基于非线性观测器的控制力矩陀螺操纵律设计

吴忠; 魏孔明

基于非线性观测器的控制力矩陀螺操纵律设计

吴忠,
魏孔明

北京航空航天大学仪器科学与光电工程学院, 北京 100083

基金项目: 航天科技创新基金资助项目

详细信息

中图分类号: V 448.22
计量
- 文章访问数: 2920
- HTML全文浏览量: 75
- PDF下载量: 962
- 被引次数: 0
出版历程
- 收稿日期: 2006-04-30
- 网络出版日期: 2006-11-30

Observer-based steering law design for control moment gyroscopes

School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 为改善操纵性能,将单框架控制力矩陀螺(SGCMG)操纵律设计问题转化为非线性系统的状态观测问题,并基于状态观测理论,导出了一种新型的SGCMG操纵律.通过适当的参数选择,SGCMG操纵律可使操纵误差在理论上渐近收敛至零;不用计算Jacobi阵的伪逆,而代之以Jacobi阵的转置,从而避免了由Jacobi阵求伪逆带来的一系列问题.同时,该操纵律形式简单,计算量小,易于实现.对应用在航天器上的某SGCMG系统的仿真结果表明,上述操纵律是可行的.
- 控制力矩陀螺 /
- 操纵律 /
- 状态观测器 /
- 航天器 /
- 姿态控制
Abstract: Usually, the pseudo inverse of the Jacobian matrix needs to be calculated in the conventional steering laws for single gimbal control moment gyroscopes (SGCMG). However, the steering law does not work when the Jacobian matrix is singular and its pseudo inverse is indefinite. Therefore, the problem of the steering law design for SGCMG is transformed into the state observation of a certain nonlinear system and a new steering law is derived. This algorithm can deal with the singular conditions because it uses the transpose instead of the pseudo inverse of the Jacobian matrix. Theoretical analysis indicates that this algorithm can make the steering error converge to zero asymptotically through the proper choice of the parameters. Compared with the other steering laws, this algorithm has advantages on simple form, little calculation burden, and easy implementation. Finally, the simulation analysis is conducted for a certain SGCMG system mountedon a rigid spacecraft. Simulation results demonstrate that the steering law presented above is feasible.
- control moment gyroscopes /
- steering law /
- state observer /
- spacecraft /
- attitude control

HTML全文

参考文献(1)

[1] 吴忠, 吴宏鑫. 单框架控制力矩陀螺系统操纵律研究综述[J]. 宇航学报, 2000, 21(4):140-145 Wu Zhong, Wu Hongxin. Survey on steering laws for single gimbal control moment gyroscope systems[J]. Journal of Astronautics, 2000, 21(4):140-145(in Chinese) [2] Paradiso J A. Global steering of single gimballed control moment gyroscopes using a directed search[J]. Journal of Guidance, Control and Dynamics, 1992, 15(5):1236-1244 [3] Vadali S R, Oh H-S, Walker S R. Prefered gimbal angles for single gimbal control moment gyros[J]. Journal of Guidance, Control and Dynamics, 1990, 13(6):1090-1095 [4] Ford K A, Hall C D. Singular direction avoidance steering for control-moment gyros[J]. Journal of Guidance, Control, and Dynamics, 2000, 23(4):648-656 [5] Wie B, Bailey D, Heiberg C. Singularity robust steering logic for redundant single-gimbal control moment gyros[J]. Journal of Guidance, Control and Dynamics, 2001, 24(5):865-872 [6] Wie B. Singularity escape/avoidance steering logic for control moment gyro systems[J]. Journal of Guidance, Control and Dynamics, 2005, 28(5):948-956 [7] Tekinalp O, Yavuzoglu E. A new steering law for redundant control moment gyroscope clusters[J]. Aerospace Science and Technology, 2005, 9(4):626-634 [8] Krishnan S, Vadali S R. An inverse-free technique for attitude control of spacecraft using CMGs[J]. Acta Astronautica, 1996, 39(6):431-438 [9] 吴忠. 单框架控制力矩陀螺动态操纵律设计[J]. 宇航学报, 2005, 26(1):24-28 Wu Zhong. Dynamic steering law design for redundant single gimbal control moment gyroscopes [J]. Journal of Astronautics, 2005, 26(1):24-28(in Chinese) [10] Kou S R, Elliott D L, Tarn T J. Exponential observers for nonlinear dynamic systems[J]. Information and Control, 1975, 29:393-42 [11] 吴忠, 吴宏鑫. SGCMG系统非奇异路径规划[J]. 控制理论与应用, 1999,16(1):21-26 Wu Zhong, Wu Hongxin. Nonsingular path planning in single gimbal control moment gyroscope systems[J]. Control Theory and Applications, 1999, 16(1):21-26(in Chinese)

施引文献

资源附件(0)

访问统计