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基于变速控制力矩陀螺群动力学模型建立其复合控制方程和分系统解耦约束方程,用矩阵投影方法同步设计得到航天器姿态与能量一体控制复合操纵律,利用Lyapunov方法分析了转子轴向惯量误差对姿态控制分系统的影响.根据飞轮转子轴向惯量与功率输出之间的误差关系设计出功率控制补偿器.复合操纵律中的力矩和功率两解形式相同,约束方程使得姿态与能量控制两分系统解耦,便于进行考虑执行机构特性的闭环控制系统性能分析.考虑飞轮转子轴向惯量误差时,姿态控制分系统的输出耗散特性使其能够保持稳定,而功率控制分系统输出误差与转子轴向惯量误差成比例关系,经过补偿后功率输出能满足控制要求.
The composite control equations and the decoupled constrained equations of the subsystems are established based on the dynamics model of variable speed control moment gyroscope. The composite manipulative law of spacecraft attitude and energy is controlled synchronously by the matrix projection method. The Lyapunov method is used to analyze the rotor axial inertia error On the attitude control subsystem.According to the error relationship between the axial inertia and the power output of the flywheel rotor, the power control compensator is designed.The torque and power solutions in the composite steering law are the same, the constraint equation makes the attitude and energy control two The decoupling of subsystems makes it easy to analyze the performance of a closed-loop control system considering the characteristics of actuators.When the axial inertia error of flywheel rotor is taken into account, the output dissipation characteristics of attitude control subsystems make it able to maintain stability, while the power control subsystems output error and Rotor axial inertia error proportional to the power output after compensation to meet the control requirements.