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首页> 外文期刊>Aerospace and Electronic Systems, IEEE Transactions on >Spacecraft maneuvers via singularity-avoidance of control moment gyros based on dual-mode model predictive control
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Spacecraft maneuvers via singularity-avoidance of control moment gyros based on dual-mode model predictive control

机译：基于双模模型预测控制的奇异回避控制力矩陀螺仪进行航天器操纵

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摘要

Attitude control is investigated for a rigid spacecraft using single gimbal control moment gyros (SGCMGs) as actuators. By taking spacecraft and SGCMGs as an integrated system, the combined dynamics of SGCMGs and spacecraft are fully considered. The singularity problem of the SGCMGs is converted into the problem of state constraints and input constraints, and by so doing, the actuation capacity of the SGCMGs is fully utilized. To ensure accurate real-time computation, the Gauss pseudospectral and sequential quadratic programming methods are used to solve the attitude path planning of the system. Considering the uncertainties of the external disturbances and the estimation error of the inertia matrix, feedback control of the system is designed by using nonlinear model predictive control. Finally, dual-mode model predictive control is used to ensure the stability of the system, and the H8 controller and the estimated hyperellipsoid region of attraction of the linearized system are given. Simulation results show good tracking performance and robustness of the designed controller. The modeling method and the control method given in the paper provide a solution to the singularity problem of the SGCMGs.
机译：研究了使用单云台控制力矩陀螺仪（SGCMG）作为执行器的刚性航天器的姿态控制。通过将航天器和SGCMG作为一个集成系统，充分考虑了SGCMG和航天器的组合动力学。将SGCMG的奇异性问题转换为状态约束和输入约束的问题，从而充分利用了SGCMG的驱动能力。为了确保精确的实时计算，使用高斯伪谱和顺序二次规划方法来解决系统的姿态路径规划。考虑到外部干扰的不确定性和惯性矩阵的估计误差，采用非线性模型预测控制设计了系统的反馈控制。最后，采用双模式模型预测控制来确保系统的稳定性，并给出了线性化系统的H8控制器和估计的超椭球体吸引区域。仿真结果表明所设计控制器具有良好的跟踪性能和鲁棒性。文中给出的建模方法和控制方法为SGCMGs的奇异性问题提供了解决方案。

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