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中文摘要：
为避免控制力矩陀螺系统奇异,采用三对剪式陀螺垂直安装构形构成一个控制力矩陀螺系统作为空间飞行器姿态控制的执行机构。基于Newton-Euler法推导出剪式陀螺系统操纵空间飞行器姿态运动的精确数学模型,并在此基础上设计空间飞行器大角度姿态机动的非线性控制律,在设计的同时证明系统的稳定性。对剪式陀螺系统进行奇异性分析,分析表明该系统无内部奇异。提出一种剪式陀螺系统在陀螺同步条件下的伪逆操纵律。为提高同步性能和抗扰动能力,基于Lyapunov稳定性理论设计剪式陀螺系统的自适应非线性反馈控制器。仿真验证所设计的控制律和操纵律的有效性以及该陀螺系统驱动空间飞行器进行大角度姿态机动的能力。
英文摘要：
To avoid the singularity of control moment gyroscopes,a system consisting of three orthogonally mounted scissor pairs of control moment gyroscopes is employed as an actuator for spacecraft attitude control.An accurate mathematical model of spacecraft attitude motion manipulated by the gyroscope system is derived on the basis of Newton-Euler method.On this basis,a nonlinear control law is designed for the spacecraft to implement large-angle attitude maneuvers.In the design process,the stability of the attitude control system is proved.Singularity analysis of the gyroscope system shows that there exists no inner singularity in this system.A pseudo inverse control law is proposed for keeping the gimbal angles of each scissor pair of gyroscope synchronous.To improve the synchronization performance and the anti-disturbance ability of the system,an adaptive nonlinear feedback controller is designed on the basis of stability theory of Lyapunov.Simulation verifies the validity of the designed control laws and manipulation law,as well as the capability of the gyroscope system in driving the spacecraft to implement large angle attitude maneuver.
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