CN111309038A - Hybrid execution mechanism configuration optimization method based on TU cooperative game manipulation law - Google Patents

Abstract

The invention discloses a configuration and configuration optimization method of a hybrid actuator based on a TU cooperative game manipulation law, comprising: selecting the configuration and manipulation law of the hybrid actuator CMG+RW; determining the CMG maximum frame angular velocity and the RW maximum angular acceleration; The spacecraft attitude maneuver task requirements, obtain the control torque requirements, and obtain the maximum control torque; judge the maximum control torque situation, and match the CMG rotor angular momentum and RW moment of inertia; according to the matching obtained single CMG rotor angular momentum and single RW rotation Inertia selection for hybrid actuators. For the first time, the present invention optimizes the configuration and configuration of the hybrid actuator according to specific design requirements, ensures that the hybrid actuator can output control torque without error, and reduces the mass, volume and energy consumption of the hybrid actuator as much as possible. It is beneficial to the miniaturization and light weight of the spacecraft, and it is beneficial to increase the payload on the star.

Description

A configuration configuration optimization of hybrid actuators based on TU cooperative game manipulation law method

technical field

The invention relates to a satellite attitude control technology, in particular to a configuration and configuration optimization method of a hybrid actuator based on a TU cooperative game manipulation law.

Background technique

The agility of the spacecraft attitude maneuver requires the assurance of the attitude control actuator, that is, the actuator needs to output a large torque with high precision, and a hybrid actuator composed of a Control Moment Gyro (CMG) and a Reaction Wheel (RW) CMG+RW can meet this requirement, and its performance is far superior to the hybrid actuator composed of other actuators. If the control torque required by different tasks is different, the size of the configured hybrid actuator CMG+RW is also different; if the configuration of the hybrid actuator CMG+RW is insufficient, it cannot meet the design requirements, resulting in a large output torque error; the hybrid actuator CMG+RW The configuration of the RW is too large. Although it can meet the design requirements, its astrological mass and volume are also large, and the energy consumption increases accordingly, resulting in a waste of on-board resources, which is not conducive to increasing the payload. Therefore, it is necessary to optimize the configuration of the hybrid actuator CMG+RW, so that the mass and volume of the hybrid actuator CMG+RW can be as small as possible while meeting the design requirements.

For the hybrid actuator CMG+RW, most of the optimizations are aimed at the design of its manipulation law. For example, the manipulation law of the hybrid actuator is designed based on cooperative game theory and TU cooperative game theory. By making the CMG frame angular velocity and RW angular acceleration Minimize and optimize the angular momentum path of the hybrid actuator CMG+RW, manage the angular momentum and reduce energy consumption while ensuring no error in the output torque. However, the premise of all hybrid actuator control laws to ensure that the output torque is error-free is that the configuration configuration of the hybrid actuator matches the design requirements, that is, the design at the level of the control law is different from the optimization at the level of configuration configuration, and the design of the control law is different. The output torque accuracy cannot be truly guaranteed.

However, there is no research on the configuration optimization of the hybrid actuator CMG+RW. Similar, for example, a new RW configuration is designed for single-axis fast maneuvering tasks, and the installation angle of this configuration is optimized to solve the problem of insufficient utilization of RW capabilities. In addition, the position where the gyro is installed on the flexible body is designed through finite element modeling to suppress the rapid vibration of the flexible body. Then, according to the controllability index and the observability index, the judgment index of the combined characteristics of each actuator and the sensor is judged, and the configuration node is selected according to the index. This method is mainly aimed at the optimization of the installation quantity and installation position of the actuator and the sensor. , the size of the actuator is not configured. Furthermore, by designing the internal structure of the flywheel, the optimization operation of the motor is completed, so as to realize the multi-objective synergistic optimization of the axial split-phase magnetic suspension switched reluctance flywheel motor. None of the above studies involved the configuration optimization of the hybrid actuator CMG+RW.

SUMMARY OF THE INVENTION

Purpose of the invention: The purpose of the present invention is to provide a configuration and configuration optimization method of a hybrid actuator based on the TU cooperative game manipulation law, which can provide the CMG+RW configuration parameters of the hybrid actuator under the premise that the CMG does not fall into a singular state. configuration rules.

