OUTPUT CHARACTERISTIC ANALYSIS OF SINGLE GIMBAL CONTROL MOMENT GYROSCOPE1)
Huang Zhilai*,?, Li Xinyuan*, Jin Dongping,*,2)*State Key Laboratory of Mechanics and Control of Mechanical Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China ?School of Mechanical Engineering, Anhui University of Technology, Ma'anshan 243002, Anhui, China
Abstract The single-gimbal control moment gyroscope (SCMG), which is widely used in aerospace field, has the advantage of torque amplification effect. It is based on the principle of torque amplification with some hypotheses. In this paper, the output characteristics of SCMG are analyzed without those hypotheses. By considering the motion of the mounting base, the output torque model of SCMG with a two-dimensional input and three-dimensional output is obtained, in which the adjustable and nonadjustable parts are identified. In order to analyze the output characteristics of SCMG, two parameters are defined. One is the ratio of the norms about the SCMG's output to input torque vectors. The other is the ratio of the norm about the SCMG's used and unused torque vector, which is to represent the utilization ratio of the SCMG's output torque. In all feasible regions, the results show that the characteristic parameters of torque output are is not always greater than 1, i.e., SCMG does not always has torque amplification effect and efficient torque utilization, which are closely related to the state of SCMG. Finally, for the spacecraft attitude maneuver task with two SCMGs, the simulation of non-diagonal singular robust control and optimal control is completed. It is found that the control effect is closely related to the output characteristic parameters which are determined by the system state. At the same time, the optimal control with a SCMG is used to realize the three-dimensional attitude maneuver of a spacecraft based on the three-dimensional output characteristics of SCMG. The simulation results show that the SCMG always has the torque amplification effect and the efficient torque utilization in the process of optimal control. Keywords:spacecraft;control moment gyroscope;output characteristics;torque amplification effect;utilization of torque
PDF (1452KB)元数据多维度评价相关文章导出EndNote|Ris|Bibtex收藏本文 本文引用格式 黄志来, 李新圆, 金栋平. 单框架控制力矩陀螺输出特性分析1). 力学学报[J], 2021, 53(2): 511-523 DOI:10.6052/0459-1879-20-306 Huang Zhilai, Li Xinyuan, Jin Dongping. OUTPUT CHARACTERISTIC ANALYSIS OF SINGLE GIMBAL CONTROL MOMENT GYROSCOPE1). Chinese Journal of Theoretical and Applied Mechanics[J], 2021, 53(2): 511-523 DOI:10.6052/0459-1879-20-306
引言
傅科(Foucault)于1852年首次提出"陀螺"概念[1], 可利用陀螺的力学特性设计执行器, 称之为控制力矩陀螺(control moment gyroscope, CMG). 半个世纪以来, CMG广泛用于航天器姿态控制[2], 并随着航天器控制任务的多样化[3-4], 从姿态控制逐渐延伸到能量存储[5]、振动抑制[6]等领域.
CMG有两种机械结构, 单框架(SCMG)[7]和双框架(double-gimbal control moment gyro, DCMG)[8]. 飞轮可调速时, CMG演化成变速控制力矩陀螺(variable-speed control moment gyro, VCMG), 按其机械结构分类, 有单框架变速控制力矩陀螺(single-gimbal variable-speed control moment gyro, SVCMG)[9]和双框架变速控制力矩陀螺(double-gimbal variable-speed control moment gyro, DVCMG)[10-11]. 相比于DCMG, SCMG机械结构简单, 但存在奇异性问题, 而前者机械结构和控制算法更加复杂, 两者同属于多体系统, 本文仅关注航天领域应用最广的SCMG.
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