变速倾侧动量轮空间伺服机构控制问题研究

微小航天器已成为当今航天技术发展的热点，其发展对星载元器件的质量、体积、性能、功耗、成本和可靠性提出了更高的要求，因此，寻求功能密度高和性能优良的新型姿态控制执行机构已成为发展微小航天器的迫切需求。本项目提出并研究一种角动量幅值和指向大范围变化的微小航天器姿态控制伺服机构及其控制问题，目的是利用轻量紧凑的单体动量轮实现航天器三维姿态控制任务。针对系统动态的强非线性，主要研究内容包括：变速倾侧动量轮伺服机构动力学行为基础研究；变速倾侧动量轮伺服机构振动机理与抑制问题研究；基于变增益空间内模的变速倾侧动量轮混频扰动抑制研究；变速倾侧动量轮分段变增益鲁棒解耦控制问题研究；相关理论研究成果的实验验证等。本项目研究目标的实现，可以为变速倾侧动量轮伺服机构在未来微小航天器领域的推广应用奠定理论与技术基础，同时，为复杂非线性动态系统鲁棒增益调度控制方法的研究开辟一个新的方向。

The development of tiny spacecrafts has become a hotspot in the development of space technology, and it has put forward higher requirements for the quality, volume, performance, power consumption, cost and reliability of the components. Therefore, it is necessary and urgent to seek for a new type actuator with high functional density and excellent performance. In this proposal, a new space servo mechanism is proposed and investigated, with its angular momentum amplitude and direction can be controlled in a large range. The aim of studying this new actuator is to realize the three-dimensional attitude control of the spacecraft by using a single momentum wheel, which is compact and light. Due to the strong nonlinearity of the dynamics, the main research contents include: the dynamic behavior of the new variable speed and tilted momentum wheel; the problem of vibration mechanism and suppression; the suppression of mixing disturbances by using variable gain spatial internal model; robust decoupling control by using piecewise variable gain scheduling technology; the experimental verification of the theoretical results. The research of this project can provide a theoretical and technical foundation for the application of variable speed and tilted momentum wheel to tiny spacecrafts in the future. At the same time, it shows a new research direction on the robust gain scheduling control method for complex nonlinear dynamical systems.