Technical scheme: In order to realize the above-mentioned purpose of the invention, the present invention adopts the following technical scheme:

A hybrid actuator configuration configuration optimization method based on TU cooperative game manipulation law, comprising the following steps:

(1) Select the configuration and manipulation law of the hybrid actuator CMG+RW;

和可选RW的最大角加速度

(2) Determine the maximum frame angular velocity of the optional CMG

and the maximum angular acceleration of the optional RW

(3) According to the requirements of the spacecraft attitude maneuvering task, obtain the control torque requirements and obtain the maximum control torque;

(4) If u _x,max >>u _y,max and u _x,max >>u _z,max , or, u _y,max >>u _x,max and u _y,max >>u _z,max , Or, u _z,max ＞＞u _x,max and u _z,max ＞＞u _y,max , in the case of single-channel large torque, go to step (5); if u _x,max ≈u _y,max ＞＞u _z,max , or u _y,max ≈u _z,max ＞＞u _x,max , or u _x,max ≈u _z,max ＞＞u _y,max , for the case of dual-channel large torque output, go to step (6 ); if u _x,max ≈u _z,max ≈u _y,max , it is a three-channel high-torque output situation, and go to step (7);

(5) Match the angular momentum of the CMG rotor and the moment of inertia of the RW according to the single-channel high torque output;

(6) Match the CMG rotor angular momentum and the RW moment of inertia according to the dual-channel high torque output;

(7) Match the angular momentum of the CMG rotor and the moment of inertia of the RW according to the three-channel high-torque output;

(8) Select the hybrid actuator according to the angular momentum h ₀ of the single CMG rotor obtained by matching and the moment of inertia J _RW of the single RW.

Further, the configuration of the hybrid actuator CMG+RW in step (1) includes M control moment gyroscopes CMG and N reaction flywheels RW, and the TU cooperative game manipulation law is selected as the hybrid actuator manipulation law.

Further, the control torque requirement in step (3) includes the maximum control torques u _x,max , u _y,max and u _z,max of the x, y and z channels, and the maximum torque value is taken as: u _max =max( u _x,max ,u _y,max ,u _z,max ).

Further, in step (5), the single-channel high-torque case is matched to the hybrid actuator according to the following formula, the angular momentum h ₀ of a single CMG rotor, and the moment of inertia J _{RW of a single RW} should satisfy:

u _max,CMG =u _max,RW =u _max

和

分别为第k个 CMG的x通道函数、y通道函数和z通道函数，

和

分别为第k个RW 的x通道函数、y通道函数和z通道函数，进入步骤(8)。Among them, _{Sa is the system singularity metric function, |S a | min} is the minimum value of the absolute value of Sa, _{u max,CMG} and u _max,RW are the output performance based on CMG and the output performance based on RW, respectively,

and

are the x-channel function, y-channel function and z-channel function of the kth CMG, respectively,

and

are the x-channel function, the y-channel function, and the z-channel function of the kth RW, respectively, and go to step (8).

Further, in step (6), the dual-channel high-torque output condition matches the hybrid actuator according to the following formula, the angular momentum h ₀ of a single CMG rotor, and the moment of inertia J _{RW of a single RW} should satisfy:

u _max,CMG =u _max,RW =u _max ;

和

分别为第k个 CMG的x通道函数、y通道函数和z通道函数，

和

分别为第k个RW 的x通道函数、y通道函数和z通道函数，进入步骤(8)。Among them, _{Sa is the system singularity metric function, |S a | min} is the minimum value of the absolute value of Sa, _{u max,CMG} and u _max,RW are the output performance based on CMG and the output performance based on RW, respectively,

and

are the x-channel function, y-channel function and z-channel function of the kth CMG, respectively,

and

are the x-channel function, the y-channel function, and the z-channel function of the kth RW, respectively, and go to step (8).

Further, in step (7), the three-channel high-torque output condition matches the hybrid actuator according to the following formula, the angular momentum h ₀ of a single CMG rotor, and the moment of inertia J _{RW of a single RW} should satisfy:

u _max,CMG =u _max,RW =u _max ;

和

分别为第k个 CMG的x通道函数、y通道函数和z通道函数，

和

分别为第k个RW 的x通道函数、y通道函数和z通道函数，进入步骤(8)。Among them, _{Sa is the system singularity metric function, |S a | min} is the minimum value of the absolute value of Sa, _{u max,CMG} and u _max,RW are the output performance based on CMG and the output performance based on RW, respectively,

and

are the x-channel function, y-channel function and z-channel function of the kth CMG, respectively,

and

are the x-channel function, the y-channel function, and the z-channel function of the kth RW, respectively, and go to step (8).

