Rate damping control method and device in case of gyro saturation
By establishing the gyroscope matrix and dynamic equations, and using the Lyapunov function to define the damping matrix, the problem of angular velocity measurement errors caused by gyroscope saturation was solved, and effective damping control of spacecraft angular velocity was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING INST OF CONTROL ENG
- Filing Date
- 2025-04-22
- Publication Date
- 2026-07-14
AI Technical Summary
When the angular velocity of a spacecraft is too high, gyroscope saturation leads to angular velocity measurement errors, causing damping control to fail, and the angular velocity increases with increasing control.
By establishing a gyroscope matrix and utilizing the relationship between the gyroscope angular velocity and the control coordinate system, combined with the dynamic equations and Lyapunov functions, a damping matrix and velocity damping control law are defined to achieve rate damping control of the spacecraft.
Effectively reduce the angular velocity of the spacecraft, ensure the correctness and stability of damping control, and avoid increasing angular velocity deviation.
Smart Images
Figure CN120397302B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of spacecraft technology, and in particular to a rate damping control method and apparatus for gyroscope saturation. Background Technology
[0002] The rate damping control of a spacecraft is a control process that only controls the angular velocity, bringing the angular velocity to near zero.
[0003] Upon discovering that the spacecraft's angular velocity is too high, the first step is to reduce the spacecraft's angular velocity damping to near zero in order to re-establish its attitude towards the Sun or Earth. However, because the spacecraft is at a very high rotational angular velocity, the gyroscope measuring the angular velocity becomes saturated, typically only outputting a saturation value with correct polarity. If this value is directly used to calculate the spacecraft's three-axis angular velocity, the calculated angular velocity value will not be the true three-axis angular velocity, and may even contain polarity errors. Using this inaccurate angular velocity to dampen the spacecraft's angular velocity will cause the angular velocity to increase even further. Summary of the Invention
[0004] This invention provides a rate damping control method, device, electronic device, and storage medium for gyroscope saturation, which enables rate damping control under gyroscope saturation conditions.
[0005] In a first aspect, the present invention provides a rate damping control method for gyroscope saturation, comprising:
[0006] Choose any three gyroscopes in different directions and establish a gyroscope matrix based on the installation coordinates of the three gyroscopes;
[0007] Establish a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system based on the gyroscope matrix;
[0008] A second relationship between torque and gyroscope angular velocity is established based on the first relationship and the dynamic equation; wherein, the dynamic equation includes torque and angular velocity of the control coordinate system;
[0009] Based on the angular velocity, moment of inertia and gyroscope matrix of the gyroscope, a Lyapunov function representing the velocity is established. After differentiating the Lyapunov function, the velocity derivative expression is obtained by combining it with the second relationship.
[0010] Define the damping matrix, and establish the velocity damping control law between the damping matrix, the measured gyroscope angular velocity, and the torque;
[0011] Based on the velocity derivative expression and the velocity damping control law, a third relationship is established using the gyro angular velocity measurement value and the damping matrix to express the velocity derivative;
[0012] The damping matrix is determined based on the third relationship to make the velocity derivative non-positive.
[0013] One possible design also includes:
[0014] Based on the differences in the three-axis inertia of the spacecraft, an adjustment control law is obtained.
[0015] One possible design also includes:
[0016] The torque is adjusted according to the aircraft's maximum jet torque.
[0017] In one possible design, the first relationship is as follows:
[0018]
[0019] The second relationship is as follows:
[0020]
[0021] The third relationship is as follows:
[0022]
[0023] Where, ω B To control the angular velocity of the coordinate system, ω g The angular velocities of the three gyroscopes are given. Through the gyroscope matrix C g K was obtained. Damp J is the damping matrix. B H is the moment of inertia. B =J B ω B .
[0024] In one possible design, the Lyapunov function is as follows:
[0025]
[0026] The expression for the velocity derivative is:
[0027]
[0028] Where V is velocity, J g =D T J B D, J B Let T be the moment of inertia. B It represents torque.
[0029] In one possible design, the damping control law is as follows:
[0030] T B =-(D T ) -1 K Damp ω gm
[0031] K Damp =k Damp J BD
[0032] J BD Therefore, J B The diagonal matrix composed of the principal inertia elements, i.e.
[0033]
[0034] Among them, K Damp Here is the damping matrix.
