中国空间科学技术

中国空间科学技术 ›› 2022, Vol. 42 ›› Issue (5): 154-165.doi: 10.16708/j.cnki.1000-758X.2022.0077

• 论文 • 上一篇    

力矩输出能力最优化混合执行机构操纵律设计

倪瑞，华冰，张宏，吴云华，陈志明   

  1. 南京航空航天大学 航天学院，南京211000
  • 出版日期:2022-09-09 发布日期:2022-09-09

Steering law design for hybrid actuator based on optimal output torque capability

NI Rui,HUA Bing,ZHANG Hong,WU Yunhua,CHEN Zhiming    

  1. School of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211000,China
  • Published:2022-09-09 Online:2022-09-09

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摘要： 当航天器执行高动态敏捷机动或者姿态动态跟踪控制等任务时，常使用控制力矩陀螺（control moment gyroscope，简称CMG）和飞轮（reaction wheel，简称RW）构成的混合执行机构来提供大力矩。提出了基于力矩输出能力最优化的混合执行机构操纵律，从几何角度出发，给出了力矩输出能力最优的CMG框架角速度和RW角加速度，通过引入参数，并讨论参数的设置的最优，使得框架转速误差和输出力矩误差的混合二次型达到最小，保证了混合执行机构在输出力矩误差最小的情况下，力矩输出能力最优。以金字塔构型的CMG集群和正交的RW集群构成的混合执行机构为例，对基于力矩输出能力最优化的混合执行机构操纵律进行合理化分析，证明了引入参数的作用，并且证明了混合执行机构不存在CMG奇异情况。仿真结果表明，基于力矩输出能力最优化的混合执行机构操纵律解决了CMG奇异的问题并使得RW不陷入饱和，输出力矩误差较小，输出力矩能力强，能够应用于航天器大角度机动任务。

关键词: 控制力矩陀螺（CMG）, 飞轮（RW）, 力矩输出能力最优化, 操纵律, 混合二次型

Abstract: When spacecraft perform high dynamic agile maneuver or attitude dynamic tracking control tasks,the hybrid actuator composed of control moment gyroscope (CMG) and reaction wheel (RW) was often used to provide control torque.A control law of hybrid actuator based on the optimization of torque output capability was proposed.From the geometric point of view,the angular velocity and RW angular acceleration of CMG frame with the optimal torque output capability were given.By introducing the parameter,the mixed quadratic form of frame speed error and output torque error was minimized,and the output torque error of the hybrid actuator was minimized under the condition of optimal torque output capacity.Taking the hybrid actuator composed of pyramidal CMG cluster and orthogonal RW cluster as an example,the control law of hybrid actuator based on the optimization of torque output capacity was rationalized,the effect of introducing parameter was proved,and it was proved that there was no CMG singularity in hybrid actuator.The simulation results show that the hybrid actuator control law based on the optimization of torque output capability solves the problem of CMG singularity and makes RW not fall into saturation,and the output torque error is small.

Key words: control moment gyroscopes(CMG), reaction wheel(RW), optimal output torque capability, steering laws, mixed quadratic form