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Design method of novel CMG control law with feedforward compensation

A feedforward compensation and design method technology, applied in space navigation equipment, space navigation equipment, space navigation aircraft, etc., can solve problems such as inability to achieve tracking, and achieve the effect of improving capability

Active Publication Date: 2021-02-05
BEIJING INST OF CONTROL ENG
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  • Description
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is: when the CMG tracks its frame angular velocity command, if the angular velocity of the star is relatively large, the angular velocity of the star will be generated on the CMG frame axis When the gyro torque is greater than the driving torque applied to the CMG and reverses, tracking cannot be achieved, that is, the CMG stall phenomenon is found

Method used

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  • Design method of novel CMG control law with feedforward compensation
  • Design method of novel CMG control law with feedforward compensation
  • Design method of novel CMG control law with feedforward compensation

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Embodiment

[0053] A novel CMG manipulation law design method with feed-forward compensation, including the following steps:

[0054]S1. In each control cycle, the GNC calculates the frame angular velocity command of the CMG group according to the following formula

[0055]

[0056] In the formula, T cmgc is the calculated attitude control moment, h 0 is the nominal angular momentum of CMG, δ=(δ 1 ,δ 2 ,…,δ n ) T is the frame angle of the CMG group, C(δ) is a 3×n matrix, which is the trigonometric function of the frame angle, and the expression is as follows:

[0057]

[0058] In the formula, both A and B are 3×n matrices, and the i-th column corresponds to the orientation of the i-th CMG frame angle of 90 degrees and 0 degrees in the spacecraft system.

[0059] S2. In each control cycle, GNC calculates the gyro torque generated by the angular velocity of the star on the frame axis of each CMG according to the following formula

[0060]

[0061] where g i is the frame a...

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Abstract

The invention discloses a design method of a novel CMG control law with feedforward compensation, which belongs to the field of spacecraft control. A spacecraft GNC module not only calculates the frame angular velocity instruction of each CMG in each control period, but also calculates the gyroscopic moment applied to each CMG frame axis due to the influence of the star angular velocity, and the two parts are simultaneously provided for a CMG single machine for determining the control law. Compared with the prior art, the method provided by the invention has the advantages that feedforward compensation is carried out on the CMG single machine by utilizing the information of the gyroscopic moment, so that the constraint on the star angular velocity is relaxed, and the problem of CMG stall occurring when the star angular velocity is relatively high is solved.

Description

technical field [0001] The invention relates to a novel CMG manipulation law design method with feedforward compensation, which belongs to the field of spacecraft control. Background technique [0002] Due to the large output torque of CMG, large-scale combined spacecraft such as space stations usually use CMG as an executive component for long-term operation. The existing CMG maneuvering law design method is: according to the expected three-axis output torque of the CMG group, the frame angular velocity command of each CMG is inversely solved, and then each CMG tracks its own frame angular velocity command. Contents of the invention [0003] The technical problem to be solved by the present invention is: when the CMG tracks its frame angular velocity command, if the angular velocity of the star is relatively large, causing the gyro torque generated by the angular velocity of the star on the CMG frame axis to be greater than the driving torque applied to the CMG and revers...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G1/10
CPCB64G1/105
Inventor 李公军张军张锦江罗谷清张志方刘成瑞林瀚峥张国琪刘文静张一
Owner BEIJING INST OF CONTROL ENG
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