CN106542120B - In conjunction with the satellite three-axis attitude control method of magnetic torquer when flywheel drive lacking - Google Patents
In conjunction with the satellite three-axis attitude control method of magnetic torquer when flywheel drive lacking Download PDFInfo
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- CN106542120B CN106542120B CN201610877412.2A CN201610877412A CN106542120B CN 106542120 B CN106542120 B CN 106542120B CN 201610877412 A CN201610877412 A CN 201610877412A CN 106542120 B CN106542120 B CN 106542120B
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000011159 matrix material Substances 0.000 claims abstract description 26
- 230000005358 geomagnetic field Effects 0.000 claims abstract description 4
- 230000007774 longterm Effects 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/32—Guiding or controlling apparatus, e.g. for attitude control using earth's magnetic field
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
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Abstract
It is in conjunction with the satellite three-axis attitude control method of magnetic torquer, step when flywheel drive lacking：(1) the geomagnetic field intensity vector B obtained according to magnetometer survey determines magnetic control matrix Γ (b), and can use situation according to actual flywheel, determines that flywheel controls matrix Kw；(2) three-axis attitude control magnetic current-order I is calculatedzk=Kic*Mzk；(3) three axis magnetic dumpings magnetic current-order I is calculatedxz=Kic*Mxz；(4) it calculates magnetic torquer and instructs Ick=Izk+Ixz；While magnetic torquer instructs progress gesture stability according to magnetic torquer, available counteraction flyback continues torque T based on instructioncCarry out gesture stability.The method of the present invention is when system is only left arbitrary two or even a flywheel is available, satellite three-axis attitude high-precision control is realized in conjunction with three-axis magnetorquer, suitable for the control of long-term absolute orientation or long-term Direct to the sun control, it is also applied for satellite any attitude Large angle maneuver control.
Description
Technical field
The invention belongs to Spacecraft Attitude Control fields, are related to satellite three-axis attitude controlling party when a kind of flywheel drive lacking
Method.
Background technology
Modern Small Satellites do not carry gas ejecting system generally, counteraction flyback become moonlet high-performance pose stabilization control and
The main executing agency of large angle attitude control.When the average value for the disturbance torque that satellite is subject to is not zero, flywheel
Angular momentum can accumulate at any time, eventually lead to Speed of Reaction Wheels saturation.Therefore Modern Small Satellites also need configuration magnetic torquer to realize winged
Wheel unloading.I.e. generally use counteraction flyback carries out gesture stability, using magnetic torquer cooperation flywheel work, completes flywheel and unloads
It carries.
Previous satellite attitude control system, to meet lifetime of system and reliability requirement, usually configuration four or four
Above counteraction flyback is designed by each flywheel installation direction, and when any one flywheel failure, system still has three or more
Flywheel is available, remains to complete three-axis attitude (rolling, pitching, yaw-position) control task.But for Modern Small Satellites attitude control system
System, to meet power consumption, quality and the limitation of cost, usually only only a few critical component realizes hardware redundancy, needs by event
Software processing means under barrier pattern improve the reliability of system, extend task service life.For this purpose, its posture control system is usually only matched
Three counteraction flybacks are set, are mounted on celestial body main shaft with orthogonal manner, no hardware backup, as shown in Figure 1.When any one or
When arbitrary two flywheels break down, fly wheel system will be unable to provide three-axis attitude control moment, therefore attitude control system is moved back
Typical flywheel underactuated control system (control input number is less than degree of freedom in system number) is turned to, no longer has three-axis attitude
Control ability.Only it is 2 dimensions, to be extended to 3 in addition, since magnetic control torque is always in the plane of vertical magnetic field unit vector b
Control moment is tieed up, flywheel or thruster need to be introduced.Therefore in the case of fly wheel system drive lacking, it must combine residue that can use flywheel
Jointly controlled with magnetic torquer, could realize that three-axis attitude controls.
Invention content
Present invention solves the technical problem that being：It is combined when having overcome the deficiencies of the prior art and provide a kind of flywheel drive lacking
The satellite three-axis attitude control method of magnetic torquer is remained to when system is only left arbitrary two or even a flywheel is available
The high-precision control of satellite three-axis attitude is realized in conjunction with three-axis magnetorquer.
