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针对航天器的控制力矩陀螺群框架构型奇异以及传统奇异规避方法在规避时存在的框架“锁死”问题,本文提出一种基于指令力矩进行螺旋式搜索的控制力矩陀螺奇异规避方法.该方法在鲁棒奇异逆操纵律和零运动操纵律的基础上,引入随奇异度量值自主调节的旋转角和随时间连续变化的旋转轴,让期望力矩通过搜索寻找出逃离奇异状态的方向,来实现奇异规避.仿真结果表明该方法具有良好的奇异规避特性,并能够克服常规奇异规避方法存在的框架“锁死”情况.
In view of the singularity of the frame structure of the control moment gyro group of the spacecraft and the traditional “singularity avoidance method” of the spacecraft, the present paper presents a method of controlling the moment gyro singularity avoidance based on the command torque. Based on the robust singular inverse steering law and the zero-motion control law, this method introduces a rotation angle that varies independently with the magnitude of the singularity value and a rotation axis that changes continuously with time, so that the desired moment can be searched to find the direction of escape from the singularity. To realize the singularity avoidance.The simulation results show that this method has a good singularity avoidance property and can overcome the framework of “lock-in” existing in the conventional singular avoidance method.