和RW角加速度最大值

与最大控制力矩u_max满足以下不等式组：Further, in step (8), when the matched hybrid actuator CMG+RW can meet the task requirements, the maximum value of the angular velocity of the CMG frame is

and RW maximum angular acceleration

and the maximum control torque u _max satisfies the following set of inequalities:

和

分别为第k个CMG的x通道函数、y通道函数和z通道函数，

和

分别为第k个RW的x通道函数、y通道函数和z通道函数， u_max为最大力矩值，|S_a|_min为混合执行机构CMG+RW的系统奇异度量函数绝对值的最小值。in,

and

are the x-channel function, y-channel function and z-channel function of the kth CMG, respectively,

and

are the x-channel function, y-channel function and z-channel function of the kth RW, respectively, u _max is the maximum torque value, |S _a | _min is the minimum value of the absolute value of the system singularity metric function of the hybrid actuator CMG+RW.

Further, the configuration of the hybrid actuator in step (8) is affected by the minimum value |S _a | _min of the absolute value of the system singular metric function of the hybrid actuator CMG+RW, ensuring that the |S _a | _min value is related to the rotor angle of a single CMG. The magnitude of momentum h ₀ is inversely proportional to the moment of inertia J _RW of a single RW.

Beneficial effects: Compared with the prior art, the present invention optimizes the configuration and configuration of the hybrid actuator CMG+RW according to specific design requirements for the first time, so as to ensure that the hybrid actuator CMG+RW can output the control torque without error, and reduce as much as possible. The mass, volume and energy consumption of the hybrid actuator are beneficial to the miniaturization and light-weight of the spacecraft, as well as to increase the on-board payload.

Description of drawings

Fig. 1 is the flow chart of the CMG+RW configuration configuration optimization method of the hybrid actuator of the present invention;

FIG. 2 is a surface visualization diagram of the configuration configuration relationship of the hybrid actuator CMG+RW in the single-channel high-torque output situation of the present invention;

FIG. 3 is a surface visualization diagram of the configuration and configuration relationship of the hybrid actuator CMG+RW in the case of dual-channel high-torque output of the present invention;

FIG. 4 is a surface visualization diagram of the configuration relationship of the CMG+RW configuration of the hybrid actuator of the present invention in the case of a three-channel high-torque output.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

A hybrid actuator configuration configuration optimization method based on the TU cooperative game manipulation law can provide the CMG+RW configuration parameter configuration rule for the hybrid actuator under the premise of ensuring that the CMG does not fall into a singular state. That is, the parameters of the hybrid actuator CMG+RW are configured according to the maximum control torque required by the design, including the angular momentum of the CMG rotor and the maximum value of the frame angular velocity, the RW moment of inertia and the maximum value of the angular acceleration, so that the hybrid actuator CMG+RW can Perfectly output the control torque without output error to ensure the high-precision completion of the spacecraft attitude control task, and selecting the parameters of the optimal hybrid actuator CMG+RW can reduce the mass, volume and energy consumption of the spacecraft.

可选择RW的角加速度最大值

配置混合执行机构CMG+RW的参数，即选择CMG转子的角动量大小h₀、RW的转动惯量I_RW。The hybrid actuator configuration optimization method of the present invention is aimed at the hybrid actuator CMG+RW, and based on the specific hybrid actuator configuration, on the premise of using the hybrid actuator TU cooperative game manipulation law, according to the design requirements of the maximum control torque u _max and the system singularity metric function Sa of the hybrid actuator CMG ₊ RW, and the maximum frame angular velocity of the optional CMG

Selectable maximum angular acceleration of RW

Configure the parameters of the hybrid actuator CMG+RW, that is, select the angular momentum h ₀ of the CMG rotor and the moment of inertia I RW of _RW .

As shown in Figure 1, a hybrid actuator configuration configuration optimization method based on the TU cooperative game manipulation law of the present invention includes the following steps:

(1) Select the configuration of the hybrid actuator CMG+RW, which includes M control moment gyroscopes CMG and N reaction flywheels RW.

(2) The TU cooperative game manipulation law is selected as the manipulation law of the hybrid executive.