[0035] In one possible design, the adjustment control law is as follows:
[0036]
[0037] T B =[T1 T2 T3] T
[0038]
[0039] α Tmax =max(α) T1 α T2 α T3 )
[0040]
[0041] Among them, T 1max T 2max T 3max These are the maximum jet torque.
[0042] Secondly, the present invention also provides a rate damping control device under gyroscope saturation conditions, for implementing any of the methods described above, the device comprising:
[0043] The first unit is used to select three gyroscopes in different directions and establish a gyroscope matrix based on the installation coordinates of the three gyroscopes;
[0044] The second unit is used to establish a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system based on the gyroscope matrix.
[0045] The third unit is used to establish a second relationship between the torque and the gyroscope angular velocity based on the first relationship and the dynamic equation; wherein the dynamic equation includes the torque and the angular velocity of the control coordinate system;
[0046] The fourth unit is used to establish a Lyapunov function representing the velocity based on the angular velocity, moment of inertia and gyroscope matrix of the gyroscope, and to obtain the velocity derivative expression by taking the derivative of the Lyapunov function and combining it with the second relationship.
[0047] The fifth unit is used to define the damping matrix and establish the velocity damping control law between the damping matrix, the measured gyroscope angular velocity, and the torque.
[0048] The sixth unit is used to establish a third relationship based on the velocity derivative expression and the velocity damping control law, using the gyro angular velocity measurement value and the damping matrix to express the velocity derivative;
[0049] The seventh unit is used to determine the damping matrix based on the third relationship so that the velocity derivative is non-positive.
[0050] Thirdly, embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of this specification.
[0051] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the methods described in any embodiment of this specification.
[0052] This invention provides a method, apparatus, electronic device, and storage medium for rate damping control under gyroscope saturation conditions. To address the problem that after gyroscope angular velocity saturation, the control angular velocity calculated from the saturation value has opposite polarity to the actual value, leading to a larger deviation with further adjustments, this application proposes a solution. Specifically, by replacing the representation of the control angular velocity with the gyroscope angular velocity, and using the gyroscope's angular velocity as the data basis for angular rate damping control, the correct polarity of the gyroscope angular velocity can be utilized. By controlling the torque in the correct direction, the spacecraft can be coarsely adjusted to reduce its angular velocity. Once the gyroscope angular velocity drops below the damping threshold, fine-tuning of both direction and magnitude can be achieved. Attached Figure Description
[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0054] Figure 1 This is a schematic diagram of the mounting orientation of a gyroscope according to an embodiment of the present invention;
[0055] Figure 2 This is a block diagram of a pseudo-rate modulator provided in an embodiment of the present invention;
[0056] Figure 3 This invention provides a three-axis true angular velocity of a spacecraft according to one embodiment;
[0057] Figure 4 This invention provides a method for measuring the true angular rate of a gyroscope axis according to an embodiment of the present invention.
[0058] Figure 5 This is a gyroscope measurement output value provided in one embodiment of the present invention;
[0059] Figure 6 This is a triaxial jet pulse width provided in one embodiment of the present invention. Detailed Implementation
[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0061] The following describes the specific implementation of the above concept.
[0062] This invention provides a rate damping control method under gyroscope saturation conditions, the method comprising:
[0063] Step 100: Select any three gyroscopes in different directions and establish a gyroscope matrix based on the installation coordinates of the three gyroscopes;
[0064] Step 102: Establish a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system based on the gyroscope matrix;
[0065] Step 104: Establish a second relationship between torque and gyroscope angular velocity based on the first relationship and the dynamic equation; wherein, the dynamic equation includes torque and angular velocity of the control coordinate system;
[0066] Step 106: Establish a Lyapunov function representing velocity based on the angular velocity, moment of inertia and gyroscope matrix of the gyroscope; differentiate the Lyapunov function and combine it with the second relationship to obtain the velocity derivative expression.
[0067] Step 108: Define the damping matrix and establish the velocity damping control law between the damping matrix, the measured gyroscope angular velocity, and the torque;
[0068] Step 110: Establish a third relationship based on the velocity derivative expression and the velocity damping control law, using the gyro angular velocity measurement value and the damping matrix to express the velocity derivative;
[0069] Step 112: Determine the damping matrix according to the third relationship so that the velocity derivative is non-positive.
