Singularity analysis for single gimbal control moment gyroscope system using space expansion method

查看全文 作　　者：Yunhua [1]WU;Feng [1,2]HAN;Bing [1]HUA;Zhiming [1]CHEN;Feng [1]YU

机构地区：[1]School of Astronautics, Nanjing University of Aeronautics and Astronautics;[2]School of Astronautics, Harbin Institute of Technology

出　　处：《Chinese Journal of Aeronautics》索引2018年第31卷第4期,共13页

基　　金：support from the National Natural Science Foundation of China (No. 61403197);the National Key Research and Development Plan of China (No. 2016YFB0500901) 摘　　要：Control Moment Gyroscope(CMG) is an effective candidate for agile satellites and large spacecraft attitude control because of its powerful torque amplification capability. The most serious situation, however, in using CMG is the inherent geometric singularity problem, where there's no torque output along a particular direction. Space expansion method has been proposed in this work for the singularity analysis. Based on inverse mapping transformation, an expanded Jacobian matrix which is a full rank square matrix is obtained. The singular angle sets of the 3-parallel cluster and pyramid cluster are distinguished using space expansion method. An effective hybrid steering strategy, able to deal with the elliptic singularity, is further proposed. Simulation results demonstrate the excellent performance of the proposed steering logic compared to the generalized singular robust logic and pseudo inverse logic in terms of energy consumption and torque error. 关键词：回转仪控制万向节 JACOBIAN 系统空格转矩候选人

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Singularity analysis for single gimbal control moment gyroscope system using space expansion method

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