Cooperative game theory-based steering law design of a CMG system  

作　　者：HUA Bing NI Rui ZHENG Mohong WU Yunhua CHEN Zhiming 

机构地区：[1]School of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210000,China

出　　处：《Journal of Systems Engineering and Electronics》2023年第1期185-196,共12页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China (61973153)。

摘　　要：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.

关 键 词：control moment gyroscopes(CMG) cooperative game theory steering laws 

分 类 号：TJ765.3[兵器科学与技术—武器系统与运用工程]