Fault Modeling, Estimation, and Fault-Tolerant Steering Logic Design for Single-Gimbal Control Moment Gyro

摘要

This brief addresses the single-gimbal control moment gyro (SGCMG) fault modeling, estimation, and tolerant-control steering logic design problem, aiming at enhancing the reliability and safety of spacecraft attitude control systems. The SGCMG is modeled as a two-loop system, including a wheel speed control loop and a gimbal rate control loop. Each loop contains an electrical motor (EM) and its corresponding variable speed drive (VSD), which may suffer from faults. By analyzing and modeling potential faults of the EM-VSD system, the SGCMG fault model is further developed. Then, a local adaptive fault estimator is proposed to reconstruct the total time-varying fault effects of each SGCMG. It is proven that the gimbal angle estimation error and fault estimation error converge to small compact sets containing zero. Moreover, leveraging estimated fault effects, a fault-tolerant steering logic is further developed to allocate the commanded attitude control torque properly such that the gimbal rate constraints are satisfied, and fault effects are compensated. To verify the proposed fault estimator and fault-tolerant steering logic, numerical simulations are carried out on an SGCMG-actuated spacecraft.