| 具有约束方程的SGCMGs奇异避免操纵律 |
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| 引用本文： | 张威泰,徐世杰.具有约束方程的SGCMGs奇异避免操纵律[J].清华大学学报(自然科学版),2008,48(11). |
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| 作者姓名： | 张威泰 徐世杰 |
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| 作者单位： | 北京航空航天大学,宇航学院,北京,100083 |
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| 摘 要： | 奇异问题是单框架控制力矩陀螺群(SGCMGs)在工程应用中遇到的最主要的障碍.为了解决这一问题,从空同几何的角度对SGCMGs的奇异产生机理进行了分析,并给出了一种新的SGCMGs系统奇异判定定理,与传统的微分几何方法相比形式更为简单和直观.在此判定定理基础上,引入一个带可交参数Kout和kin的约束方程.当系统接近奇异时,参数kin改变框架角空间,使得系统避免陷入奇异;而Kout的作用是保持系统最大角动量工作空间保持不变.与传统的带约束方程的SGCMGs奇异避免操纵律相比,带可交参数的约束方程使得系统在不损失角动量工作空同的同时,有效防止了框架角构型奇异的出现,为SGCMGs的奇异避免操纵律设计提供了新的方法.
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| 关 键 词： | 单框架控制力矩陀螺 奇异 操纵律 |
Singularity avoidance steering law for SGCMGs with a constrained function with changeable parameters |
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| ZHANG Weitai,XU Shijie.Singularity avoidance steering law for SGCMGs with a constrained function with changeable parameters[J].Journal of Tsinghua University(Science and Technology),2008,48(11). |
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| Authors: | ZHANG Weitai XU Shijie |
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| Institution: | ZHANG Weitai,XU Shijie(School of Aerospace,Beijing University of Aeronautics , Astronautics,Beijing 100083,China) |
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| Abstract: | Singularities are the main problem in single-gimbal control moment gyros(SGCMGs) in engineering systems.The singularity mechanism was analyzed geometrically using a constraint function with changeable parameters,Kout and kin,based on a singularity theorem which is simpler and more intuitive than the conventional differential geometry methods.When the system is close to singular,the singularity configuration is changed by changing kin to avoid the singularity,while Kout keeps the maximum system angular momen... |
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| Keywords: | single-gimbal control moment gyroscopes(SGCMGs) singularity steering law |
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