单框架控制力矩陀螺的奇异分析及操纵律设计  

Singularity Analysis and Steering Law Design for Single-Gimbal Control Moment Gyroscopes

作　　者：李传江[1] 郭延宁[1] 马广富[1] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,哈尔滨150001

出　　处：《宇航学报》2010年第10期2346-2353,共8页Journal of Astronautics

基　　金：国家自然科学基金(60774062);中国博士后科学基金(20070420858);哈尔滨工业大学优秀青年教师培养计划(HITQNJS.2008.006)

摘　　要：通过对单框架控制力矩陀螺群(SGCMGs)的奇异问题的分析,设计了一种新的伪逆解与零运动向量相结合的操纵律来回避SGCMGs的内部奇异点。首先通过绘制金字塔构型SGCMGs奇异角动量曲面及典型角动量切面对应的奇异度量极值曲面,研究了其奇异的几何特性。然后以缩小期望力矩与各SGCMG角动量的夹角为目的,给出了一种新的零运动向量构造方法用于操纵律的设计。该方法在全局范围内考虑,并未参考当前奇异度量值,故能有效地避免奇异度量局部极值所对应的内部显奇异点。最后将其与现有的几种操纵律进行了数学仿真对比,验证了其有效性及优越性。Based on singularity analysis of single-gimbal control moment gyros （ SGCMGs） ,a new steering law using the Moore-Penrose pseudo-inverse coupled with null motion vector algorithm is proposed to avoid internal singularities. The singular property of pyramid array of SGCMGs is investigated geometrically through singular angular momentum hypersurfaces and singular measure hypersurfaces corresponding to typical angular momentum slices firstly. Then a new null motion vector algorithm is presented to reduce the angle included between the desired torque and angular momentums of all SGCMGs. Since this global method does not rely on the singular measure function,the internal explicit singularities can be avoided effectively. Finally,performance and advantages of the proposed approach are evaluated by comparing with others by simulation.

关 键 词：姿态控制 单框架控制力矩陀螺 奇异 操纵律 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]