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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Related citation:Yunhua Wu,Feng Han,Bing Hua,Zhiming Chen,Dafu Xu,Linlin Ge.Review:A Survey of Single Gimbal Control Moment Gyroscope for Agile Spacecraft Attitude Control[J].Journal of Harbin Institute Of Technology(New Series),2018,25(6):22-45.DOI:10.11916/j.issn.1005-9113.16225.
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Review:A Survey of Single Gimbal Control Moment Gyroscope for Agile Spacecraft Attitude Control
Author NameAffiliation
Yunhua Wu School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China 
Feng Han School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China 
Bing Hua School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China 
Zhiming Chen School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China 
Dafu Xu Aerospace System Engineering Shanghai, Shanghai 201108, China 
Linlin Ge School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China 
Abstract:
Agile attitude maneuver is a basic requirement for next generation imaging spacecraft and Control Moment Gyroscope (CMG) is an effective candidate for large space station and agile spacecraft attitude control because of its torque amplification capability. This paper provides a thorough survey of Single Gimbal Control Moment Gyroscope (SGCMG) in terms of configuration, evaluation, modeling, singularity analysis and steering logic,etc. For specific space missions, CMGs are logically mounted into different particular arrays which can be chosen by the proposed evaluation methods. From the dynamic model we find a tough inverse mapping problem which suffers the inherent geometric singularity. Different techniques and theories then are applied for singularity analysis and CMG steering logics design.The pyramid CMG cluster and singular robust logics are proven to be able to enhance the agility of spacecraft. Above work forms a systematic framework of SGCMG for agile spacecraft control with lots of illustrative examples, tables and figures, and will evoke further investigation for future missions.
Key words:  agile spacecraft  SGCMG  CMG configuration  singularity and steering logic
DOI:10.11916/j.issn.1005-9113.16225
Clc Number:V448.22
Fund:
Descriptions in Chinese:
  

综述:敏捷航天器姿态控制单框架控制力矩陀螺奇异分析

吴云华1,韩锋1,华冰1,陈志明1,徐大富2,葛林林1

(1. 南京航空航天大学 航天学院,南京 210016;

2. 上海宇航系统工程研究所,上海 201108)

创新点说明:

姿态敏捷机动是下一代成像卫星的基本要求之一,而控制力矩陀螺托因其强大的力矩输出/放大能力将是敏捷卫星和大型航天器姿态控制的有力的执行机构。本文从构型、评价方法、动力学建模、奇异分析和操纵律设计等方面对控制力矩陀螺进行调研和分析。对于特定的航天任务,可以通过控制力矩陀螺评价方法选取合适的构型;对于控制力矩陀螺应用,其难点在于系统矩阵奇异时的求逆问题;针对奇异和操纵问题,本文应用不同的技巧和理论进行了分析,发现金字塔构型的控制力矩陀螺系统和奇异鲁棒操纵律能够较好的符合航天器对敏捷性要求。本文通过丰富的图表和算例给出了较为系统的控制力矩陀螺综述,有助于控制力矩陀螺的进一步研究。

研究目的:

姿态敏捷机动是未来航天器基本要求之一,而控制力矩陀螺作为敏捷航天器的有效执行机构可输出较大力矩以保证任务的完成。因此,本文就当前国内外控制力陀螺与敏捷卫星控制的基本研究现状进行了调研,并指出了现有研究中存在不足。

研究方法:

本文为综述性文章,主要研究方法为文献调研和必要的数学仿真与验证。文献调研:调研了国内外有关控制力矩陀螺相关研究,并对文献从构型、建模方法、奇异分析和操纵律设计等进行了分类和概括总结;数学仿真:针对文献中的建模方法、分析手段和操纵策略,利用数值仿真的方法进行了验证,并将相关结果呈现在文章中。

结果:

总结了控制力矩陀螺构型、建模方法、奇异分析和操纵方法。1)构型:分析了不同的构型(冗余与非冗余)的内在联系和彼此的演化关系;通过评价手段对比了各个构型的静态特性;2)建模方法:总结了4种建模方法,发现不同的方法具有不同的适用性;3)奇异分析:从奇异显化、奇异状态求解、零运动和微分几何等不同的角度分析了奇异特性,作为操纵律设计的基础:4)操纵方法:分析了不同的操纵律,从设计、系统误差和奇异逃离能力进行对比和概括总结。

结论:

在当前的控制力矩陀螺研究中,以金字塔构型为代表的最小冗余机构得到了广泛的关注,并且以其为研究对象的奇异鲁棒算法可以有效地应对奇异问题。同时,一些新的理论的引入丰富了奇异分析和算法设计的手段,给出了新的奇异避免思路。针对当前研究中存在的不足,我们指出后续的研究应该建立构型评价体系,从而可真对不同的任务选择合适的构型;同时,采用混合/异构执行机构来研究奇异规避问题。

关键词:敏捷航天器,单框架控制力矩陀螺,控制力矩陀螺构型;奇异与操纵律

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