论文标题
结构保存陀螺仪的态度控制减少
Structure Preserving Reduced Attitude Control of Gyroscopes
论文作者
论文摘要
我们设计了一个减少的姿态控制器，以重新定位几何控制框架中陀螺仪的自旋轴。提出的控制器保留了与旋转轴对称刚体相关的固有陀螺稳定性。运动方程是在两个帧中得出的：一个非旋转框架以显示陀螺仪稳定性，以及用于衍生控制器的身体固定旋转框架。所提出的控制器的设计使其在闭环中保留陀螺稳定性结构，并使所需的平衡几乎渐近地稳定。由于控制输入的时间关键性性质，尤其是其对延迟/被忽视的动态的敏感性，因此将控制器扩展以结合执行动力学对实际实现的效果。此后，在提出的控制器和具有数值模拟的常规降低态度几何控制器之间显示了性能的比较。控制器在旋转的三座器上进行实验验证。
We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic stability associated with a spinning axis-symmetric rigid body. The equations of motion are derived in two frames: a non-spinning frame to show the gyroscopic stability, and a body-fixed spinning frame for deriving the controller. The proposed controller is designed such that it retains the gyroscopic stability structure in the closed loop and renders the desired equilibrium almost-globally asymptotically stable. Due to the time-critical nature of the control input, in particular its sensitivity with respect to delays/neglected dynamics, the controller is extended to incorporate the effect of actuator dynamics for practical implementation. Thereafter, a comparison in performance is shown between the proposed controller and a conventional reduced attitude geometric controller with numerical simulation. The controller is validated experimentally on a spinning tricopter.
