Attitude stabilization and power compensation control for spacecraft with VSCMGs
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摘要: 基于变速控制力矩陀螺群动力学模型建立其复合控制方程和分系统解耦约束方程,用矩阵投影方法同步设计得到航天器姿态与能量一体控制复合操纵律,利用Lyapunov方法分析了转子轴向惯量误差对姿态控制分系统的影响.根据飞轮转子轴向惯量与功率输出之间的误差关系设计出功率控制补偿器.复合操纵律中的力矩和功率两解形式相同,约束方程使得姿态与能量控制两分系统解耦,便于进行考虑执行机构特性的闭环控制系统性能分析.考虑飞轮转子轴向惯量误差时,姿态控制分系统的输出耗散特性使其能够保持稳定,而功率控制分系统输出误差与转子轴向惯量误差成比例关系,经过补偿后功率输出能满足控制要求.
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关键词:
- 航天器姿态控制 /
- 变速控制力矩陀螺群 /
- Lyapunov方法 /
- 功率补偿
Abstract: Based on dynamics model of variable speed control moment gyroscopes (VSCMGs), the mixed control equation plus subsystems- decoupling constraint equation were established. The attitude and energy mixed control steering law was developed synchronously via matrix projection method. Influence of flywheel rotor's moment of inertia error on attitude control subsystem was analyzed by using Lyapunov method. A power control compensator was proposed according to the error relationship between rotor's axial moment of inertia and power output. Torque and power solutions in the mixed steering law possess same forms, while the constraint equation makes the attitude and energy control subsystems decoupled. Performance analysis of closed-loop system considering actuator's characteristic becomes more convenient. Attitude control subsystem with the rotor's inertia error can maintain its stability due to the system's output dissipative property, while output error of energy control subsystem is proportional to the rotor's inertia error. The power output after being compensated can satisfy the control requirement. -
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