satellite platform control based on the MSCMG is built,and the dynamics and kinematics models are established.Secondly,the attitude control algorithm is designed based on the variable-parameter sliding mode control to solve the external disturbance suppression and the large-angle agile maneuvering control problems.Thirdly,the robust pseudo-inverse method is used to allocate the angular velocity of the MSCMG group gimbal,and the gimbal angular velocity and angular acceleration are limited according to the characteristics of MSCMG.Finally,the closed-loop control test research is carried out.The results show that it can achieve the attitude stability better than 5×10^(-4)(°)/s in the attitude stability control experiment,and when the maneuver ability index of 30°/15 s is achieved,the MSCMG gimbal angular velocity can track the command well,and the magnetic suspended rotor still maintains stable levitation when outputting the large torque,which has strong robustness.This paper verifies the excellent performance of MSCMG as the attitude control actuator by ground closed-loop tests,and lays the foundation for its further application research in the future.