Technical solution of the invention is：In conjunction with the satellite three-axis attitude controlling party of magnetic torquer when flywheel drive lacking
Method includes the following steps：
(1) the geomagnetic field intensity vector B obtained according to magnetometer survey determines magnetic control matrix Γ (b), and according to actual
Flywheel can use situation, determine that flywheel controls matrix Kw,
Wherein,When i axis flywheels are available, ki=1, it is no
Then when i axis flywheel failures, ki=0, i=x, y, z；
(2) three-axis attitude control magnetic current-order I is calculatedzk=Kic*Mzk, wherein kicFor magnetic torquer magnetic moment and electric current
Conversion coefficient, Mzk=B × Λ-1(b)Tc/||B||2, Λ (b)=Γ (b)+Kw, TcThree axis provided for flywheel gesture stability algorithm
Control moment instructs；
(3) three axis magnetic dumpings magnetic current-order I is calculatedxz=Kic*Mxz, wherein Mxz=-Ku(B×Δh)/||B||2, Δ
H is the difference of current flywheel angular momentum and unloading target angular momentum, KuFor magnetic dumping coefficient matrix
Kux、Kuy、KuzRespectively three axis magnetic dumping coefficient of satellite；
(4) it calculates magnetic torquer and instructs Ick=Izk+Ixz, IckIt is three axis magnetic force away from device magnetic controlled current；Magnetic torquer according to
While magnetic torquer instruction carries out gesture stability, available counteraction flyback continues torque T based on instructioncCarry out posture control
System.
Magnetic torquer is instructed according to magnetic torquer maximum drive current range in the step (4) and is carried out at amplitude limit
Reason, namely
Wherein ImaxFor separate unit magnetic torquer maximum operating currenbt.
The advantages of the present invention over the prior art are that：The prior art is matched by counteraction flyback standalone hardware redundancy
It sets, to improve the reliability of system.The present invention can carry out satellite three-axis attitude control by residue with flywheel combination magnetic torquer,
I.e. in the case of no flywheel hardware backup, the reliability of system is improved by software processing means.The method of the present invention with fly
Attitude control method when wheel is all normal is compared, it is only necessary to change (the wheel control matrix K of constant parameter at onew), without control
The switching of molding formula and control algolithm is easy to Project Realization because the method is succinct.Correspondingly, the method for the present invention is normal in flywheel
When with flywheel exception, control mode switch need not be carried out, it is only necessary to the available flag of corresponding flywheel is provided in flywheel exception
?；This method is equally applicable to the case where counteraction flyback all works normally, and the geomagnetic torque generated at this time will be with flywheel
Based on unloading effect, without being had an impact to gesture stability.
Description of the drawings
Fig. 1 is that typical flywheel installs configuration schematic diagram；
Fig. 2 is that typical magnetic torquer installs configuration schematic diagram；
Fig. 3 is the flow diagram of the method for the present invention.
Specific implementation mode
The method of the present invention can use situation and current geomagnetic fieldvector according to actual flywheel, by defining magnetic control matrix Γ
(b) and wheel controls matrix Kw, it is calculated and instructs magnetic moment for three axis of gesture stability.By the magnetic current-order for gesture stability
With the magnetic current-order summation for magnetic dumping, you can obtain final magnetoelectricity flow control instructions, at the same time, available flywheel
Continue to execute the control instruction that respective wheel control algorithm provides.
Specifically by taking the installation configuration of the common flywheel and magnetic torquer of attached drawing 1 and attached drawing 2 as an example, system configures three flywheels altogether
With three magnetic torquers, three flywheels are respectively along the orthogonal installation of tri- main shafts of body coordinate system ObXbYbZb, three magnetic torquers
It is respectively parallel to the orthogonal installation of tri- main shafts of body coordinate system ObXbYbZb.ObXb corresponds to the axis of rolling, ObYb corresponds to pitch axis,
ObZb corresponds to yaw axis.
