CN100493993C - Self-independent orbit transfer method for satellite - Google Patents
Self-independent orbit transfer method for satellite Download PDFInfo
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- CN100493993C CN100493993C CNB2007103015884A CN200710301588A CN100493993C CN 100493993 C CN100493993 C CN 100493993C CN B2007103015884 A CNB2007103015884 A CN B2007103015884A CN 200710301588 A CN200710301588 A CN 200710301588A CN 100493993 C CN100493993 C CN 100493993C
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Abstract
The invention relates to an independent orbital transfer of a satellite, comprising (1) star capture step, in which before the satellite establishes orbit-controlled ignition attitude, inertia attitude of the satellite is pre-estimated and satellite attitude is controlled; zero offset of gyro drift and an accelerometer is marked; (2) inertia attitude regulation step, used for establishing the orbit-controlled ignition attitude of the satellite, realizing maneuver of the satellite attitude, pre-estimating the inertia attitude of the satellite and a jet control is used for controlling the satellite attitude; (3) star orientation step, in which after the satellite establishes the orbit-controlled ignition attitude, a stable state control is carried out and a star sensor is used for filtering and correcting the satellite attitude; and (4) orbit-controlled orientation step, in which starting and shutdown control is carried out for a rail-controlled engine; the ignition attitude of the satellite is determined and attitude stable control is carried out in the period of the ignition. The invention solves the problem that spacecraft such as a deep space exploitation satellite transfers orbit, and ensures that the orbital transfer can be completed accurately and reliably.
Description
Technical field
The present invention relates to the autonomous orbit changing method of a kind of spacecraft, be applicable to spacecrafts such as survey of deep space satellite accurately from the main transformer rail.
Background technology
It is more that satellite independently implements to become the method for rail.The change rail generally moves over the ground under the attitude normally and carries out in the wherein middle low orbit absolute orientation satellite, orbit changing method is fairly simple, by the switching on and shutting down time that orbit maneuver engine is injected on ground, realize the switching on and shutting down operation of driving engine on the star according to the time, can realize satellite orbit control.Do not relate to the too much stage such as attitude maneuver and attitude adjustment or the conversion in stage, but in the survey of deep space satellite, in the orbit changing method of low-orbit satellite no longer suitable, need to solve that the attitude that becomes before and after the rail is determined and complicated process such as control, just can reliably become rail.
The ground control mode of many employings in the fixed point transfer orbital control of satellite, transfer firing attitude by the Ground Control satellite to from cruise attitude (satellite+X-axis to directed attitude of day), utilizing the data of infrared earth sensor and sun sensor to carry out attitude in the control determines, satellite attitude in its rail control process determines that precision is not high, influences rail control precision.This method needs ground to carry out a large amount of control to calculate, and terrestrial operation is comparatively complicated, and the switching on and shutting down of rail control engine operation also finished by ground, and the transmission link time-delay of surface instruction etc. also can be influential to rail control precision.Thereby influence the uniqueness (in time, accurately implementing track control) of rail control window.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, proposed the attitude of independently carrying out on a kind of star and determined, attitude maneuver and from the autonomous orbit changing method of backbone control.Solve the change rail problem of survey of deep space satellite, guarantee to have become rail accurately, reliably, automatically finish.
Technical solution of the present invention: a kind of autonomous orbit changing method of satellite is characterized in that comprising:
(1) fixed star is caught: before satellite is set up rail control firing attitude, estimate the inertia attitude of satellite, carry out satellite attitude control, utilize star sensor information to demarcate gyro wander, utilize the telemetry data of accelerometer to demarcate the accelerometer zero offset;
(2) inertia posture adjustment: when the program time that is provided with then, the fixed star acquisition phase changes the inertia posture adjustment stage automatically over to, be used to set up satellite rail control firing attitude, the realization satellite attitude is motor-driven, utilize the gyro wander of demarcating in the take off data of gyro and the fixed star acquisition procedure to estimate satellite inertia attitude, utilize jet control to carry out satellite attitude control;
(3) fixed star orientation: when the program time that is provided with then, the inertia posture adjustment stage changes the directed stage of fixed star automatically over to, carries out Steady-State Control after satellite is set up rail control firing attitude, utilizes star sensor that satellite attitude is carried out the filtering correction;
(4) rail control orientation: when the program time that is provided with then, the directed stage of fixed star changes the directed stage of rail control automatically over to, carries out the control of rail control engine open and close machine, determines the firing attitude of satellite, and carries out the attitude stabilization control between burn period.
