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研究了以变速控制力矩陀螺(VSCMG)作为执行机构的航天器姿态跟踪问题.建立了以VSCMG为执行机构的航天器姿态动力学模型,引入一阶稳定的线性角速度滤波方程,同时,根据Lyapunov稳定性定理,设计了闭环系统的控制律.利用加权的最小范数解得到VSCMG的姿态控制输入矢量.提出了表征VSCMG构型的新奇异度量,在其基础上利用梯度法构建了VSCMG的零运动,以回避VSCMG的构型奇异,并使转子转速趋于期望值.以四陀螺金字塔构型为例进行仿真,仿真结果验证了该算法的可行性和有效性.
The attitude tracking of a spacecraft with VSCMG as actuator is studied. The attitude dynamics model of the spacecraft with VSCMG is established and a first-order linear linear velocity filter equation is introduced. At the same time, according to Lyapunov stability And the control law of closed-loop system is designed.The attitude control input vector of VSCMG is obtained by weighted minimum norm solution.The new singularity measure which characterizes the VSCMG configuration is proposed, and the zero motion of VSCMG is constructed by using gradient method So as to avoid the singularity of VSCMG and to make the rotor rotate at the expected value.The simulation of quadruple pyramid configuration is given as an example to verify the feasibility and effectiveness of the proposed algorithm.