Research On Attitude Maneuver Control Of Agile Satellite Using Control Moment Gyroscope

With the widely used of high-precision optical remote sensing and observationsatellites in the areas of scientific research, commerce and military, flexible imagingmodel, strong maneuverability and agility, high precision and stability of attitudecontrol ability are required. Traditional angular momentum exchange actuators (such asflywheel) and jet thruste which can not produce continuous torque output precisely aredifficult to meet these requirements, and complex control algorithm is also unfavorableto the quickness of attitude maneuver. Single gimbal control moment gyroscope hasbecame an ideal actuator of agile satellite due to its simple and reliable physicalstructure, great torque amplification ability, but its inherent singularity caused someimpact on its application.Therefore, this thesis investigated attitude maneuver control ofagile satellite using control moment gyroscope in depth, the main contents are asfollows:Firstly, in order to facilitate the follow-up research and design, basic principle,common configuration of control moment gyroscope are detailed,and also itsmathematical models are established. Then, coordinate systems are defined,characteristic and conversion relation of Euler angle description and quaterniondescription are summed up. Both kinematic and dynamic models of rigid satellite usingcontrol moment gyroscope are established.Secondly, based on the analysis of control moment gyroscope singularitymechanism, singular type in both physical and mathematical sense detailedly, choice ofthe configurations are made by compare the configuration indicators of typicalconfigurations.In the paper, steering laws are analyzed and designed based on pyramidconfiguration, and five pyramid configuration is used to compele the simulation ofattitude control algorithm. For these two configurations, visualization of singularsurface(especially ellipse singularity) are achieved minutely on the basis of numericalmethod. Based on the optimal theory, a new thought of design are proposed and thenobtained a novel steering law with general form, variety of practical steering laws areachieved from the transformation of the general form, which bring great convenience tohybrid of different steering laws in actual engineering.Finally, a novel norm is defined for the purpose of facilitating describe the angularvelocity and angular acceleration constraints during agile satellite attitude maneuveringalong the different vector. Based on this novel norm and optimal control theory, a newquasi-time-optimal control algorithm is designed and the cascade-saturation PID controlalgorithm is improved without considering the disturbance. Both of these two control algorithms have many advantages such as simple structure, explicit physical meaning,parameter can be adjusted conveniently. The reliability and validity for the proposedalgorithms are verified by multiple sets of simulation using the same uniformbackground in Maltlab/Simulink environment.