The program time of the setting described in step (1), step (2) and the step (3) is meant the on time of at first determining the rail control engine, i.e. the point of ignition of satellite orbit control, and from then on the time begins to calculate the time opening that becomes rail new field of technical activity in each stage forward; Attitude capability for correcting according to the directed stage attitude filtering correction algorithm of fixed star, can determine the time opening of fixed star orientation, the time in directed stage of fixed star to guarantee correction algorithm with satellite in inertia posture adjustment process because the attitude misalignment that gyro wander causes is adapted to becomes in the scope that rail requires; From the time opening of fixed star orientation, according to the ability of satellite inertia posture adjustment and the scope of needs posture adjustment, retrodicting is provided with the zero hour of inertia posture adjustment; At the fixed star acquisition phase, need to demarcate the zero offset of gyro wander and accelerometer, need 1 hour at least, according to this time demand, can before beginning constantly, the inertia posture adjustment push away the time opening that fixed star is caught.
The present invention's advantage compared with prior art is:
(1) of the present invention from the main transformer rail adopt that fixed star is caught, inertia posture adjustment, fixed star orientation and the combination of rail control oriented phase, realized the accurate change rail of survey of deep space satellite.
(2) the Autonomous Control flow process by program time control is adopted in transfer orbital control of the present invention, simplifies the terrestrial operation flow process that becomes in the rail process, has improved change rail reliability and degree of automation.
(3) the present invention has adopted in rail control engine ignition process based on the PID and the filtering of pulse duration modulation (PWM) and has proofreaied and correct jet attitude control, has suppressed the flexible vibration of liquid sloshing and solar array, has guaranteed the stability of rail control.
(4) the inventive method is reliable.Can be widely used in the track control of all kinds satellite.Be specially adapted to the track control of the spacecraft of key point or unique window change rail requirement.
Description of drawings
Fig. 1 is an autonomous orbit changing method diagram of circuit of the present invention;
Fig. 2 proofreaies and correct the schematic diagram of jet attitude control for the PID and the filtering that the present invention is based on pulse duration modulation (PWM);
Fig. 3 is PID of the present invention and filter correction link scheme drawing;
Fig. 4 often is worth input equivalent relation scheme drawing for PWM of the present invention;
Fig. 5 is a rail control engine double insurance closedown method scheme drawing of the present invention.
The specific embodiment
Autonomous orbit changing method of the present invention comprises that becoming rail prepares and two stages of transfer orbital control.Become the rail new field of technical activity from the fixed star acquisition phase, can enter the directed stage of inertia posture adjustment and fixed star successively according to the control of program time on the star, enter the transfer orbital control stage at last, i.e. rail control orientation is independently finished rail control task, need not the ground intervening surface.
Specific implementation method of the present invention is as follows:
The autonomous orbit changing method that the present invention adopts comprises that becoming rail prepares and two stages of transfer orbital control.Become wherein that rail prepares to comprise that fixed star is caught, inertia posture adjustment, directed stage of fixed star, transfer orbital control is the directed stage of rail control.Flow path switch between above steps is referring to Fig. 1.Except that the fixed star acquisition phase needs Ground Control changes over to, the autonomous switch condition in all the other each stages adopts the program time mode, and promptly the time opening in stage of She Dinging arrives, and Control Software Autonomous Control satellite changes the corresponding work stage over to.
The fixed star acquisition phase used before satellite is set up rail control firing attitude.Mainly carry out accurate attitude and determine, demarcate gyro wander and accelerometer zero offset.Adopt gyro to estimate the inertia attitude of determining satellite with the method for star sensor filtering correction, adopt jet phase plane and momentum wheel to jointly control satellite attitude.This stage is changed over to by Ground Control under the normal circumstances.When rail control segment fault, can independently enter by the rate damping stage.Program time arrives, and independently changes the inertia posture adjustment stage over to.
The function in inertia posture adjustment stage is for realizing satellite wide-angle attitude maneuver.Be mainly used in and become the rail new field of technical activity and set up the satellite firing attitude.This stage utilizes the gyro wander of demarcating in the take off data of gyro and the fixed star acquisition procedure to estimate satellite inertia attitude.Use the jet control law of phase plane to carry out attitude control.At this moment, momentum wheel keeps nominal speed, does not participate in attitude control.This stage is independently changed over to according to program time by the fixed star acquisition phase.Program time is to independently producing to the directed stage of fixed star.
The directed stage of fixed star is mainly used in satellite and sets up rail control firing attitude Steady-State Control afterwards, utilizes star sensor that satellite attitude is carried out the filtering correction, but the gyro wander of demarcating is not revised.Independently enter according to program time by the inertia posture adjustment stage.Program time arrives, and independently produces the directed stage of rail control.
