Singularity avoidance in redundant single gimbal control moment gyroscope systems
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摘要: 为满足航天器姿态三轴控制的要求,通常在姿态控制系统中采用3个或以上的单框架控制力矩陀螺(SGCMG).当多个SGCMG协调工作时,系统会出现奇异现象.在研究SGCMG系统的运动奇异机理及零运动的基础上,提出了一种判别奇异状态可回避性的新方法.该方法把对奇异状态可回避性的判别转化为对一组非线性常微分方程的定性研究.以某4-SGCMG系统为例,验证了上述方法的可行性.Abstract: Single gimbal control moment gyroscope (SGCMG) is one kind of inertial actuators applied to the spacecrafts. Three or more SGCMGs are used in order to meet the need of the 3-axis attitude control. Singularity often arises when several SGCMGs work coordinately. A new detecting method of avoidability of singular states was proposed which was suitable for SGCMG systems. This approach can transform the problem of detecting avoidability/unavoidability to qualitative study on a set of nonlinear ordinary differential equations. Several examples indicate that the method presented above is feasible.
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Key words:
- singularity /
- attitude control /
- control moment gyroscopes
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