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反作用飞轮在卫星姿态控制中具有重要作用,配置3个以上飞轮的卫星构成一类过驱动系统,能够提高姿态控制系统的可靠性。针对期望控制力矩到冗余飞轮的指令分配问题,提出了一种基于伪逆法的动态控制分配方法,并针对传统伪逆法难以考虑飞轮最大力矩等物理约束问题,采用零空间方法对传统伪逆法给出的分配结果进行了修正。基于稳定控制模式下姿态变化平稳性假设,在分配问题中增加飞轮输出力矩的最大变化量约束,能够有效抑制姿态控制中敏感器噪声影响,剔除敏感器野值,提高了卫星姿态控制精度。最后对本文提出的修正伪逆法及降低敏感器噪声和野值剔除效果等进行了数学仿真验证,结果表明了上述方法的可行性和有效性。
The reaction flywheel plays an important role in satellite attitude control. Configuring satellites with more than three flywheels constitutes an overdrive system, which can improve the reliability of the attitude control system. Aiming at the problem of command distribution from expected control moment to redundant flywheel, a dynamic control assignment method based on pseudo-inverse method is proposed. In view of the difficulty of considering the physical constraints such as the maximum moment of flywheel in traditional pseudo-inverse method, The result of the distribution given by the inverse method is amended. Based on the assumption of stationary change of attitude in stable control mode, the maximum variation of flywheel output torque is restrained in the assignment problem, which can effectively suppress the influence of sensor noise in attitude control, eliminate the sensor outliers and improve the satellite attitude control accuracy. Finally, we verify the pseudo-inverse method proposed in this paper and reduce the noise and wild-field rejection of the sensor. The results show the feasibility and effectiveness of the above method.