面向新颖成像模式敏捷卫星的联合执行机构控制方法

为满足新颖成像模式对卫星姿态快速机动或对规划姿态的高精度跟踪控制需求，本文针对金字塔构型控制力矩陀螺（Control moment gyroscopes，CMG）群与反作用飞轮为联合执行机构的挠性敏捷卫星，提出一种融合以Legendre伪谱法实现卫星姿态及CMG群框架角速度最优规划的前馈控制、以非线性模型预测控制（Nonlinear model predictive control，NMPC）实现最优轨迹反馈跟踪的复合控制方法.在前馈控制律设计中，充分考虑了CMG群的力矩输出能力、奇异性及振动抑制性能等约束，规划获得了最优的CMG群框架角速度、卫星的姿态角及角速度.在反馈控制律设计中，以飞轮输出力矩能力、姿态机动快速性及能量为约束，设计了具有滚动优化思想的跟踪算法，补偿由于初始状态及转动惯量偏差等带来的控制误差.研究结果表明，在转动惯量存在偏差情况下，本文的控制方法仍是有效的，且表现出较强的鲁棒性.

Control Strategy of Hybrid Actuator for Novel Imaging Modes of Agile Satellites

To satisfy the needs of novel imaging modes for attitude rapid maneuver and high precision tracking control, a control strategy combining feedforward and feedback control is proposed for flexible satellite with hybrid actuator (pyramid configuration control moment gyroscopes (CMG) and reaction flywheel). In the design of feedforward control, to fully consider the constraints, such as torque output capacity of CMG group, singularity and vibration suppression performance, a Legendre pseudospectral method which could plan the optimal satellite attitude and frame angle rate of CMG group is presented. In the design of feedback control, with the torque capacity of flywheel, attitude rapid maneuver and energy constraints being the cost function, a tracking control algorithm based on nonlinear model predictive control (NMPC) is given to compensate the error of initial state and rotational inertia. The results show that, in the case of inertia error, the proposed control method is effective and shows a strong robustness.