SGCMG系统非奇异路径规划

Nonsigular Path Planning Single Gimbal Control Moment Gyroscope Systems

中文关键词  控制力矩陀螺  路径规划  执行机构  奇异  冗余

英文关键词  control moment gyroscopes  path planning  actuators  singularity  redundancy

中文摘要

      单框架控制力矩陀螺（SGCMG）是应用在航天器上的一类惯性执行机构，在航天器的姿态控制中，通常采用三个或以上的SGCMG,以满足三轴控制的要求，但是，当多个SGCMG协调工作时，系统会出现奇异现象，并极大地降低了SGCMG系统的操纵性能，为回避SGCMG系统的奇异，本文提出了一种新的起义回避条件，并通过对非线性规划中当前Kuhn-Tucker乘子值的估计，得到了冗余SCGMG系统闭合形式的非奇异路径，而不需要繁杂的数值求解，正是由于这些新手段，使得本文提出的算法不仅具有良好的奇异回避性能，而且形式简单，易于实现。对于金字塔构形4-SGCMC系统的仿真结果表明，上述算法是可行的。

英文摘要

      Single Gimbal Control Moment Gyroscopes(SGCMGs) are torque producing devices which are internal to a spacecraft and operate based on perinciples of momentum exchange.Nomally,three or more SCGMGs are used in the spacecraft in order to realize 3-axis control.However,the research ans design of the steering law do suffer from a serious drawback--sigularity,which exists in SGCMG systems and can affect the control performance to a great extent.In order to avoid system sigularity,which exists in SGCMG systemd though the estimation of the Kuhn-Tucker multiplies,without sophisticated numerical calculations.This innovation makes the algorithm presented here not only have good performance in singularity avoidance,but also have a simple from and can be implemented easily.Simulation results of the pyramid-type 4-SGCMG system indicate that the algorithm stated above is feasible.