Cooperative game based kinetic momentum optimizing managing method of hybrid performing mechanism

Abstract

The invention discloses a cooperative game based kinetic momentum optimizing managing method of a hybrid performing mechanism. The method comprises the following steps: designing a strategy target L and a limiting condition f; designing a gate metric function H; defining the relationship among a strategy combination, CMG frame angular velocity and the RW rotating angular velocity; performing fuzzyclustering to obtain a strategy space of a CMGRW hybrid performing mechanism; selecting an initial value of the strategy combination; designing the variation value of the strategy combination; and correspondingly optimizing the strategy combination; if H (d gamma) is not greater than 0, obtaining a new strategy combination; if the strategy combination is converged, obtaining the optimal strategycombination, or re-selecting the initial value of the strategy, and optimizing. According to the method, the cooperative game theory is adopted for the first time to design CMG and RW based hybrid performing mechanism control rule, so that the problem of RW saturation and abnormality of CMG can be avoided; and moreover, high torque can be accurately output, so that the flexible agile capability ofsatellite attitude can be improved; in addition, the angular momentum is managed and optimized, so that the purpose of optimizing energy can be achieved; and meanwhile, the energy consumption of thehybrid performing mechanism system can be decreased.

Description

technical field [0001] The invention belongs to the technical field of satellite attitude control, and in particular relates to a cooperative game-based momentum optimization management method of a mixed actuator. Background technique [0002] With the continuous improvement of the complexity of space missions, the agile maneuvering of satellites and dynamic attitude tracking tasks have become the research hotspots of spacecraft attitude control. For example, the Pleiades high-resolution imaging satellite of France requires an angular velocity of 3 deg / s for its attitude maneuver; another example is the early warning satellite XSS-10 of the United States. The target performs high-precision attitude dynamic tracking. Obviously, agile maneuvering and attitude dynamic tracking have high requirements on the actuator. On the one hand, the actuator needs to output a large attitude control torque, and on the other hand, the torque output by the actuator is required to have high pr...

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Problems solved by technology

Wang Huanjie from Beijing University of Aeronautics and Astronautics designed a hybrid actuator control law based on CMG and RW based on the Gaussian pseudo-plain law, which solved the problem of CMG singularity, but it may cause frequent switching between RW and CMG

Geng Yunhai of Harbin Institute of Technology and others designed a torque distribution algorithm based on CMG and RW hybrid actuators, which can solve the problem of CMG singularity and dead zone, as well as the problem of RW saturation and zero crossing, but it has not realized the optimal management of RW and CMG. The energy consumption of the system is high

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