和可选RW的最大角加速度

(3) Determine the maximum frame angular velocity of the optional CMG

and the maximum angular acceleration of the optional RW

(4) According to the spacecraft attitude maneuvering task requirements, obtain the control torque requirements, including the maximum control torques u _x,max , u _y,max and u _z,max of the x, y and z channels.

(5) Take the maximum moment value as u _max =max(u _x,max ,u _y,max ,u _z,max ).

(6) If u _x,max >>u _y,max and u _x,max >>u _z,max , or, u _y,max >>u _x,max and u _y,max >>u _z,max , Or, u _z,max ＞＞u _x,max and u _z,max ＞＞u _y,max , in the case of single-channel large torque, go to step (7); if u _x,max ≈u _y,max ＞＞u _z,max , or u _y,max ≈u _z,max ＞＞u _x,max , or u _x,max ≈u _z,max ＞＞u _y,max , for the case of dual-channel large torque output, go to step (8 ); if u _x,max ≈u _z,max ≈u _y,max , it is a three-channel high-torque output situation, and go to step (9).

(7) Match the angular momentum of the CMG rotor and the moment of inertia of the RW according to the single-channel large torque output;

In the case of single-channel large torque, the hybrid actuator is matched according to the following formula, the angular momentum h ₀ of a single CMG rotor, and the moment of inertia J _{RW of a single RW} should satisfy:

u _max,CMG =u _max,RW =u _max ;

和

分别为第k个 CMG的x通道函数、y通道函数和z通道函数，

和

分别为第k个RW 的x通道函数、y通道函数和z通道函数。Among them, _{Sa is the system singularity metric function, |S a | min} is the minimum value of the absolute value of Sa, _{u max,CMG} and u _max,RW are the output performance based on CMG and the output performance based on RW, respectively,

and

are the x-channel function, y-channel function and z-channel function of the kth CMG, respectively,

and

are the x-channel function, the y-channel function, and the z-channel function of the kth RW, respectively.

第k个CMG的y通道函数

和第k个CMG的z通道函数

以及第k个RW的x通道函数

第k个 RW的y通道函数

和第k个RW的z通道函数

分别均与混合执行机构构型有关，以由金字塔构型CMG系统和3-RW正交构型的RW组成的混合执行机构为例，上述物理量表达式为：System singularity metric function Sa, _x -channel function of the kth CMG

The y-channel function of the kth CMG

and the z-channel function of the kth CMG

and the x-channel function of the kth RW

The y channel function of the kth RW

and the z-channel function of the kth RW

They are all related to the configuration of the hybrid actuator. Taking a hybrid actuator composed of a pyramid configuration CMG system and a 3-RW orthogonal configuration RW as an example, the above physical quantities are expressed as:

in:

第i行第k列元素，S_k为自适应参数，并且有：Among them, A _ik is the element of the i-th row and the k-th column of the system matrix A, and J _CMGik is the unit CMG Jacobian matrix

The i-th row and the k-th column element, S _k is an adaptive parameter, and has:

Go to step (10).

(8) Match the angular momentum of the CMG rotor and the moment of inertia of the RW according to the dual-channel high torque output;

In the case of dual-channel high torque output, the hybrid actuator is matched according to the following formula, the angular momentum h ₀ of a single CMG rotor, and the moment of inertia J _{RW of a single RW} should satisfy:

u _max,CMG =u _max,RW =u _max ;

Enter step (10);

(9) Match the angular momentum of the CMG rotor and the moment of inertia of the RW according to the three-channel high torque output;

In the case of three-channel high torque output, the hybrid actuator is matched according to the following formula, the angular momentum h ₀ of a single CMG rotor, and the moment of inertia J _{RW of a single RW} should satisfy:

u _max,CMG =u _max,RW =u _max ;

Enter step (10);

(10) Select the hybrid actuator according to the size h ₀ of the single CMG rotor angular momentum obtained by matching and the moment of inertia J _RW of the single RW;

和RW角加速度最大值

与最大控制力矩u_max满足以下不等式组：When the matched hybrid actuator CMG+RW can meet the mission requirements, the maximum value of the angular velocity of the CMG frame

and RW maximum angular acceleration

and the maximum control torque u _max satisfies the following set of inequalities:

Among them, |S _a | _min is the minimum value of the absolute value of the system singularity metric function of the hybrid actuator CMG+RW.

The configuration of the hybrid actuator is affected by |S _a | _min , which guarantees that the value of |S _a | _min is inversely proportional to the angular momentum h ₀ of a single CMG rotor and the moment of inertia J _RW of a single RW.

