A Frame Angular Velocity Determination Method for sgcmg

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 instability of the singular state system and the loss of attitude maneuverability of satellites, and achieve high-performance attitude control. Effect

Active Publication Date: 2020-09-18
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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  • A Frame Angular Velocity Determination Method for sgcmg
  • A Frame Angular Velocity Determination Method for sgcmg
  • A Frame Angular Velocity Determination Method for sgcmg

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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 under ...

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Abstract

A method for determining the frame angular velocity of a SGCMG, comprising the steps of: 1) determining the nominal frame angle vectors of n SGCMG configurations according to the configurations and synthetic angular momentums of n SGCMGs; 2) determining according to the frame angle of each SGCMG The Jacob of the frame angle motion equation and the deviation of the frame angle from the nominal; 3) According to the Jacob and the deviation of the frame angle determined in step 2), the SGCMG frame angular velocity command is determined. The method of the present invention considers the frame angle deviation from the nominal distance, the frame angle command amplitude and the torque output deviation, has the ability to avoid the singularity during the attitude maneuver and return to the nominal position of the frame after the maneuver, and reconcile the singularity avoidance and the attitude control moment of the CMG frame The contradiction between them can ensure the realization of high-performance maneuvering along any attitude.

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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Patent Type & Authority Patents(China)
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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