[1]王 璐,郭 毓,郭 健.一种变鲁棒系数的SGCMGs伪逆操纵律[J].南京理工大学学报(自然科学版),2016,40(01):102.
　Wang Lu,Guo Yu,Guo Jian.Variable robust coefficient based inverse steering law forsingle gimbaled control moment gyroscopes[J].Journal of Nanjing University of Science and Technology,2016,40(01):102.
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一种变鲁棒系数的SGCMGs伪逆操纵律
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《南京理工大学学报》（自然科学版）[ISSN:1005-9830/CN:32-1397/N]

卷:
40卷
期数:
2016年01期
页码:
102
栏目:
出版日期:
2016-02-29

文章信息/Info

Title:
Variable robust coefficient based inverse steering law forsingle gimbaled control moment gyroscopes
作者:
王 璐; 郭 毓; 郭 健
南京理工大学 自动化学院,江苏 南京 210094
Author(s):
Wang Lu; Guo Yu; Guo Jian
School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China
关键词:
单框架控制力矩陀螺群;  操纵律;  鲁棒系数;  奇异;  力矩误差;  挠性航天器;  姿态机动
Keywords:
single gimbaled control moment gyroscopes;  steering law;  robust coefficients;  singularity;  torque errors;  flexible spacecrafts;  attitude maneuver
分类号:
V448.2
摘要:
针对五棱锥单框架控制力矩陀螺群(Single gimbaled control moment gyroscopes,SGCMGs)中存在的奇异问题,建立五棱锥构型SGCMGs系统动力学模型,基于双曲正弦函数和分段函数设计鲁棒系数,改进鲁棒伪逆操纵律,使SGCMGs系统在处于奇异状态时,保证框架角速度不为零,从而逃离奇异; 在接近奇异状态时迅速避开奇异,在远离奇异状态时更精确地输出期望力矩。通过SGCMGs不同类型力矩输出和挠性航天器大角度姿态机动控制的仿真结果表明,所提SGCMGs操纵律既能够较好地规避奇异状态,又能在远离奇异时精确地输出期望力矩。
Abstract:
To avoid the singularity in the five-pyramid single gimbaled control moment gyroscopes system(SGCMGs),the dynamics of the five-pyramid configuration of SGCMGs are established.Based on the hyperbolic sine and piecewise function,robust coefficients are designed to improve the robust inverse steering law,which helps the SGCMGs get out of singularity with nonzero gimbaled angular velocity and avoid singularity rapidly and build more precise torque afterwards.The results of SGCMGs simulation with different torques and as the attitude maneuver of the flexible spacecraft show that the proposed steering law enables the SGCMGs to avoid singularity and build more precise torque later.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2015-09-13 修回日期:2015-11-03
基金项目:国家自然科学基金(61473152); 江苏省普通高校研究生创新计划资助项目(KYLX15_0399)
作者简介:王璐(1990-),男,博士生,主要研究方向:挠性航天器姿态控制,E-mail:timwang21@126.com; 通讯作者:郭毓(1964-),女,博士,教授,博士生导师,主要研究方向:挠性航天器姿态控制、高精度伺服系统、机器人控制技术等,E-mail:guoyu@njust.edu.cn。
引文格式:王璐,郭毓,郭健.一种变鲁棒系数的SGCMGs伪逆操纵律[J].南京理工大学学报,2016,40(1):102-109.
投稿网址:http://zrxuebao.njust.edu.cn
DOI:10.14177/j.cnki.32-1397n.2016.40.01.017
更新日期/Last Update: 2016-02-29