和最大控制力矩u_max之间的关系曲面显化图，并具有以下结论：As shown in Figure 2-4, taking the hybrid actuator of the 4-CMG pyramid configuration CMG system and the 3-RW orthogonal configuration RW system as an example, let the moment of inertia of each RW be J _RW =0.005kg· m ² , the surface display diagrams of the CMG+RW configuration and configuration relationship of the hybrid actuator for the single-channel high-torque output case, the two-channel high-torque output case and the three-channel high-torque output case are obtained respectively, that is, the angular momentum of the CMG rotor h ₀ , the normalized minimum of the system singular metric function

and the maximum control moment u _max is a graphical representation of the relationship surface, and has the following conclusions:

时，能无误差输出的最大控制力矩为u_max＝1.2091Nm；(1) In the case of single-channel high torque output, when h ₀ =1Nms and

When , the maximum control torque that can be output without error is u _max =1.2091Nm;

时，能无误差输出的最大控制力矩为u_max＝0.8526Nm，(2) In the case of dual-channel high torque output, when h ₀ =1Nms and

, the maximum control torque that can be output without error is u _max =0.8526Nm,

时，能无误差输出的最大控制力矩为u_max＝0.7003Nm；(3) In the case of three-channel high torque output, when h ₀ =1Nms and

When , the maximum control torque that can be output without error is u _max = 0.7003Nm;

(4) When the angular momentum h ₀ of the CMG rotor or the minimum value S _a,min of the system singular metric function increases, the maximum control torque u _max that the hybrid actuator CMG+RW can ensure error-free output is larger;

(5) Under the same angular momentum h ₀ of the CMG rotor, the minimum value of the system singular metric function S _a,min and the RW moment of inertia J _RW , the maximum output torque of the single-channel high-torque output is larger than that of the dual-channel high-torque output The maximum output torque of the two-channel high-torque output situation is greater than the maximum output torque of the three-channel high-torque output situation.

To sum up, a method for optimizing the configuration configuration of the hybrid actuator based on the TU cooperative game manipulation law of the present invention provides a rule for configuring the configuration parameters of the hybrid actuator CMG+RW under the premise that the CMG does not fall into a singular state. , that is, configure the parameters of the hybrid actuator CMG+RW according to the maximum control torque required by the design, including the angular momentum of the CMG rotor and the maximum value of the frame angular velocity, the RW moment of inertia and the maximum value of the angular acceleration, so that the hybrid actuator CMG+RW It can perfectly output the control torque without output error, so as to ensure the high-precision completion of the spacecraft attitude control task, and select the parameters of the optimal hybrid actuator CMG+RW. For the first time, the invention adopts the configuration optimization of the hybrid actuator CMG+RW according to the specific design requirements, so as to ensure that the hybrid actuator CMG+RW can output the control torque without error, and reduce the mass and volume of the hybrid actuator as much as possible. and energy consumption, which is conducive to the miniaturization and lightening of the spacecraft, and is conducive to increasing the payload on the satellite.

Claims (8)

1. a hybrid executive body configuration configuration optimization method based on TU cooperative game manipulation law, is characterized in that, comprises the following steps: (1) Select the configuration and manipulation law of the hybrid actuator CMG+RW; (2) Determine the maximum frame angular velocity of the optional CMG

