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Control moment gyro singularity avoidance method based on instruction moment vector adjustment

A technology for controlling moment gyro and singularity avoidance, applied in attitude control, adaptive control, general control system, etc.

Active Publication Date: 2016-03-09
BEIJING INST OF CONTROL ENG
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  • Claims
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Problems solved by technology

In the above-mentioned existing improved methods, in order to achieve singularity avoidance and minimize the disturbance of star attitude at the same time, it is necessary to select the multi-parameter simulation trial and error method in the algorithm, so for the traditional framework singularity avoidance frame locking and It is generally difficult to take into account the problems of singularity avoidance and small spacecraft attitude disturbance at the same time in follow-up research and improvement methods

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  • Control moment gyro singularity avoidance method based on instruction moment vector adjustment
  • Control moment gyro singularity avoidance method based on instruction moment vector adjustment
  • Control moment gyro singularity avoidance method based on instruction moment vector adjustment

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Embodiment 1

[0058] Embodiment 1: Using angular momentum H cmg0 = 25Nms 6 control moment gyroscopes form a pentagonal pyramid configuration actuator configuration system to perform +45° / -45° (rolling / pitching) dual-axis joint maneuvering from zero attitude. In order to make the control moment gyro group configuration more likely to approach the singular state, only five control moment gyros are used to participate in the attitude maneuver control of the spacecraft, and the frame angle of the control moment gyroscope 1 is locked at 0° and does not participate in the control. A control torque gyro singularity avoidance method based on command torque vector regulation is specifically implemented as follows:

[0059] Setting parameters: k tmpυ = 2, D s3 =0.7, υ Limt =0.7,D s1 =0.5,D s2 = 2.0, C 1 =0.18, C 2 =0.1, α s10 = 0, α s20 = 0.5.

[0060] The following steps are the implementation process in a control cycle when the method of the present invention is applied:

[0061] 1) Acqu...

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Abstract

A control moment gyro singularity avoidance method based on instruction moment vector adjustment comprises the steps of first acquiring a frame angular vector of control moment gyros, then calculating a Jacobian matrix, a singularity metric value and an instruction moment vector adjustment coefficient of a control moment gyro motion equation, next obtaining a control moment instruction adjustment vector and a zero motion singularity avoidance strength coefficient based on a control moment instruction given by an attitude controller, and finally obtaining a control moment gyro frame angular velocity instruction vector based on the control moment instruction adjustment vector and the zero motion singularity avoidance strength coefficient so as to control the moment gyro frame angular velocity. The invention overcomes the situation in which a moment instruction coincides with a particular direction thereof when a frame is "locked", thereby making separation impossible; solves the problem of a "locked" frame angle during singularity avoidance in the prior art; and achieves effective avoidance of the control moment gyro singularity.

Description

technical field [0001] The invention relates to the field of attitude determination and control of spacecraft, in particular to a method for avoiding singularity of a control moment gyro based on command moment vector adjustment. Background technique [0002] Agile spacecraft with attitude and fast maneuvering requirements generally use control moment gyroscopes as actuators. Due to the strong attitude maneuverability of the satellite, when the frame of the control moment gyro group moves to a certain configuration, it will approach and be in the singular state of the frame, which will cause the actuator to fail to output the three-axis control torque of the spacecraft as expected. In order to avoid the singularity problem of controlling the motion of the moment gyroscope frame, the existing technical methods are the zero-motion singularity avoidance method and the robust singularity avoidance method proposed for the singularity problem. Among them, the zero-motion singulari...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05B13/02
CPCB64G1/244G05B13/021
Inventor 雷拥军姚宁刘洁赵江涛朱琦何海锋李晶心曹荣向
Owner BEIJING INST OF CONTROL ENG
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