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Method for determining gimbal angular velocity of SGCMGs

A technology for determining the method and frame angle, which is applied in the directions of space navigation equipment, space navigation aircraft, space navigation equipment, etc. It can solve the problems of singular state system instability, loss of attitude maneuverability of satellites, etc., and achieve high-performance attitude control. Effect

Active Publication Date: 2020-01-24
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0004] The technical problem of the present invention is: to overcome the deficiencies of the prior art, a method for determining the frame angular velocity of SGCMG is proposed, which solves the problem that the system cannot achieve singular avoidance and escape in the control through the commonly used frame reconfiguration strategy, and the frame after attitude maneuvering The risk of system instability when the configuration is approaching or trapped in a singular state makes the satellite lose its attitude maneuvering ability

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  • Method for determining gimbal angular velocity of SGCMGs
  • Method for determining gimbal angular velocity of SGCMGs
  • Method for determining gimbal angular velocity of SGCMGs

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Embodiment 1

[0045] Embodiment 1: For the satellite of the CMG group that 3 high-precision star sensors, 6 high-precision gyroscopes, and 6 pentagons are installed, record each CMG label as CMG1, CMG2, CMG3, CMG4, CMG5, CMG6. A multi-objective optimization control law of SGCMG system, according to figure 1 The method flow chart, the specific implementation is as follows:

[0046] 1) All CMGs work normally during the initial operation of the satellite, and the nominal frame angle δ is selected for this combination CMG0 =[88.03; -92.32; -92.41; 60.740591; -116.144; -145.265], so that under this configuration, the three-axis synthetic angular momentum H is zero, the singularity JD = 7.299, and the torque output capability of CMG in each direction is equivalent.

[0047] 2) When the satellite runs to 2000 seconds, CMG1, CMG2, and CMG5 fail, and the rest of the CMGs work normally. In this combination, select the nominal frame angle δ CMG0 =[0; 0; 242.2276997; 297.7723; 0; 270], so that in thi...

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Abstract

Disclosed is a method for determining the gimbal angular velocity of SGCMGs. The method includes the steps of firstly, determining a nominal gimbal angular vector of the configurations of the n SGCMGsaccording to the configurations and synthesis angular momentum of the n SGCMGs; secondly, determining the Jacob of a gimbal angular motion equation and the deviation of each gimbal angle deviating from nominal according to the gimbal angle of each SGCMG; and thirdly, determining a gimbal angular velocity instruction of the SGCMGs according to the Jacob determined in the step 2) and the deviation,determined in the step 2), of each gimbal angle deviating from nominal. By considering the distance of each gimbal angle deviating from nominal, the gimbal angular instruction amplitude and moment output deviation, the method has the abilities of singularity avoidance in attitude maneuvering and gimbal nominal position returning after maneuvering, the contradiction between the CMG gimbal singularity avoidance and the attitude control moment is resolved, and the high maneuvering performance at the arbitrary attitude can be ensured.

Description

technical field [0001] The invention discloses a frame angular velocity determination method of SGCMG, relates to the field of spacecraft attitude control, and is suitable for high-stability attitude control using control moment gyroscope CMG group. Background technique [0002] In order to realize the multi-axis rapid attitude maneuvering requirements of the whole satellite, the satellite generally adopts the control moment gyroscope CMG group and its corresponding control algorithm. The technical means widely used by satellites are: using control moment gyroscopes to control the satellite attitude. The specific steps are to firstly calculate the Jacobian matrix, singularity and singularity avoidance vector according to the frame angle measured in real time by the CMG, then calculate the singularity avoidance parameters according to the singularity, and finally calculate the angular velocity commands of each CMG frame according to the Jacobian matrix and expected torque , ...

Claims

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Application Information

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IPC IPC(8): B64G1/28B64G1/24
CPCB64G1/286B64G1/24B64G1/245B64G1/369Y02T90/00
Inventor 袁利雷拥军刘洁张科备田科丰姚宁
Owner BEIJING INST OF CONTROL ENG
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