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Design method of double parallel configuration VSDGCMGs singularity avoidance steering law

A design method and control law technology, applied in the field of singular avoidance control law design of VSDGCMGs in two parallel configurations, can solve the problems of large frame angular rate fluctuations, large energy consumption, and inconvenient output of high-precision and high-efficiency torque

Active Publication Date: 2012-10-24
BEIHANG UNIV
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Problems solved by technology

The pseudo-inverse maneuvering law with zero motion will cause large fluctuations in frame angular velocity and large energy consumption during the singular avoidance process, which brings inconvenience to DGCMG's high-precision and high-efficiency torque output

Method used

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  • Design method of double parallel configuration VSDGCMGs singularity avoidance steering law
  • Design method of double parallel configuration VSDGCMGs singularity avoidance steering law
  • Design method of double parallel configuration VSDGCMGs singularity avoidance steering law

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Embodiment Construction

[0057] Variable speed double gimbal control moment gyroscope (VSDGCMG) is mainly composed of a variable speed flywheel rotor and an inner and outer frame supporting the flywheel rotor. Therefore, VSDGCMG includes a flywheel (Rotated wheel, RW) part and a control moment gyroscope (Control moment gyroscope, CMG) section. In order to facilitate the dynamic modeling of the VSDGCMGs system with two parallel configurations, the schematic diagram of its coordinate system is established as shown in figure 2 shown. whereOx b the y b z b is the spacecraft body coordinate system, are the axial unit vector of the outer frame, the axial unit vector of the inner frame and the axial unit vector of the rotor of the i-th VSDGCMG, is the unit vector in the direction of the output moment of the angular rate of the first VSDGCMG outer frame, is the unit vector in the direction of the second VSDGCMG outer frame angular rate output moment, is the unit vector in the direction of the firs...

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Abstract

The invention discloses a design method of double parallel configuration VSDGCMGs singularity avoidance steering law, which comprises the steps of: firstly creating a dynamical model of double parallel configuration VSDGCMGs, and then, analyzing the singularity states of the double parallel configuration VSDGCMGs, finally, creating a framework control target function based on a singularity measure function, creating a flywheel control target function based on rotating speed balance, and designing the double parallel configuration VSDGCMGs singularity avoidance steering law comprehensively considering the singularity avoidance, energy consumption and rotating speed balance. The design method disclosed by the invention can effectively guarantee the output moment precision of the double parallel configuration VSDGCMGs and lay the foundation for agile maneuver attitude control of spacecrafts.

Description

technical field [0001] The invention relates to a design method for the singularity avoidance maneuvering law of two parallel configuration VSDGCMGs, which can be used to effectively avoid the singularity of the two parallel configuration VSDGCMGs and improve the output torque accuracy of the two parallel configuration variable speed double frame control moment gyroscopes. Background technique [0002] Control moment gyroscope (CMG) is a kind of actuator used for attitude control of spacecraft. Its basic principle is to exchange angular momentum between the control moment gyroscope and the carrier by changing the direction of the gyro rotor rotating at high speed, so that Change the angular velocity and attitude of the carrier. Compared with traditional attitude control mechanisms such as jet thrusters and momentum wheels, the control moment gyroscope has significant advantages such as large control range, high precision, large output torque, and only needs electric energy t...

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Application Information

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IPC IPC(8): G05B13/04G05D1/08
Inventor 崔培玲何静娴房建成
Owner BEIHANG UNIV
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