中国空间科学技术

中国空间科学技术 ›› 2026, Vol. 46 ›› Issue (4): 129-138.doi: 10.16708/j.cnki.1000-758X.2026.0064

• 论文 • 上一篇    下一篇

金字塔构型轮系航天器的机动性能优化

陈上上1,2,*，刘潇翔1,2，雷拥军1,2，何英姿1，郝仁剑1,2   

  1. 1.北京控制工程研究所，北京100094
    2.空间智能控制技术全国重点实验室，北京100094
  • 收稿日期:2025-08-23 修回日期:2025-10-31 录用日期:2025-11-10 发布日期:2026-07-16 出版日期:2026-07-31

Agility performance optimization for spacecraft with reaction wheels in pyramid configuration

CHEN Shangshang1,2,*，LIU Xiaoxiang1,2，LEI Yongjun1,2，HE Yingzi1， HAO Renjian1,2   

  1. 1.Beijing Institute of Control Engineering, Beijing 100094, China
    2.National Key Laboratory of Space Intelligent Control, Beijing 100094, China
  • Received:2025-08-23 Revision received:2025-10-31 Accepted:2025-11-10 Online:2026-07-16 Published:2026-07-31

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摘要： 轮系航天器的机动性能主要由动量轮构型与分配律决定，复杂的分配律容易导致动量轮转速指令不连续等情况发生，从而引发可靠性问题，因此工程应用最为广泛的是伪逆分配律，然而目前伪逆分配律下的动量轮构型优化没有参考准则。为了解决这一问题，针对配置4个相同动量轮且金字塔构型的航天器，论证得到角速度与角加速度包络，提出一种动量轮构型优化的方案。首先把伪逆分配律转化为一个关于各轮角动量的线性代数约束条件，采用空间解析几何方法与线性系统理论，首次证明了伪逆分配律下角速度与角加速度包络均为八面体；接着证明了最优金字塔方位角为零度，把姿态路径参数设计问题转化为一个寻找直角三角形内的最大正方形问题，进而得到了解析形式的边长极值与对应的金字塔倾斜角；最后通过比较各个对称轴布局下的边长极值大小得到最优布局形式。仿真案例研究表明，经过安装角优化后角速度包络与角加速度包络比倾斜角54.74°的经典安装可增大27.2%，经过对称轴筛选后包络可增大71.9%。研究方法考虑了实际工程中应用最为广泛的动量轮构型与分配律形式，研究结果为航天器实际可用的最大机动性能问题分析提供了完整的理论依据，为机动过程目标姿态路径的最大角速度与最大角加速度参数设计提供了精确的参考标准，为动量轮构型优化提供了完善的设计步骤。

关键词: 机动性能, 伪逆分配律, 金字塔构型, 安装角优化

Abstract: The agility performance of spacecraft with reaction wheels is primarily determined by the wheel configuration and allocation law. Due to the fact that complex allocation laws can easily lead to issues such as discontinuous speed commands for the reaction wheels, which in turn cause reliability problems, the pseudo-inverse allocation is the most widely adopted method in engineering applications. However, there are currently no reference guidelines for optimizing the reaction wheel configuration under this allocation. To address this issue, this study focuses on spacecraft with four identical reaction wheels in a pyramid configuration. The angular velocity and angular acceleration envelopes were derived and a methodology for optimizing the reaction wheel configuration was proposed. Firstly, the pseudo-inverse allocation was transformed into a linear algebraic constraint related to the angular momentum of individual wheels. Using spatial analytic geometry and linear system theory, it was proved for the first time that both the angular velocity and angular acceleration envelopes under the pseudo-inverse allocation are octahedrons. Subsequently, it was demonstrated that the optimal azimuth angle of the pyramid is zero. Thus the problem of designing parameters for attitude path was reformulated as the geometric task of identifying the maximum-area square within a right-angled triangle. Consequently, an analytical solution for both the maximum edge length and the corresponding skew angle of the pyramid was derived. Ultimately, the optimal configuration was determined by comparing the maximum edge lengths under each symmetry-axis layout. Simulation case studies showed that configuration angle optimization achieved a 27.2% expansion in both angular velocity and angular acceleration envelopes compared with conventional 54.74° skew angle, while symmetry-axis screening added a further 71.9% enhancement. By considering the most widely adopted wheel configuration and allocation law, the proposed methodology establishes a comprehensive theoretical foundation for analyzing the agility performance of spacecraft, quantitative benchmarks for attitude planning, and systematic optimization procedures for reaction wheel configurations.

Key words: agility performance, pseudo-inverse allocation, pyramid configuration, configuration angle optimization