MANIPULATION METHOD SUITABLE FOR NON-REDUNDANT SGCMG GROUP

摘要

A manipulation method suitable for a non-redundant SGCMG group. The method comprises the steps: 1) determining, according to configurations and synthetic angular momentums of n SGCMGs, nominal frame angle vectors of the configurations of n SGCMGs, wherein n ≥ 3; 2) determining, according to a frame angle of each SGCMG, Jacob of a motion equation of the frame angle and the deviation of the frame angle from a nominal value; and 3) determining, according to the Jacob and the deviation of the frame angle from the nominal value that are determined in step 2), a frame angular velocity instruction of the SGCMG. According to the method of the present invention, the distance that a frame angle is deviated from the nominal value, a frame angle instruction amplitude value, and a torque output deviation are taken into consideration, such that the capability of avoiding singularities in attitude maneuvering and returning to a frame nominal position after maneuvering is achieved, the contradiction between singularity avoidance and an attitude control torque of a CMG frame is resolved, and the realization of high performance of maneuvering along any attitude can be ensured.