As shown in figure 3, for the flow chart of the method for the present invention.The specific steps that the present invention uses：The first step is according to earth's magnetic field
Vector operation magnetic control matrix Γ (b)；And situation, setting wheel control matrix K can be used according to actual flywheeli；Second step combination posture
Control instruction torque TcGesture stability magnetic current-order I is obtained with magnetic control matrix Γ (b)zk；Third step design flywheel magnetic dumping is calculated
Method obtains unloading magnetic current-order Ixz；4th step passes through magnetic dumping current-order IxzWith gesture stability magnetic current-order IzkIt obtains
Final magnetic torquer output (magnetoelectricity stream) instructs Ick, while magnetic torquer carries out gesture stability, available reaction flies
Wheel continues to execute gesture stability instruction torque Tc.Specifically：
(1) magnetic control matrix is calculated
The unit vector b of geomagnetic fieldvector is calculated first
Wherein B is the geomagnetic field intensity vector that magnetometer survey obtains, the component B=at satellite body system ObXbYbZb
[Bx By Bz], unit tesla；
Calculate magnetic control matrix Γ (b)
Wherein b×Indicate the multiplication cross matrix of unit of magnetic field strength vector
According to flywheel failure (available) situation, determine that flywheel controls matrix Kw
Wherein kx、ky、kzThe respectively available flag of Xb axis, Yb axis, Zb axis flywheels；When i (i=x or y or z) axis flywheel can
Used time, ki=1, otherwise when i axis flywheel failures, take ki=0；Specific flywheel can use situation, can be examined according to in-orbit flywheel failure
Note result determines in disconnected result or ground.
Magnetic control matrix characterizes the relationship between gesture stability instruction torque and magnetic torquer actual output torque；Wheel control square
Battle array characterizes the available situation of each main shaft flywheel, can adapt to the case where only remaining flywheel of system can be used.
By taking the axis of rolling (one ObXb axis of attached drawing) flywheel failure as an example, flywheel controls matrix KwFor：
It should be noted that when any one or two flywheels of system spare are available, algorithm is still valid；But when system flies
When wheel all fails, algorithm is unavailable.
(2) three-axis attitude control magnetic current-order is calculated
First calculate combination control matrix Λ (b), combination control matrix Λ (b) characterize flywheel and magnetic torquer composition
Executive capability of the execution system to instruction torque.
Λ (b)=Γ (b)+Kw
The instruction magnetic moment M for gesture stability can be calculated in turnzk
Mzk=B × Λ-1(b)Tc/||B||2
Wherein TcFor the three axis control moments instruction that general flywheel gesture stability algorithm provides, WIE B are specifically referred to,
WEISS H,ARAPOSTATHIS A.Quaternion feedback regulator for spacecraft eigenaxis
rotations[J].Journal of Guidance,Control and Dynamics,1989,12(3):375-380。
And then instruction current I of the three-axis magnetorquer for gesture stability can be calculatedzk
Izk=Kic*Mzk
Wherein kicFor magnetic torquer magnetic moment and electric current conversion coefficient.Maximum functional electricity is corresponded to maximum output magnetic moment 20Am2
For the magnetic torquer for flowing 80mA, Kic=80/20.
Introduce the inverse of combinatorial matrix (magnetic control matrix+wheel control matrix), it is ensured that the reality of flywheel+magnetic torquer combination is defeated
Gesture stability instruction torque can be tracked to greatest extent by going out torque.
(3) three axis flywheels unloading magnetic current-order is calculated
Magnetic dumping control algolithm can realize the momentum management to counteraction flyback, pass through celestial body angular momentum exchange so that
Flywheel is operated near desired center rotating speed.
Mxz=-Ku(B×Δh)/||B||2
Wherein MxzIt is current flywheel angular momentum and this unloading target angular momentum to instruct magnetic moment, Δ h for three axis magnetic dumpings
Difference, when target angular momentum is 0, Δ h is the current angular momentum Δ h=[h of three axis flywheelsx hy hz]；KuFor magnetic dumping coefficient
Matrix, when magnetic field unit is Gs, generally desirable Kux=Kuy=Kuz=10；
And then instruction current I of the three-axis magnetorquer for flywheel unloading can be calculatedxz
Ixz=Kic*Mxz。
(4) magnetic torquer instruction (magnetoelectricity stream) is calculated
Ick=Izk+Ixz
IckIt is three axis magnetic force away from device magnetic controlled current, unit mA；When practical application, according to magnetic torquer maximum drive current model
It encloses and amplitude limiting processing is carried out to instruction magnetoelectricity stream.
Wherein ImaxFor separate unit magnetic torquer maximum operating currenbt.
I.e. final magnetic torquer output (magnetoelectricity stream) instructs IckDirectly by gesture stability magnetic current-order IzkAnd magnetic dumping
Current-order IxzSummation obtains.
While magnetic torquer carries out gesture stability, available counteraction flyback continues torque T based on instructioncCarry out appearance
State controls.
