摘要
单框架控制力矩陀螺 (SGCMG)是应用在航天器上的一类惯性执行机构 .在航天器的姿态控制中 ,通常采用三个或以上的SGCMG ,以满足三轴控制的要求 .但是 ,当多个SGCMG协调工作时 ,系统会出现奇异现象 ,并极大地降低了SGCMG系统的操纵性能 .为回避SGCMG系统的奇异 ,本文提出了一种新的奇异回避条件 ,并通过对非线性规划中当前Kuhn Tucker乘子值的估计 ,得到了冗余SGCMG系统闭合形式的非奇异路径 ,而不需繁杂的数值求解 .正是由于这些新的手段 ,使得本文提出的算法不仅具有良好的奇异回避性能 ,而且形式简单 ,易于实现 .对金字塔构形的 4 SGCMG系统的仿真结果表明 ,上述算法是可行的 .
Single Gimbal Control Moment Gyroscopes(SGCMGs) are torque producing devices which are internal to a spacecraft and operate based on principles of momentum exchange. Normally, three or more SGCMGs are used in the spacecraft in order to realize 3 axis control. However, the research and design of the steering law do suffer from a serious drawback——singularity, which exists in SGCMG systems and can affect the control performance to a great extent. In order to avoid system singularities, a new singularity avoidance condition is presented. Thereafter, a closed form nonsingular path is obtained in redundant SGCMG systems through the estimation of the Kuhn Tucker multipliers, without sophisticated numerical calculations. This innovation makes the algorithm presented here not only have good performance in singularity avoidance, but also have a simple form and can be implemented easily. Simulation results of the pyramid type 4 SGCMG system indicate that the algorithm stated above is feasible.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
1999年第1期21-26,共6页
Control Theory & Applications
基金
国家自然科学基金
航天工业总公司预研课题资助项目
