Steering law singularity avoidant spacecraft attitude control system

Abstract

A spacecraft attitude control system for maneuvering law singularity avoidance, comprising an attitude task management unit, an attitude controller, an attitude measuring unit, a gyro group maneuvering law unit, a frame angle position measuring unit, a control moment gyro group and a spacecraft. The gyro group maneuvering law unit calculates the frame angular rate of the control moment gyro group through the control moment gyro angular momentum table, zero motion algorithm and pseudo-inverse maneuvering law algorithm, and uses the angular rate value as the given signal of the control moment gyro group, In order to improve the control accuracy of spacecraft attitude. The present invention introduces a steering law design method based on the look-up table method to select the frame angular rate and the initial value of the frame angular position, realizes the precise torque output of the control moment gyroscope group, and avoids the pseudo-inverse maneuvering law calculation method to obtain the control moment gyroscope frame angular rate The singularity problem generated in the process avoids the "deadlock" problem that occurs when the zero-motion algorithm and the robust pseudo-inverse steering law are iteratively calculated.

Description

technical field [0001] The invention relates to a spacecraft attitude control system, in particular to a spacecraft attitude control system capable of judging whether the control moment gyroscope enters a singularity zone and avoiding the singularity. Background technique [0002] The actuators of the spacecraft attitude control system mainly include three categories: (1) thrusters; (2) flywheel actuators: including reaction wheels, (bias) momentum moment wheels, frame momentum moment wheels, and control moment gyroscopes; (3) ) Environmental torque actuator. The control moment gyroscope has become a key actuator necessary for attitude control of large spacecraft such as space stations because of its ability to output large torque. The single-frame control moment gyroscope is also the best choice for high-agility small satellite attitude actuators because of its torque amplification and good dynamic performance. [0003] The single-frame control moment gyroscope is compose...

AI Technical Summary

Problems solved by technology

That is to say, this algorithm sacrifices the output accuracy of the control torque gyro group torque in exchange for singularity avoidance, and this steering law algorithm cannot produce the frame angular rate required for non-zero torque along the singular direction. In addition, the "frame dead "lock" phenomenon is also very serious

Therefore, the current control law design methods for these three types of control moment gyroscopes cannot meet the high-precision requirements for attitude control of highly agile spacecraft.

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