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针对惯性系下引力梯度力矩及其他干扰力矩引起控制力矩陀螺(CMG)角动量积累的问题,采用引力梯度力矩来平衡姿态,设计了基于极点配置的空间站角动量管理控制器。首先在惯性系下建立了空间站线性化模型,并分析了俯仰轴方向在惯性系角动量管理的不可行性。由此,将俯仰轴与滚动/偏航轴解耦,不约束俯仰轴方向的CMG角动量,将常值、1倍和2倍于轨道频率的扰动纳入状态方程以抑制其对俯仰轴姿态的影响。在滚动/偏航轴方向将常值扰动纳入状态方程中以抑制其对CMG角动量的影响;将1倍、2倍于轨道频率的扰动纳入到状态方程中以抑制其对姿态的影响。然后采用带极点配置的线性二次型(LQR)算法求解出反馈增益矩阵,该算法可以避免选取权重矩阵,并且根据系统性能要求即能将闭环极点配置到复平面虚轴左侧指定的区域。最后仿真结果验证了该算法的可行性。
Aiming at the problem of angular momentum accumulation of control moment gyroscope (CMG) due to gravitational gradient moments and other disturbing moments in inertial system, the gravitational gradient moment is used to balance the attitude and the space station angular momentum management controller based on pole assignment is designed. Firstly, the space station linearization model is established under the inertial system, and the unfeasibility of the pitch axis in inertial angular momentum management is analyzed. As a result, the pitch axis is decoupled from the roll / yaw axis and the CMG angular momentum in the direction of the pitch axis is not constrained. The perturbations of constant, 1, and 2 times the orbital frequency are included in the equation of state to suppress the angular momentum influences. In the roll / yaw axis direction, the disturbance of constant value is included in the equation of state to suppress its influence on the angular momentum of CMG. The perturbations of 1 times and 2 times of the orbital frequency are included in the equation of state to suppress its influence on attitude. Then, a linear gain quadratic (LQR) algorithm with pole configuration is used to solve the feedback gain matrix. This algorithm can avoid selecting the weight matrix and can arrange the closed-loop poles to the designated area to the left of the complex plane virtual axis according to the system performance requirements. The final simulation results verify the feasibility of the algorithm.