Steering law singularity avoidant spacecraft attitude control system

Abstract

The invention relates to a steering-law singularity avoiding aircraft attitude control system, comprising an attitude task managing unit, an attitude controller, an attitude measuring unit, a gyro group steering-law unit, a frame angle position measuring unit, a control moment gyro group and an aircraft. The gyro group steering-law unit calculates the frame angle rate of the control moment gyro group by cooperating control moment gyro angle momentum table, zero motion algorithm and pseudoinverse steering-law algorithm, and adopts the angle rate value as the set signal of the control moment gyro group to improve the control precision of the aircraft attitude. The steering-law singularity avoiding aircraft attitude control system introduces the steering-law design method that chooses frame angle rate and the initial value of frame angle position based on look-up table, realizes accurate moment output of the control moment gyro group, avoids the singularity problem produced in the process of calculating frame angle rate of the control moment gyro group by the pseudoinverse steering-law algorithm as well as avoids the deadlock problem caused by the control moment gyro steering law when adopting zero motion algorithm and robust pseudoinverse steering-law iterative computations.

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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