控制力矩陀螺(control moment gyroscope, CMG)是飞行器在轨姿态控制的重要执行机构之一,通过内部高速旋转的飞轮储存角动量,利用伺服机构驱动框架旋转输出力矩。安装隔振器可有效减少由高速旋转飞轮产生的不平衡力对飞行器上高精度载...控制力矩陀螺(control moment gyroscope, CMG)是飞行器在轨姿态控制的重要执行机构之一,通过内部高速旋转的飞轮储存角动量,利用伺服机构驱动框架旋转输出力矩。安装隔振器可有效减少由高速旋转飞轮产生的不平衡力对飞行器上高精度载荷的影响。建立伺服机构三环控制模型和一个单自由度隔振器模型,揭示了隔振器引起伺服系统速度环耦合失稳的现象。通过分析隔振器频率、阻尼比、惯量等关键设计参数对速度环稳定性的影响,对隔振器进行详细设计,试验结果全流程验证了考虑伺服机构控制稳定性的CMG隔振器设计流程和隔振效果,为同类型产品设计提供了工程经验。展开更多
Spacecraft require a large-angle manoeuvre when performing agile manoeuvring tasks, therefore a control moment gyroscope(CMG) is employed to provide a strong moment.However, the control of the CMG system easily falls ...Spacecraft require a large-angle manoeuvre when performing agile manoeuvring tasks, therefore a control moment gyroscope(CMG) is employed to provide a strong moment.However, the control of the CMG system easily falls into singularity, which renders the actuator unable to output the required moment. To solve the singularity problem of CMGs, the control law design of a CMG system based on a cooperative game is proposed. First, the cooperative game model is constructed according to the quadratic programming problem, and the cooperative strategy is constructed. When the strategy falls into singularity, the weighting coefficient is introduced to carry out the strategy game to achieve the optimal strategy. In theory, it is proven that the cooperative game manipulation law of the CMG system converges, the sum of the CMG frame angular velocities is minimized, the energy consumption is small, and there is no output torque error. Then, the CMG group system is simulated.When the CMG system is near the singular point, it can quickly escape the singularity. When the CMG system falls into the singularity, it can also escape the singularity. Considering the optimization of angular momentum and energy consumption, the feasibility of the CMG system steering law based on a cooperative game is proven.展开更多
为提高空间站用大型磁悬浮CMG(Control Moment Gyroscope)系统的设计效率,并获得最优设计参数,针对高转速(12000r/min)大角动量(1000N.m.s)磁悬浮转子进行优化设计与分析。提出了一种基于遗传算法(Genetic Algorithm,GA)和序列二次规划...为提高空间站用大型磁悬浮CMG(Control Moment Gyroscope)系统的设计效率,并获得最优设计参数,针对高转速(12000r/min)大角动量(1000N.m.s)磁悬浮转子进行优化设计与分析。提出了一种基于遗传算法(Genetic Algorithm,GA)和序列二次规划算法(Sequential Quadratic Programming,NLPQL)的组合优化策略来优化转子组件。采用ANSYS进行参数化建模,通过ISIGHT软件集成ANSYS实现优化过程。取转子质量和最大等效应力分别最小为优化目标,选择转子轮盘结构尺寸为设计变量,并根据转子运行工况对转子提出包括尺寸、强度、效能等方面约束限制。与GA、NLPQL算法相比组合优化策略的优化结果要优于单纯使用一种全局优化算法或局部优化算法。组合优化策略结果表明转子质量减少了3.92%;安全系数提高了2.69%。实验结果证明了组合优化策略的设计结果。展开更多
The slewing motion control of a truss arm driven by a V-gimbaled control-moment-gyro （CMG） is a nonlinear control problem. The V-gimbaled CMG consists of a pair of gyros that must precess synchronously. The moment o...The slewing motion control of a truss arm driven by a V-gimbaled control-moment-gyro （CMG） is a nonlinear control problem. The V-gimbaled CMG consists of a pair of gyros that must precess synchronously. The moment of inertia of the system, the angular momentum of the gyros and the external disturbances are not exactly known. With the help of feedback linearization and recursive Lyaptmov design method, an adaptive nonlinear controller is designed to deal with the unknown items. Performance of the proposed controller is verified by simulation.展开更多
文摘控制力矩陀螺(control moment gyroscope, CMG)是飞行器在轨姿态控制的重要执行机构之一,通过内部高速旋转的飞轮储存角动量,利用伺服机构驱动框架旋转输出力矩。安装隔振器可有效减少由高速旋转飞轮产生的不平衡力对飞行器上高精度载荷的影响。建立伺服机构三环控制模型和一个单自由度隔振器模型,揭示了隔振器引起伺服系统速度环耦合失稳的现象。通过分析隔振器频率、阻尼比、惯量等关键设计参数对速度环稳定性的影响,对隔振器进行详细设计,试验结果全流程验证了考虑伺服机构控制稳定性的CMG隔振器设计流程和隔振效果,为同类型产品设计提供了工程经验。
基金supported by the National Natural Science Foundation of China (61973153)。
文摘Spacecraft require a large-angle manoeuvre when performing agile manoeuvring tasks, therefore a control moment gyroscope(CMG) is employed to provide a strong moment.However, the control of the CMG system easily falls into singularity, which renders the actuator unable to output the required moment. To solve the singularity problem of CMGs, the control law design of a CMG system based on a cooperative game is proposed. First, the cooperative game model is constructed according to the quadratic programming problem, and the cooperative strategy is constructed. When the strategy falls into singularity, the weighting coefficient is introduced to carry out the strategy game to achieve the optimal strategy. In theory, it is proven that the cooperative game manipulation law of the CMG system converges, the sum of the CMG frame angular velocities is minimized, the energy consumption is small, and there is no output torque error. Then, the CMG group system is simulated.When the CMG system is near the singular point, it can quickly escape the singularity. When the CMG system falls into the singularity, it can also escape the singularity. Considering the optimization of angular momentum and energy consumption, the feasibility of the CMG system steering law based on a cooperative game is proven.
基金National Natural Science Foundation of China(60674102, 60475027)Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry of China
文摘The slewing motion control of a truss arm driven by a V-gimbaled control-moment-gyro （CMG） is a nonlinear control problem. The V-gimbaled CMG consists of a pair of gyros that must precess synchronously. The moment of inertia of the system, the angular momentum of the gyros and the external disturbances are not exactly known. With the help of feedback linearization and recursive Lyaptmov design method, an adaptive nonlinear controller is designed to deal with the unknown items. Performance of the proposed controller is verified by simulation.
