【摘要】 在卫星、空间站等航天器中经常用控制力矩陀螺执行姿态控制,而控制力矩陀螺的强耦合性严重地影响了姿态控制效果,研究这种多输入多输出(MIMO)被控对象的解耦控制十分必要。针对Model 750控制力矩陀螺装置,分析动力学模型的耦合特征,探究多框架反作用力矩和陀螺力矩的相互作用,设计出适宜的解耦控制方法。耦合控制实验表明,在零平衡点处各变量间互扰耦合微弱,在非零平衡点处各变量耦合明显。其中,反作用力矩和陀螺力矩激励的双轴控制方法解耦效果较差,仅适合耦合微弱的状况。线性二次型调节器(LQR)最优控制方法的解耦实验取得了良好的控制性能指标,解耦效果显著。更多还原

【Abstract】 Attitude control is often performed with control moment gyroscope in spacecraft such as satellite and space station. The strong coupling of control moment gyroscope seriously affects the effect of attitude control,so it is necessary to study the decoupling control of multiple input multiple output(MIMO) controlled object. For Model 750 control moment gyroscope,the coupling characteristics of dynamic model are analyzed firstly,then the interaction between multi-frame reaction torque and gyroscopic moment is explored,and suitable decoupling control method is designed. The experiments of coupling control show that the mutual interference coupling between the variables is weak at the zero equilibrium point,and the mutual coupling between the variables is obvious at the non-zero equilibrium point. Among them,the biaxial control method of reaction torque and gyroscopic torque excitation has a poor decoupling effect,and is only suitable for coupling weak conditions. The decoupling experiment of LQR optimal control method has achieved good control performance index,and the decoupling effect is remarkable.更多还原