采用变速控制力矩陀螺的航天器姿态跟踪研究

摘要

研究了以变速控制力矩陀螺（VSCMG）作为执行机构的航天器姿态跟踪问题．建立了以VSCMG为执行机构的航天器姿态动力学模型，引入一阶稳定的线性角速度滤波方程，同时，根据Lyapunov稳定性定理，设计了闭环系统的控制律．利用加权的最小范数解得到VSCMG的姿态控制输入矢量．提出了表征VSCMG构型的新奇异度量，在其基础上利用梯度法构建了VSCMG的零运动，以回避VSCMG的构型奇异，并使转子转速趋于期望值．以四陀螺金字塔构型为例进行仿真，仿真结果验证了该算法的可行性和有效性．%The attitude tracking problem of spacecraft using VSCMG （Variable Speed Control Moment Gyros） as actuators is studied. The attitude dynamic model of spacecraft with VSCMG attached is built, and an angular velocity filter state governed through the stable liner differential equation is introduced. Based on the Lyapunov stability theory, the adaptive control law is designed. In order to determine the attitude control vector of the VSCMG, a weighted minimum norm solution is applied. A new singularity measurement is constructed which describes the configuration singularity. The null motion of the VSCMG, is designed using the gradient method based on the singularity measurement, and is employed to avoid the singularity, as well as to make the rotary speed of rotors to tend to their expected values. In the end, the VSCMG with four-pyramid configuration is applied in the simulation, and the simulation results validate the feasibility and efficiency of the VSCMG systems on the spacecraft attitude tracking.