Abstract:

The problem of eliminating the phenomenon that the calculated gimbal angular rate command amplitude is too large or even saturate in the vicinity the CMG (Control moment gyro) singular configuration is investigated. A torque dynamic distribution strategy is proposed, and a corresponding self-updating law of the weighting value is designed by taking the historical gimbal rate command as the input. In consideration of the introduced weights a singularity measure is redefined in a new form, and a comprehensive steering law is proposed, which integrates torque dynamic distribution strategy with the null motion algorithm and a vector adjustment technical means by changing the torque command direction and its amplitude with the singularity measurement automatically, to suppress the oversize amplitude of the computed gimbal rate commands and to promote the singularity avoiding ability. The effectiveness of the proposed method is verified by the numerical simulations.

Key words:  Attitude maneuver, Control moment gyro (CMG), Singularity avoiding, CMG steering law