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变速控制力矩陀螺(VSCMG)是一种飞轮转速可变的单框架控制力矩陀螺,可工作在控制力矩陀螺(CMG)模式、飞轮(RW)模式以及VSCMG模式.考虑VSCMG的工作特点,设计一种工作模式自主调度的操纵律.当系统远离奇异时,仅以CMG模式工作,产生大的输出力矩.当系统接近奇异时,以VSCMG模式工作,采用RW协助CMG回避奇异.当航天器处于姿态稳定模式需要精细控制力矩时,仅以RW模式工作.该操纵律由模式调度策略、CMG操纵律、RW操纵律3部分组成,把一个3×2N矩阵的求伪逆问题转化为两个3×N矩阵的求伪逆问题,物理意义明显,奇异回避易于实现.对某4-VSCMG系统的仿真结果表明,上述操纵律是可行的.
Variable Speed Control Moment Gyro (VSCMG) is a single-frame controllable moment gyro with variable flywheel rotational speed, which can work in CMG mode, flywheel (RW) mode and VSCMG mode. Considering the working characteristics of VSCMG, When the system is far away from singularity, only CMG mode work, resulting in large output torque.When the system is close to singularity, work in VSCMG mode, the use of RW to help CMG avoid singularity.When the spacecraft is in a stable state Mode requires fine control of torque and only works in RW mode, which consists of 3 parts: model scheduling strategy, CMG manipulating law and RW manipulating law, and the pseudo inverse problem of a 3 × 2N matrix is transformed into two 3 × N The pseudo inverse problem of matrix has obvious physical meaning and singularity avoidance is easy to implement.The simulation results of a 4-VSCMG system show that the above steering law is feasible.