Research On SGCMG Path Planning And Control Based On Differential Flatness Theory

Single gimbal control momentum gyroscopes is the preferred facility for rapid maneuvering of agile satellite due to its ability of highly torque output and lightweight mechanical structure.This paper aim at the study of satellite attitude control equipped with SGCMG.The no singular attitude path of SGCMG is designed based on the differential flatness theory aimed at singularity and saturaty phenomenon.Using MRP parameter with less singularity and no redundant constraint as the attitude describe parameter,and based on the MRP parameter establish the dynamic and kinematics model.The satellite attitude control system's flatness properties is analyzed,and the differential flatness property of the system is extended by adding an additional constraints.And all quantities in the attitude control system are mapped to flat output space.Parameterize the flat output by describing the flat output with a Bezier curve,and map the flat output to the polynomial coefficient space;Solving the SGCMG path using the nonlinear programming algorithm.Improves the solution efficiency for solving the optimal control problem,which is suitable for onboard control.The two type of error of MRP parameter is studied based on variable structure closed-loop controller.Based on the difference MRP parameters,the sliding mode tracking control algorithm is designed without considering the physical meaning of the attitude control model.From the numerical point of view,the algorithm design is relatively simple,and the control algorithm has high tracking accuracy and robustness.Based on the error MRP,the attitude error dynamics model is established,and the sliding mode variable structure tracking control algorithm is designed based on this.The algorithm design is more complicated,and the system model has higher requirements and higher precision.The no angular velocity feedback controller is designed based on the extended state observer.Considering the small satellite non-attitude angular velocity feedback control environment,the state observer is used to estimate the system state in real time,and the angular velocity is replaced by attitude error estimator,the feedback information needed for control is reduced.The extended state observer is used to estimate the unknown interference model of the system,and the disturbance torque is compensated in the control algorithm that further improve the robustness of the control algorithm.The SGCMG attitude control semi-physical simulation experiment system is designed.The main components of the semi-physical simulation experiment,the simulation experiment system workflow and the data interface are analyzed.The construction scheme of the air flotation system is designed.Design the pyramid structure SGCMG mechanical structure,determine the main components of it.Design numerical simulation and physical simulation channel decoupling method and attitude solution method of decoupling channel.