A Fast Singular Avoidance Planning Method for Spacecraft Control Moment Gyro

A technology for controlling torque gyroscopes and torque gyroscopes, applied in attitude control, control/regulation systems, non-electric variable control, etc., can solve the problem of not using the saturation characteristics of control torque gyroscopes, small angular momentum of control torque gyroscopes, and low singularity avoidance efficiency, etc. problems, to achieve the effect of improving safety and accuracy, improving safety, improving speed and efficiency

Active Publication Date: 2021-09-03
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, this method does not take advantage of the saturation characteristics of the control moment gyroscope, the angular momentum of the control moment gyroscope is always kept small, and the efficiency of singularity avoidance is low

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  • A Fast Singular Avoidance Planning Method for Spacecraft Control Moment Gyro
  • A Fast Singular Avoidance Planning Method for Spacecraft Control Moment Gyro
  • A Fast Singular Avoidance Planning Method for Spacecraft Control Moment Gyro

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Embodiment Construction

[0054] In order to better illustrate the purpose and advantages of the present invention, the content of the invention will be further described below in conjunction with the accompanying drawings and examples.

[0055] In order to verify the feasibility of the method, the control moment gyroscope is set to a pentagonal pyramid configuration, and the initial frame angle of the control moment gyroscope is [0.39, 2.06, 2.16, 2.70, 1.73, 0.22] T .

[0056] like figure 1 As shown, the fast singular avoidance planning method of the spacecraft control moment gyroscope disclosed in this embodiment includes the following steps:

[0057] Step 1: Calculate the saturation singularity of the current control torque gyro according to the command torque of the current control system.

[0058] According to the command torque u of the current control system, calculate the saturation singularity δ of the current control torque gyroscope b .

[0059] The expression of the angular momentum H ...

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Abstract

The invention discloses a rapid singularity avoidance planning method for a spacecraft control moment gyroscope, which belongs to the field of spacecraft attitude planning and control moment gyroscope control. According to the command torque of the current control system, the saturation singularity of the current control torque gyroscope is calculated, and the zero motion guidance direction of the control torque gyroscope is calculated by the saturation state, so that the control torque gyroscope can maintain a large angular momentum, and the zero motion of the control torque gyroscope is considered at the same time. Movement direction, consider the zero movement direction of singular avoidance, calculate the total direction of zero movement of the control torque gyro, design the size of the zero movement of the control torque gyro, and then approach the singular state of the control torque gyro, the value of the zero movement becomes larger, and the control torque gyro is obtained. By combining the zero motion equation and the pseudo-inverse manipulation law, the singular avoidance manipulation law of the control moment gyroscope is obtained, so as to realize the rapid singular avoidance planning of the spacecraft control moment gyro. The invention has the advantages of high efficiency, high speed, strong safety and high accuracy.

Description

technical field [0001] The invention relates to a fast singular avoidance planning method for controlling a moment gyro of a spacecraft, which is suitable for controlling the maneuvering law of a moment gyroscope, and belongs to the fields of spacecraft attitude planning and controlling a moment gyroscope. Background technique [0002] As the demand for space exploration increases, the space tasks that need to be completed by spacecraft become more and more difficult. These tasks usually require the spacecraft to have large-angle attitude maneuverability, so higher requirements are put forward for the attitude actuator. The control moment gyroscope has a good torque amplification function, and is often used as an actuator for large-angle attitude maneuvers of spacecraft. Taking the control moment gyroscope as the actuator of the spacecraft, it is necessary to develop the control moment gyro planning algorithm and design the control moment gyro control law in advance. If th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0833
Inventor 徐瑞王卓崔平远朱圣英梁子璇李朝玉
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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