[0070] To address the problem that after gyroscope angular velocity saturation, the control angular velocity calculated from the saturation value has opposite polarity to the actual value, leading to a larger deviation with each adjustment, this application proposes a solution. Specifically, by replacing the representation of the control angular velocity with the gyroscope angular velocity, and using the gyroscope's angular velocity as the data basis for angular rate damping control, the correct polarity of the gyroscope angular velocity can be utilized. By controlling the torque in the correct direction, the spacecraft can be coarsely adjusted to reduce its angular velocity. Once the gyroscope angular velocity drops below the damping threshold, fine-tuning of both direction and magnitude can be achieved.
[0071] The following describes how each step is executed.
[0072] First, regarding step 100, specifically, the spacecraft's control coordinate system is first defined, such as... Figure 1 As shown, assume that the spacecraft is equipped with n gyroscopes to measure the angular velocity of the spacecraft. Let the mounting matrix of the measurement axes of gyroscope i be c. i Within the control coordinate system, the mounting matrix of the gyroscope is a 3×n matrix.
[0073] C = [c1 c2 … c n-1 c n (1)
[0074] Angular velocity is calculated using the gyroscope output values. When calculating the spacecraft's angular velocity, three gyroscopes are selected, C... g A 3×3 gyroscope matrix is reconstructed based on the installation coordinates of the selected gyroscopes.
[0075] Regarding step 102, let's assume the angular velocities on the measurement axes of the three selected gyroscopes are ω. g1 ω g2 ω g3 The following first relation exists:
[0076]
[0077] The above formula can also be written as:
[0078]
[0079] in,
[0080] Note that the mounting axes of the three selected gyroscopes may not be orthogonal, therefore It doesn't necessarily have to be a unit array; it only applies when the mounting axes of the three selected gyroscopes are orthogonal. That's the unit array.
[0081] Specifically, for step 104, the spacecraft's dynamic equations can be written as:
[0082]
[0083] Substituting equation (4) into the equation, we get:
[0084]
[0085] Multiply the above expression by D on the left T The second relation can be obtained
[0086]
[0087] Where, ω B To control the angular velocity of the coordinate system, ω g The angular velocities of the three gyroscopes are given. Through the gyroscope matrix C g K was obtained. Damp J is the damping matrix. B H is the moment of inertia. B =J B ω B H B .
[0088] For step 106, take a Lyapunov function of the following form:
[0089]
[0090] J g =D T J B D (8)
[0091] because
[0092]
[0093] For C g It is reversible for any ω. g There is always a corresponding ω B And because J B It is positive definite, that is, for any non-zero ω g V is always greater than zero, so J g It is also positive.
[0094] Taking the derivative of the Lyapunov function above, we can obtain the expression for the velocity derivative.
[0095]
[0096] Regarding step 108, let the maximum measurement range of the gyroscope be a positive value ω. gmax Establish the velocity damping control law:
[0097] D T T B =-K Damp ω gm (12)
[0098] in
[0099]
[0100] ω gm =[ω gm1 ω gm2 ω gm3 ] T (14)
[0101]
[0102] For step 110, when using the controller configuration described above, a third relationship is established.
[0103]
[0104] Only in ω g =[0 0 0] T hour, According to the LaSalle invariant set principle, ω g →[0 0 0] T .
[0105] In one embodiment of the present invention, an adjustment control law is obtained based on the difference in the three-axis inertia of the spacecraft. Specifically, therefore, from equation (12), we can obtain...
[0106] TB =-(D T ) -1 K Damp ω gm (17)
[0107] Considering the differences in the three-axis inertia of the spacecraft, K can be... Damp Set as
[0108] K Damp =k Damp J BD
[0109] J BD Therefore, J B The diagonal matrix composed of the principal inertia elements, i.e.
[0110]
[0111] The final adjustment control law is as follows:
[0112] T B =-k Damp (D T ) -1 J BD ω gm (19)
[0113] Since the control law (19) can be applied to damped control at any angular velocity of the spacecraft, but this control command may exceed the control capability of the engine, the feedback gain k is designed below. Damp To adapt to the engine's control capabilities.
