| 摘要 |
The invention relates to a method and device for controlling the attitude of a satellite comprising at least four control moment gyros (10a 10d) having respective gyro wheels (12). The gyro wheels are mounted on gimbals that can be moved (14) around axes which are parallel (18) to one or other of only two different directions, said directions being fixed in relation to the satellite. For this purpose, the attitude of the satellite is measured using sensors that are disposed on board the satellite; the control torque required to perform an attitude reorientation manoeuvre is calculated; a local linearisation calculation is performed based on the pseudo-inverse of the Jacobian matrix of the function linking the orientations of the gimbals of the gyrodynes at the total kinetic moment of the cluster in order to determine a new orientation for said gimbals; and the precession speeds of at least one of the gimbals of the gyrodynes supplying the control torque are controlled in order to produce the desired configuration. The calculation is performed by applying a cluster configuration search constraint which is removed from the singular configurations by division, between the two groups of gyrodynes, of the component of the total kinetic moment of the cluster which is simultaneously perpendicular to both directions.
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