and the maximum angular acceleration of the optional RW

(3) According to the requirements of the spacecraft attitude maneuvering task, obtain the control torque requirements and obtain the maximum control torque; (4) If u _x,max >>u _y,max and u _x,max >>u _z,max , or, u _y,max >>u _x,max and u _y,max >>u _z,max , Or, u _z,max ＞＞u _x,max and u _z,max ＞＞u _y,max , in the case of single-channel large torque, go to step (5); if u _x,max ≈u _y,max ＞＞u _z,max , or u _y,max ≈u _z,max ＞＞u _x,max , or u _x,max ≈u _z,max ＞＞u _y,max , for the case of dual-channel large torque output, go to step (6 ); if u _x,max ≈u _z,max ≈u _y,max , it is a three-channel high-torque output situation, and go to step (7); (5) Match the angular momentum of the CMG rotor and the moment of inertia of the RW according to the single-channel high torque output; (6) Match the CMG rotor angular momentum and the RW moment of inertia according to the dual-channel high torque output; (7) Match the angular momentum of the CMG rotor and the moment of inertia of the RW according to the three-channel high-torque output; (8) Select the hybrid actuator according to the angular momentum h ₀ of the single CMG rotor obtained by matching and the moment of inertia J _RW of the single RW. 2. a kind of hybrid actuator configuration configuration optimization method based on TU cooperative game manipulation law according to claim 1, is characterized in that, in step (1), the configuration of hybrid actuator CMG+RW comprises M control torques Gyro CMG and N reaction flywheels RW, and the TU cooperative game manipulation law is selected as the hybrid actuator manipulation law. 3. a kind of hybrid actuator configuration configuration optimization method based on TU cooperative game manipulation law according to claim 1, is characterized in that, in step (3), control torque requirement, comprises the maximum control of x, y and z channel moment u _x,max , u _y,max and u _z,max , and take the maximum moment value as: u _max =max(u _x,max ,u _y,max ,u _z,max ). 4. a kind of hybrid actuator configuration optimization method based on TU cooperative game manipulation law according to claim 1, is characterized in that, in step (5), single-channel large moment situation matches hybrid actuator according to following formula, single The magnitude of the angular momentum h ₀ of the CMG rotor and the moment of inertia J _{RW of a single RW} should satisfy:

u _max,CMG =u _max,RW =u _max ; Among them, _{Sa is the system singularity metric function, |S a | min} is the minimum value of the absolute value of Sa, _{u max,CMG} and u _max,RW are the output performance based on CMG and the output performance based on RW, respectively,

and

are the x-channel function, y-channel function and z-channel function of the kth CMG, respectively,

and

are the x channel function, the y channel function and the z channel function of the kth RW, respectively, and go to step (8). 5. a kind of hybrid actuator configuration configuration optimization method based on TU cooperative game manipulation law according to claim 1, is characterized in that, in step (6), dual-channel large torque output situation matches hybrid actuator according to the following formula, The angular momentum h ₀ of a single CMG rotor and the moment of inertia J _{RW of a single RW} should satisfy:

u _max,CMG =u _max,RW =u _max ; Among them, _{Sa is the system singularity metric function, |S a | min} is the minimum value of the absolute value of Sa, _{u max,CMG} and u _max,RW are the output performance based on CMG and the output performance based on RW, respectively,

and

are the x-channel function, y-channel function and z-channel function of the kth CMG, respectively,

and

are the x channel function, the y channel function and the z channel function of the kth RW, respectively, and go to step (8). 6. a kind of hybrid actuator configuration optimization method based on TU cooperative game manipulation law according to claim 1, is characterized in that, in step (7), three-channel large torque output situation matches hybrid actuator according to the following formula, The angular momentum h ₀ of a single CMG rotor and the moment of inertia J _{RW of a single RW} should satisfy:

u _max,CMG =u _max,RW =u _max ; Among them, _{Sa is the system singularity metric function, |S a | min} is the minimum value of the absolute value of Sa, _{u max,CMG} and u _max,RW are the output performance based on CMG and the output performance based on RW, respectively,

and

are the x-channel function, y-channel function and z-channel function of the kth CMG, respectively,

and

are the x channel function, the y channel function and the z channel function of the kth RW, respectively, and go to step (8). 7. a kind of hybrid actuator configuration configuration optimization method based on TU cooperative game manipulation law according to claim 1, is characterized in that, in step (8), when the matched hybrid actuator CMG+RW can satisfy the task requirement , the maximum angular velocity of the CMG frame

and RW maximum angular acceleration

and the maximum control torque u _max satisfies the following set of inequalities:

in,

and

are the x-channel function, y-channel function and z-channel function of the kth CMG, respectively,

and

are the x-channel function, y-channel function and z-channel function of the kth RW, respectively, u _max is the maximum torque value, |S _a | _min is the minimum value of the absolute value of the system singularity metric function of the hybrid actuator CMG+RW. 8. The method for optimizing the configuration and configuration of a hybrid actuator based on a TU cooperative game manipulation law according to claim 1, wherein in step (8), the configuration configuration of the hybrid actuator is subject to the control of the hybrid actuator CMG+RW. The minimum value of the absolute value of the system singularity metric function |S _a | _min influences, ensuring that the |S _a | _min value is inversely proportional to the angular momentum size h ₀ of a single CMG rotor and the moment of inertia J _RW of a single RW.

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