【摘要】 基于Ｄａｈｌ摩擦模型，给出了用于卫星姿态三轴稳定控制的反作用轮低速动力学方程，就反作用轮转速过零对卫星姿态产生的扰动现象进行了分析．提出了一种利用非线性观测器估计摩擦力矩，并予以补偿的补偿观测器方法．仿真结果表明，该方法改善了反作用轮低速性能，提高了卫星姿态控制的指向精度和稳定度．更多还原

【Abstract】 The dynamic equation of the low-speed reaction wheel used to stabilize a satellite’s three-axis attitude is put forward on the base of Dahl friction model, andaccording to this the phenomenon that the reaction wheel’s speed crossing zero disturbs satellites attitude is analyzed. A nonlinear observer is used to estimate thefriction torque in order to compensate it. Simulation results prove that this methodcan compensate the reaction wheel low-speed friction, and improve attitude pointingaccuracy and stability.更多还原