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设计了一种平行构型双框架磁悬浮变速控制力矩陀螺(VSDGCMG)操纵律。建立了VSDGCMG动力学模型,提出奇异测度函数,由框架控制目标函数获得框架角速率指令,内转子控制目标函数获得内转子角加速度指令,设计了避开VSDGCMG奇异构型的操纵律。仿真结果验证了两VSDGCMS采用该操纵律能有效跟踪姿态控制指令力矩。
A parallel configuration dual frame maglev speed control gyroscope (VSDGCMG) steering law was designed. The dynamics model of VSDGCMG is established. The singularity measure function is proposed. The frame angular rate command is obtained from the control objective function of the frame. The inner rotor control objective function is used to obtain the inner rotor angular acceleration command. The manipulative law to avoid the VSDGCMG singularity is designed. The simulation results verify that the VSDGCMS can effectively track the attitude control command torque by using this steering law.