中文摘要：

针对航天器的控制力矩陀螺群框架构型奇异以及传统奇异规避方法在规避时存在的框架“锁死”问题,本文提出一种基于指令力矩进行螺旋式搜索的控制力矩陀螺奇异规避方法.该方法在鲁棒奇异逆操纵律和零运动操纵律的基础上,引入随奇异度量值自主调节的旋转角和随时间连续变化的旋转轴,让期望力矩通过搜索寻找出逃离奇异状态的方向,来实现奇异规避.仿真结果表明该方法具有良好的奇异规避特性,并能够克服常规奇异规避方法存在的框架“锁死”情况.

英文摘要：

In order to overcome the problem of gimbal lock, where the command torque is coincident with a particular direction and cannot escape from it, An effective approach is proposed to avoid the singular state of the control moment gyros in this paper. Based on the algorithm of the SR （ singular robust） avoidance and the null motion singularity avoidance, this approach introduces a rotation angle adjusted associating with the singularity measurement and a rotation axis continuously changed with time, which prevents the system from entering the singularity or escaping from the singular point rapidly by searching, to avoid the occurrence of control moment gyros gimbal configuration lock. Simulation results show that this method has a good characteristic of singularity avoidance, and can overcome the gimbal lock.