针对以金字塔构型控制力矩陀螺(CMG)为执行机构的敏捷小卫星开展了先进机动控制算法的研究。在考虑控制力矩陀螺力矩约束及增量约束情况下,设计了基于非线性模型预测控制(NMPC)方法的卫星姿态快速机动控制律及操纵律。通过多种仿真分析了控制器设计参数变化对卫星姿态机动的影响,并与终端滑模控制方法进行了比较。实验结果表明,增大跟踪性能加权矩阵或延长预测时域均可以提高卫星姿态机动速度,缩短卫星姿态机动时间。设计的控制方法能够使卫星姿态在18s内实现40°的大角度快速机动,姿态指向精度和稳定度分别为0.01°和0.04(°)/s,与终端滑模控制方法相比,机动速度及稳态性均得到提高。本文方法为敏捷小卫星的在轨应用方式提供了理论支撑。 Research on advanced maneuvering control algorithm for agile miniature satellites with pyramid configuration control moment gyro (CMG) as the actuator. Considering the moment constraints and incremental constraints of control moment gyroscope, a fast maneuvering control law and control law of satellite attitude based on nonlinear model predictive control (NMPC) are designed. The influences of the controller design parameters on the maneuvering attitude of the satellite are analyzed by a variety of simulations, and compared with the terminal sliding mode control method. The experimental results show that increasing the tracking performance weighted matrix or prolonging the prediction time domain can increase the maneuvering speed of the satellite attitude and shorten the satellite attitude maneuvering time. The designed control method can make the attitude of the satellite realize the large-angle rapid maneuver of 40 ° in 18 s, the attitude pointing accuracy and stability are 0.01 ° and 0.04 ° / s respectively. Compared with the terminal sliding mode control method, the maneuvering speed and Steady state are improved. The proposed method provides theoretical support for in-orbit applications of agile small satellites.