[0114] In some embodiments of the present invention, the torque is adjusted according to the maximum jet torque of the aircraft. Specifically, let the maximum jet torque be T. 1max T 2max T 3max Let T in equation (19) be... B Can be written as
[0115] T B =[T1 T2 T3] T (twenty one)
[0116] definition
[0117]
[0118] Where, α Tmax =max(α) T1 α T2 α T3 )
[0119]
[0120] Pick
[0121]
[0122] Then T can be guaranteed B The amplitude never exceeds the engine's jet control capability, and at the same time, due to the gain coefficient The value remains positive, ensuring the stability of the original control law. Equation (24) is a variation of equation (19) considering the maximum control capability of the engine. Since the two are consistent in form, the control law in equation (24) can also ensure the stability of the rate damping.
[0123] Equation (24) gives a continuous control command, while rate damping control requires the use of the engine's fixed thrust. Therefore, the continuous command needs to be modulated into a discrete pulse width. There are various command modulation methods. This invention uses the commonly used pseudo-rate modulation method for pulse width modulation, and its block diagram is as follows. Figure 2 As shown, the three-axis control commands T1, T2, and T3 are input to the pseudo-speed controller, h A h E K M T M T is the design parameter for the pseudo-rate controller. b This represents the maximum control torque that the engine on this shaft can provide. By adjusting the pseudo-rate controller, continuous commands can be modulated into discrete pulse widths, achieving approximately equivalent performance in system attitude control.
[0124] To more clearly illustrate the solution of this application, the following simulation implementation examples are provided.
[0125] Example
[0126] Suppose a spacecraft malfunctions in orbit, resulting in an extremely high rotational angular velocity that causes the gyroscope to saturate. The system parameters are shown in Table 1.
[0127] Table 1 System Simulation Parameters
[0128]
[0129] Six gyroscopes are installed, with their mounting axes spatially distributed on the side of a cone with a semi-cone angle of 54°44′08″. Figure 1 Gi (i = 1 to 6) represents the six gyroscope heads. The projection of G1 onto the YOZ plane coincides with the Z-axis. The projections of the six gyroscope mounting axes onto the YOZ plane are evenly distributed at 60° intervals. Therefore, the gyroscope mounting matrix is:
[0130]
[0131] In the simulation, only three gyroscopes are needed. Let's take the first three gyroscopes as the measurement gyroscopes to obtain the actual three-axis angular velocity changes of the spacecraft (refer to...). Figure 3 ), the change in the true angular rate of the gyroscope's measuring axis (refer to Figure 4 ), gyroscope measurement output value change (refer to Figure 5 Based on simulation, the torque is determined using the method of this application, and the jet pulse width of the three axes is adjusted according to the torque value (see reference). Figure 6 The angular velocity will be reduced to zero. In Table 2, the first column is the initial angular velocity of the spacecraft, the second column is the actual angular velocity on the gyroscope's measurement axis, the third column is the output value of the gyroscope under saturation limiting conditions, and the fourth column is the three-axis angular velocity of the spacecraft obtained by inverse solving the third column according to the scheme provided in this application. Although the inversely solved angular velocity is different from the actual angular velocity, the polarity is the same. With the correct polarity adjustment, after reducing each angular velocity to below the saturation velocity, precise damping adjustment can be achieved, and finally, the angular velocity can be zeroed.
[0132] Table 2 Simulation Initial Angular Velocity
[0133]
[0134] The computational load involved in this invention is not large, all required parameters can be obtained, the controller has a compact form and can be implemented in orbit.
[0135] This invention provides a rate damping control device for gyroscope saturation. The device can be implemented in software, hardware, or a combination of both. From a hardware perspective, a hardware architecture diagram of the electronic device housing the rate damping control device for gyroscope saturation provided in this invention includes, in addition to the processor, memory, network interface, and non-volatile memory, other hardware such as a forwarding chip for processing packets. Taking software implementation as an example, as a logical device, it is formed by the CPU of the electronic device reading the corresponding computer program from the non-volatile memory into memory and running it. The rate damping control device for gyroscope saturation provided in this embodiment includes:
[0136] The first unit is used to select three gyroscopes in different directions and establish a gyroscope matrix based on the installation coordinates of the three gyroscopes;
[0137] The second unit is used to establish a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system based on the gyroscope matrix.
