Determination Method of Angular Velocity Control Quantity of Control Moment Gyro Frame Based on Zero Motion
A technology for controlling torque gyroscope and speed control, which is applied in attitude control and other directions to achieve the effect of avoiding low-speed frame angle deviation from the nominal position and good configuration
Active Publication Date: 2016-06-01
BEIJING INST OF CONTROL ENG
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Therefore, when the satellite has external disturbances, or undergoes attitude maneuvers to cause the low-speed frame to move at a large angle, the angular position of the low-speed frame after the star's attitude is stabilized often remains at a new equilibrium position, and cannot return to the original designed nominal position.
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[0014] Such as figure 1 Shown, be the flow chart diagram of the inventive method, main steps are as follows:
[0015] (1) measure and obtain the real-time frame angle δ of the control moment gyroscope;
[0016] (2) Calculate the error between the measured value and the nominal value of the real-time frame angle of the control moment gyroscope,
[0017] Δδ=δ 0 -δ
[0018] where δ 0 is the nominal value of the real-time frame angle of the control moment gyroscope;
[0019] (3) Calculate the frame angular velocity command based on the zero motion back to the nominal position. The method is to use Δδ as the quality of evaluating the CMG configuration, and continuously reconfigure the frame without causing additional gyro torque during this period. This reconfiguration adjustment can be called idling, which can be solved by the following gyro torque calculation formula :
[0020] T c = H · ...
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Provided is method for determining the controlled quantity of the angular speed of a control moment gyro frame on the basis of zero movement. Aiming at the control problems of a control moment gyro group, the position of a current frame angle is measured firstly, the current frame angle is compared with a nominal frame angle to obtain deviation between the current frame angle and the nominal frame angle, and a low-speed frame instruction of a return nominal frame angle is designed according to the deviation. Then the control instruction of the obtained return nominal frame angle is projected to a null space where the control moment gyro frame moves. Finally, the controlled quantity of the angular speed of the control moment gyro frame is ultimately obtained by combining a traditional method for obtaining the angular speed instruction of a low-speed frame on the basis of a Jcobian matrix and a method of singular circumvention. According to the method for determining the controlled quantity of the angular speed of the control moment gyro frame on the basis of the zero movement, under the condition that astral postures are not influenced, a control moment gyro returns to a frame nominal position smoothly, the control moment gyro can maintain a good structure, and the method is quite suitable for a control system of a maneuvering satellite with external disturbance effects or with multiaxis high angles.
Description
technical field [0001] The invention belongs to the field of spacecraft guidance, navigation and control, and relates to a control method for controlling a moment gyroscope. Background technique [0002] Satellites with fast maneuvering requirements generally use a control moment gyro (CMG) group as an actuator to enable multi-axis rapid attitude maneuvering in roll and pitch axes. Since the number of control moment gyroscopes working in the actuator is usually more than three, there are infinitely many frame angular position solutions for the actuator under zero momentum. But under these frame angular positions, the resultant moment characteristics of CMG output are different. In order to achieve good torque output requirements including singularity avoidance, it is generally expected that the low-speed frame angle of the satellite should be kept near a given nominal value when the attitude is stable. [0003] The existing CMG control method at low speed lacks a control s...
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IPC IPC(8): G05D1/08
Inventor 雷拥军王淑一宗红李明群田科丰姚宁朱琦刘洁李晶心何海锋曹荣向
Owner BEIJING INST OF CONTROL ENG