Title:
MANIPULATION METHOD SUITABLE FOR NON-REDUNDANT SGCMG GROUP
Document Type and Number:
WIPO Patent Application WO/2021/052087
Kind Code:
A1
Abstract:
A manipulation method suitable for a non-redundant SGCMG group. The method comprises the steps: 1) determining, according to configurations and synthetic angular momentums of n SGCMGs, nominal frame angle vectors of the configurations of n SGCMGs, wherein n ≥ 3; 2) determining, according to a frame angle of each SGCMG, Jacob of a motion equation of the frame angle and the deviation of the frame angle from a nominal value; and 3) determining, according to the Jacob and the deviation of the frame angle from the nominal value that are determined in step 2), a frame angular velocity instruction of the SGCMG. According to the method of the present invention, the distance that a frame angle is deviated from the nominal value, a frame angle instruction amplitude value, and a torque output deviation are taken into consideration, such that the capability of avoiding singularities in attitude maneuvering and returning to a frame nominal position after maneuvering is achieved, the contradiction between singularity avoidance and an attitude control torque of a CMG frame is resolved, and the realization of high performance of maneuvering along any attitude can be ensured.
Inventors:
YUAN LI (CN)
LEI YONGJUN (CN)
LIU JIE (CN)
ZHANG KEBEI (CN)
TIAN KEFENG (CN)
YAO NING (CN)
LEI YONGJUN (CN)
LIU JIE (CN)
ZHANG KEBEI (CN)
TIAN KEFENG (CN)
YAO NING (CN)
Application Number:
PCT/CN2020/109919
Publication Date:
March 25, 2021
Filing Date:
August 19, 2020
Export Citation:
Assignee:
BEIJING INST CONTROL ENG (CN)
International Classes:
B64G1/28; B64G1/24
Foreign References:
CN110723316A | 2020-01-24 | |||
CN110697085A | 2020-01-17 | |||
CN110597274A | 2019-12-20 | |||
CN107544466A | 2018-01-05 | |||
CN103869704A | 2014-06-18 | |||
CN107992062A | 2018-05-04 | |||
CN106218922A | 2016-12-14 | |||
CN103592848A | 2014-02-19 | |||
US20040167683A1 | 2004-08-26 | |||
CN201910872892A | 2019-09-16 |
Other References:
See also references of EP 4032816A4
Attorney, Agent or Firm:
PATENT AGENT OF CHINA AEROSPACE TECHNOLOGY (CN)
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