[0138] The third unit is used to establish a second relationship between the torque and the gyroscope angular velocity based on the first relationship and the dynamic equation; wherein the dynamic equation includes the torque and the angular velocity of the control coordinate system;
[0139] The fourth unit is used to establish a Lyapunov function representing the velocity based on the angular velocity, moment of inertia and gyroscope matrix of the gyroscope, and to obtain the velocity derivative expression by taking the derivative of the Lyapunov function and combining it with the second relationship.
[0140] The fifth unit is used to define the damping matrix and establish the velocity damping control law between the damping matrix, the measured gyroscope angular velocity, and the torque.
[0141] The sixth unit is used to establish a third relationship based on the velocity derivative expression and the velocity damping control law, using the gyro angular velocity measurement value and the damping matrix to express the velocity derivative;
[0142] The seventh unit is used to determine the damping matrix based on the third relationship so that the velocity derivative is non-positive.
[0143] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a rate damping control device under gyro saturation conditions. In other embodiments of the present invention, a rate damping control device under gyro saturation conditions may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
[0144] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.
[0145] This invention also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a rate damping control method for gyroscope saturation under any embodiment of this invention.
[0146] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform a rate damping control method under gyroscope saturation conditions according to any embodiment of this invention.
[0147] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.
[0148] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.
[0149] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.
[0150] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.
[0151] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.
[0152] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0153] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.
[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A rate damping control method under gyroscope saturation conditions, characterized in that, include: Choose any three gyroscopes in different directions and establish a reversible gyroscope matrix based on the installation coordinates of the three gyroscopes; Establish a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system based on the gyroscope matrix; A second relationship between torque and gyroscope angular velocity is established based on the first relationship and the dynamic equation; wherein, the dynamic equation includes torque and angular velocity of the control coordinate system; Based on the angular velocity, moment of inertia and gyroscope matrix of the gyroscope, a Lyapunov function representing the velocity is established. After differentiating the Lyapunov function, the velocity derivative expression is obtained by combining it with the second relationship. Define the damping matrix, and establish the velocity damping control law between the damping matrix, the measured gyroscope angular velocity, and the torque; Based on the velocity derivative expression and the velocity damping control law, a third relationship is established using the gyro angular velocity measurement value and the damping matrix to express the velocity derivative; The damping matrix is determined based on the third relationship to make the velocity derivative non-positive. The first relationship is as follows: The second relationship is as follows: The third relationship is as follows: in, To control the angular velocity of the coordinate system, The angular velocities of the three gyroscopes are given. Through the gyroscope matrix get, Here is the damping matrix. For rotational inertia, = ; The Lyapunov function is as follows: The expression for the velocity derivative is: Where V is velocity, , For rotational inertia, It represents torque.
2. The method according to claim 1, characterized in that, Also includes: Based on the differences in the three-axis inertia of the spacecraft, an adjustment control law is obtained.
3. The method according to claim 1, characterized in that, Also includes: The torque is adjusted according to the aircraft's maximum jet torque.
4. The method according to claim 1, characterized in that, The damping control law is as follows: Therefore The diagonal matrix composed of the principal inertia elements, i.e. in, Here is the damping matrix.
5. The method according to claim 2, characterized in that, The adjustment control law is as follows: in, , , These are the maximum jet torque.
6. A rate damping control device for gyroscope saturation, characterized in that, The apparatus for implementing the method of any one of claims 1-5, comprising: The first unit is used to select three gyroscopes in different directions and establish a gyroscope matrix based on the installation coordinates of the three gyroscopes; The second unit is used to establish a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system based on the gyroscope matrix. The third unit is used to establish a second relationship between the torque and the gyroscope angular velocity based on the first relationship and the dynamic equation; wherein the dynamic equation includes the torque and the angular velocity of the control coordinate system; The fourth unit is used to establish a Lyapunov function representing the velocity based on the angular velocity, moment of inertia and gyroscope matrix of the gyroscope, and to obtain the velocity derivative expression by taking the derivative of the Lyapunov function and combining it with the second relationship. The fifth unit is used to define the damping matrix and establish the velocity damping control law between the damping matrix, the measured gyroscope angular velocity, and the torque. The sixth unit is used to establish a third relationship based on the velocity derivative expression and the velocity damping control law, using the gyro angular velocity measurement value and the damping matrix to express the velocity derivative; The seventh unit is used to determine the damping matrix based on the third relationship so that the velocity derivative is non-positive.
7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program, implements the method as described in any one of claims 1-5.
8. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of any one of claims 1-5.