Integrated control of attitude maneuver and vibration suppression of flexible spacecraft based on magnetically suspended control moment gyros

摘要

This paper adopts magnetically suspended control moment gyro (MSCMG) to realize the integration of attitude control and wideband micro-vibration suppression of spacecraft without adding extra hardware resources. The coupling between central rigid body and flexible attachment has been effectively retained in the controller design. First, an open-loop modal observer is constructed in advantage of the inherent physical characteristics of flexible modes, and then an adaptive backstepping controller involving flexible modal estimation, spacecraft attitude quaternion, and angular velocity is designed. Next, the band-pass filters are employed to separate the low-frequency gimbal command angular rate signal and medium–high-frequency rotor command angular rate signal, respectively, so that MSCMG can accurately track the command signal output by the integrated controller. Taking advantage of MSCMG’s ability to output high bandwidth micro-gimbal moment, the proposed method can not only meet the requirement of spacecraft rapid maneuver but also effectively suppress the broadband micro-vibration, including low-frequency flexible vibration and medium–high-frequency micro-vibration caused by spacecraft rotating parts. Numerical simulations and frequency domain analysis demonstrate the correctness and effectiveness of the proposed method.