摘要
研究采用双框架控制力矩陀螺群在卫星高精度姿态控制中的建模问题。对于中心刚体带有多个双框架控制力矩陀螺,构造了该系统的拉格朗日函数。采用拟拉格朗日方程建立了卫星姿态动力学模型。在建模中,陀螺的内、外框架未进行无惯量的假设,使得双框架运动带来的动力学特性得到了准确的反映;设计了适宜的标记,使得方程形式简洁并且统一。该模型为高精度的数学仿真和分析提供了基础。基于系统的拉格朗日函数,应用拉格朗日方程,分别建立了沿内、外框架轴和转子轴的轴向动力学方程,为执行机构伺服系统的动力学特性分析和控制器设计提供模型的依据。
This investigation is concerned with the modeling and dynamic analysis of a spacecraft comprising a rigid platform and a given number of double-gimbal control moment gyroscopes for high-precision attitude control. The equations of motion are derived by a Lagrangian approach using quasi-coordinates. Especially, coordinates of outer-gimbal, inner-gimbal and rotor are chosen to be principal-axis frames and angular momenta about them are all taken into account. The particular but compact model of attitude dynamics is concluded using helpful signs. It is the base of numerical simulation and dynamic analysis. By the preceding Lagrangian function, axial dynamic equations along outer-gimbal, inner-gimbal and rotor rotational axes are also developed. These equations are useful to design the controllers of servo systems, as well as to simulate such spacecrafts.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2008年第2期424-429,共6页
Acta Aeronautica et Astronautica Sinica
基金
国家"863"计划
关键词
卫星
姿态控制
双框架控制力矩陀螺
拟拉格朗日方程
伺服系统
satellite
attitude control
double-gimbal control moment gyroscope
Lagrangian equations
servo system
