Model predictive control of rigid spacecraft with two variable speed control moment gyroscopes  

作　　者：Pengcheng WU Hao WEN Ti CHEN Dongping JIN 

机构地区：[1]State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

出　　处：《Applied Mathematics and Mechanics(English Edition)》2017年第11期1551-1564,共14页应用数学和力学（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.11372130,11290153,and 11290154)

摘　　要：In this paper, an attitude maneuver control problem is investigated for a rigid spacecraft using an array of two variable speed control moment gyroscopes （VSCMGs） with gimbal axes skewed to each other. A mathematical model is constructed by taking the spacecraft and the gyroscopes together as an integrated system, with the coupling interaction between them considered. To overcome the singular issues of the VSCMGs due to the conventional torque-based method, the first-order derivative of gimbal rates and the second-order derivative of the rotor spinning velocity, instead of the gyroscope torques, are taken as input variables. Moreover, taking external disturbances into account, a feedback control law is designed for the system based on a method of nonlinear model predictive control （NMPC）. The attitude maneuver can be realized fast and smoothly by using the proposed controller in this paper.In this paper, an attitude maneuver control problem is investigated for a rigid spacecraft using an array of two variable speed control moment gyroscopes （VSCMGs） with gimbal axes skewed to each other. A mathematical model is constructed by taking the spacecraft and the gyroscopes together as an integrated system, with the coupling interaction between them considered. To overcome the singular issues of the VSCMGs due to the conventional torque-based method, the first-order derivative of gimbal rates and the second-order derivative of the rotor spinning velocity, instead of the gyroscope torques, are taken as input variables. Moreover, taking external disturbances into account, a feedback control law is designed for the system based on a method of nonlinear model predictive control （NMPC）. The attitude maneuver can be realized fast and smoothly by using the proposed controller in this paper.

关 键 词：integrated system variable speed control moment gyroscope （VSCMG） nonlinear model predictive control （NMPC） 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]