北京航空航天大学学报 ›› 2004, Vol. 30 ›› Issue (06): 489-492.

• 论文 •    下一篇

考虑框架伺服特性时SGCMG系统操纵律设计

吴忠1, 丑武胜2   

  1. 1. 北京航空航天大学 宇航学院, 北京 100083;
    2. 北京航空航天大学 机械工程及自动化学院, 北京 100083
  • 收稿日期:2003-01-09 出版日期:2004-06-30 发布日期:2010-09-21
  • 作者简介:吴 忠(1970-),男,山东梁山人,副教授, wuzhong@buaa.edu.cn.
  • 基金资助:

    国家高技术研究发展计划(863计划)资助项目(2002AA741103)

Steering law design for SGCMGs taking gimbal servo characteristics into account

Wu Zhong1, Chou Wusheng2   

  1. 1. School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2003-01-09 Online:2004-06-30 Published:2010-09-21

摘要: 在单框架控制力矩陀螺(SGCMG)系统操纵律的设计中,通常假定框架伺服系统具有理想的伺服跟踪性能.然而,框架伺服系统有限的带宽和实际存在的各种扰动力矩都会使其跟踪性能下降.为抑制SGCMG框架伺服特性对操纵性能的影响,设计了一种新型操纵律.该操纵律综合考虑了SGCMG系统运动学和动力学特性,可以根据航天器姿态控制给出的角动量(或力矩)指令,直接计算出每个SGCMG框架驱动系统所需的控制力矩.由于操纵律没有算法奇异,在SGCMG系统不出现运动奇异的情况下,可使操纵误差指数收敛至零.同时,操纵律形式简单,易于实现.应用在航天器上的某4-SGCMG系统的仿真结果表明,上述操纵律是可行的.

Abstract: Gimbal servo systems of single gimbal control moment gyroscopes (SGCMGs) are often assumed to have ideal tracking performance during the steering law design. The tracking performance can be decreased due to the finite bandwidth and various disturbances of gimbal servo systems. In order to attenuate the effect of gimbal servo systems on steering performance, a new steering law was presented. This steering law was designed not only based on kinematics, but also dynamics of SGCMGs, and could calculate the control torque for each SGCMG gimbal directly according to the momentum (or torque) command. Since it has no arithmetic singularity, steering error can be made converge to zero exponentially when system singularities do not appear. Comparatively, it has a simple form and is easy to be realized. Simulation results of a certain 4-SGCMG system indicate that the algorithm stated above is feasible.

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