CAJ | 학술논문

提出了一种基于控制力矩陀螺的挠性卫星姿态大角度快速机动控制方法。结合卫星姿态动力学，运动学和挠性附件的振动方程，建立了面向预测控制方法的非线性预测方程；在建立了包含卫星姿态跟踪误差，控制力矩能量以及挠性附件振动能量的优化目标函数基础上，采用非线性模型预测控制方法设计了兼顾机动性能与抑制附件振动的卫星姿态机动律。为进一步消除挠性附件振动，采用输入成形技术对规划的控制力矩进行处理，成形出合理的控制力矩指令。最后以成形后的控制力矩指令为输入条件，基于鲁棒伪逆方法设计了金字塔控制力矩陀螺群的操纵律，完成挠性卫星姿态机动的非线性滚动控制。针对算例的研究表明：卫星滚动轴姿态能够在约27 s内机动50。，且具有指向精度小于0.03。，姿态稳定度小于0.03(。)/s的性能。
제출료일충기우공제력구타라적뇨성위성자태대각도쾌속궤동공제방법。결합위성자태동역학，운동학화뇨성부건적진동방정，건립료면향예측공제방법적비선성예측방정；재건립료포함위성자태근종오차，공제력구능량이급뇨성부건진동능량적우화목표함수기출상，채용비선성모형예측공제방법설계료겸고궤동성능여억제부건진동적위성자태궤동률。위진일보소제뇨성부건진동，채용수입성형기술대규화적공제력구진행처리，성형출합리적공제력구지령。최후이성형후적공제력구지령위수입조건，기우로봉위역방법설계료금자탑공제력구타라군적조종률，완성뇨성위성자태궤동적비선성곤동공제。침대산례적연구표명：위성곤동축자태능구재약27 s내궤동50。，차구유지향정도소우0.03。，자태은정도소우0.03(。)/s적성능。
A rapid attitude maneuver method of flexible satellite based on control moment gyroscope was presented. Combining the attitude dynamical equation, kinematic equation and vibration equation of flexi-ble parts, the nonlinear predictive equation was given. Based on the optimization objective including tracking error, the energy of control moment and the energy of flexible parts, the nonlinear model predic-tive control method was used to propose the attitude maneuver law which had the rapid maneuver perfor-mance and attenuate the vibration of flexible parts. To further attenuate the flexible part’s vibration, the input shaping method was applied to obtain the actual commands of control moment. Based on the actual control commands, the steering law of CMG pyramidal configuration was designed using the robust in-verse approach, and achieved the moving optimization control of flexible satellite attitude maneuver. Sim-ulation result indicates that, the designed control method can achieve 50. large attitude maneuver in 27 s, and the corresponding pointing accuracy and stability are 0.03.and 0.03(.)/s.