Research On Steering Law Design And Application Of Variable Speed Control Moment Gyroscope

With the rapid development of space technology and the increasing demand for engineering applications,Satellites with agile attitude maneuver have been extensively studied,especially with agile microsatellites and Earth imaging observation satellites.Control Moment Gyroscope(CMG)is an effective candidate for agile spacecraft attitude control because of its powerful torque amplification and amazing momentum storage capability.Compared with Single Gimbal Control Moment Gyroscope(SGCMG),Variable Speed Control Moment Gyroscope(VSCMG)that only increases the flywheel speed control function can effectively solve the inherent geometric singular ity problem of SGCMG,and its torque amplification capability is strong,which satisfies the aerodynamic requirements of the agile satellite.Therefore,this paper takes VSCMG as the research object,and studies the steering law design of VSCMGs system,the reconfigurability of VSCMGs system when it fails,and the attitude maneuver planning algorithm of spacecraft using VSCMGs system.The main work in this paper is summarized as follows:The singularity of VSCMGs system is studied and the steering law of VSCMGs system is designed.1)the singularity VSCMGs systems is analyzed through mathematical analysis and theoretical derivation.2)an adaptive hybrid steering law based on dual control mode is designed.According to the singularity and torque output characteristics of VSCMGs system,the torque output module of VSCMGs system is solved separately and output synchronously.The reconfigurability of VSCMGs system in failure is studied.1)The fault failure type of VSCMGs system is analyzed.Based on the controllability and power consumption constraint,the reconfigurability evaluation method of VSCMGs system based on power consumption constraint is proposed.2)the reconfigurability design method of VSCMGs system is proposed from three aspects: failure dynamics model,configuration angular momentum and reconfigurability steering law.The attitude maneuver method of spacecraft based on VSCMGs system is studied.1)The optimization objective function of the attitude control maneuver with VSCMGs system is constructed.The trajectory planning strategy of pseudospectral method is proposed.2)Considering the characteristic of VSCMGs system,trajectory planning algorithms for single large angle attitude maneuver and continuous attitude maneuver tasks based on Gauss pseudo-spectral method are designed respectively.In the continuous attitude maneuver task,the characteristics of attitude maneuver in each stage are fully considered,and the method of mode scheduling is designed.3)According to the dynamic model of VSCMGs system in fault failure,the trajectory planning algorithm based on Gauss pseudospectral method for fault failure of VSCMGs system is designed.4)Considering the state of actuator and its influence on controller and steering law,a control algorithm based on potential function method for VSCMGs system is proposed.The research of VSCMGs system in this paper is of great theoretical and practical significance for improving the agility of small microsatellite,satisfying multi-target acquisition,and moving quickly with large angle.