In the case where counteraction flyback all works normally, this method is still valid；The earth magnetism that magnetic torquer generates at this time
Based on torque will be acted on flywheel unloading, without being significantly affected to gesture stability generation.
It should be noted that magnetic torquer gesture stability algorithm is in the case where geomagnetic fieldvector is parallel with flywheel failure axis
It will appear unusual, attitude control error caused to become larger；But inclined plane satellite is not deposited during satellite absolute orientation
At the geomagnetic fieldvector situation parallel with failure axis (two axis of no magnetic field simultaneously zero passage), therefore flywheel+magnetic control of the present invention
Method is suitable for the long-term three axis absolute orientation control of inclined plane satellite or long-term Direct to the sun control, while in motor-driven angular speed
In the case of of less demanding, it is also applied for satellite any attitude Large angle maneuver control.
The content that description in the present invention is not described in detail belongs to the known technology of those skilled in the art.
Claims (2)
1. in conjunction with the satellite three-axis attitude control method of magnetic torquer when flywheel drive lacking, it is characterised in that include the following steps：
(1) the geomagnetic field intensity vector B obtained according to magnetometer survey determines magnetic control matrix Γ (b), and according to actual flywheel
Situation can be used, determines that flywheel controls matrix Kw,
Wherein,When i axis flywheels are available, ki=1, otherwise when
When i axis flywheel failures, ki=0, i=x, y, z；
(2) three-axis attitude control magnetic current-order I is calculatedzk=Kic*Mzk, wherein KicIt is converted for magnetic torquer magnetic moment and electric current
Coefficient, Mzk=B × Λ-1(b)Tc/||B||2, Λ (b)=Γ (b)+Kw, TcThe three axis control provided for flywheel gesture stability algorithm
Torque command；
(3) three axis magnetic dumpings magnetic current-order I is calculatedxz=Kic*Mxz, wherein Mxz=-Ku(B×Δh)/||B||2, Δ h is to work as
The difference of preceding flywheel angular momentum and unloading target angular momentum, KuFor magnetic dumping coefficient matrix
Kux、Kuy、KuzRespectively three axis magnetic dumping coefficient of satellite；
(4) magnetic torquer magnetic controlled current I is calculatedck=Izk+Ixz, in magnetic torquer posture is carried out according to magnetic torquer magnetic controlled current
While control, available counteraction flyback continues to be based on torque command TcCarry out gesture stability.
2. special in conjunction with the satellite three-axis attitude control method of magnetic torquer when flywheel drive lacking according to claim 1
Sign is：Amplitude limit is carried out to magnetic torquer magnetic controlled current according to magnetic torquer maximum drive current range in the step (4)
Processing, namely
Wherein ImaxFor separate unit magnetic torquer maximum drive current.
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| EP3702289A1 (en) * | 2019-03-01 | 2020-09-02 | Centre National d'Etudes Spatiales | Method for controlling the attitude of a satellite in low orbit |
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| CN109649693B (en) * | 2019-01-21 | 2021-12-14 | 上海微小卫星工程中心 | Pure magnetic control spinning sun-facing orientation method |
| CN109975880B (en) * | 2019-04-04 | 2021-07-27 | 哈尔滨工业大学 | Feature vector-based orientation method, device and system |
| CN110543181B (en) * | 2019-08-26 | 2022-08-30 | 北京电子工程总体研究所 | Under-actuated angle decoupling attitude control method and system |
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| DE3606636C1 (en) * | 1986-02-28 | 1987-11-05 | Messerschmitt Boelkow Blohm | Method for determining geomagnetic field components with reference to a satellite-fixed coordinate system |
| CN102880183B (en) * | 2012-10-15 | 2015-04-22 | 北京控制工程研究所 | Control moment gyro angular momentum management method for yawing maneuvering |
| CN104176275B (en) * | 2014-07-16 | 2016-05-04 | 北京控制工程研究所 | A kind of rate damping method that uses momenttum wheel to combine with magnetic torquer |
| CN105644810B (en) * | 2016-02-05 | 2017-09-12 | 上海微小卫星工程中心 | A kind of opened loop control reaction wheel rotation speed change and discharging method |
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| EP3702289A1 (en) * | 2019-03-01 | 2020-09-02 | Centre National d'Etudes Spatiales | Method for controlling the attitude of a satellite in low orbit |
| FR3093326A1 (en) * | 2019-03-01 | 2020-09-04 | Centre National d'Études Spatiales | Method of controlling the attitude of a satellite in low orbit |
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