The directed stage of rail control is used for the attitude stabilization control between control of rail control engine open and close machine and burn period.The disturbance torque of considering the igniting of rail control engine is big, may excite liquid propellant sloshing and solar array flexible vibration, has designed based on the PID and the filtering of pulse duration modulation (PWM) and has proofreaied and correct jet attitude control.This stage momentum wheel keeps nominal speed.Rail control start takes to inject in advance the autonomous program control igniting of on time, and the control method of velocity increment and time double insurance shutdown is adopted in rail control shutdown, as shown in Figure 5.This stage was independently changed over to according to program time by the directed stage of fixed star, independently produced after the rail control shutdown.
The control principle of proofreading and correct jet attitude control based on the PID of pulse duration modulation (PWM) and filtering as shown in Figure 2.PID and correcting filter as shown in Figure 3, input is satellite attitude angle (U
p) and attitude angular velocity (U
d) the measurement estimated valve.Be output as the controlling quantity that satellite needs.The equivalent relation of pulse duration modulation (PWM) as shown in Figure 4.H1 wherein, H2 is the modulator control parameter, and input is the controlling quantity that PID and filtering correction link calculate, and output is the pulse width signal of thruster.Pulse width modulation algorithm is:
Wherein W=Y is the input of modulator, i.e. the needed controlling quantity of satellite, W
cBe the output signal of modulator, with this signal W
CBe added to accumulative total point of ignition P
WIIn, can generate the pulse width signal of thruster.
PWI＝PWI-W
c·Δt·sgn(Y)
PW＝PWI
PWI＝PWI-PW
T
j＝|PW|
Wherein: Δ t is a control cycle, and sgn () is a symbolic function, T
jControl pulsewidth for thruster; PW is for calculating the jet pulsewidth that derives; PWI is remaining jet amount, and initial value is zero.
Rail control velocity increment and time double insurance shutdown control method are meant, in rail control engine shutdown a time interval is set around the nominal time, the interval rail control engine of forbidding before shuts down at this moment, the interval rail control engine of forcing afterwards shuts down at this moment, within the interval, then adopt the velocity increment of accelerometer measures to carry out the shutdown control of rail control engine at this moment.As shown in Figure 5.t
Fireon, t
oBe respectively rail control engine nominal switching on and shutting down constantly.t
1For forbidding the unused time (being the starting point in time interval), t
2Be forced shutdown time (being the terminal point in time interval).
Shutdown period interval [t
1, t
2] moment method to set up of two end points is, the rail control engine switching on and shutting down moment definite according to satellite rail control strategy, calculate the on time length of the control engine nominal of overstepping the limit, calculate interval two end points of the control unused time of overstepping the limit then with respect to rail control engine start relative time length constantly, the final moment of determining interval two end points of shutdown.Concrete method of calculating is as follows:
Δt＝t
o-t
fireon
T
prohoff＝Δt×(1-k)
T
fireoff＝Δt×(1+k)
t
1＝t
fireon+T
prohoff
t
2＝t
fireon+T
fireoff
Wherein, k is the length factor of time interval, k=0.02-0.1, and k can amplify or dwindles according to the requirement of rail control precision.
Engine cutoff control within the time interval, adopt the method for velocity increment shutdown, export according to satellite accelerations instrumentation amount, calculate the acceleration/accel of Satellite Orbit Maneuver process, deduct after the accelerometer zero offset that the fixed star acquisition phase is demarcated, after the start of rail control engine, add up, after waiting to be accumulated to the velocity increment of rail control needs, shut the rail control engine, finish the rail control.
Rail control ignition process medium velocity incremental computations method:
Wherein t is the time on the current star of satellite.A is an acceleration/accel, a
S0Be the accelerometer zero offset.
Program time between above-mentioned each stage adopts the following time to determine:
At first the point of ignition according to satellite orbit control begins to calculate the time opening that becomes rail new field of technical activity in each stage forward.According to the attitude capability for correcting of the directed stage attitude filtering correction algorithm of fixed star, can determine the time opening of fixed star orientation.The determining of this time should be able to guarantee correction algorithm with satellite in inertia posture adjustment process because the attitude misalignment that gyro wander causes is adapted to becomes in the scope that rail requires.From the time opening of fixed star orientation, according to the ability (size of posture adjustment cireular frequency) of satellite inertia posture adjustment and the scope that needs posture adjustment, retrodicting is provided with the zero hour of inertia posture adjustment.Owing to during the fixed star acquisition phase, need to demarcate the zero offset of gyro wander and accelerometer, generally need 1 hour at least.According to this time, can before beginning constantly, the inertia posture adjustment push away the time opening that fixed star is caught.
System described above is a kind of situation of the present invention, and those skilled in the art can carry out under the situation of the present invention variously augmenting, improving and change not departing from according to different requirements and design parameters, and therefore, the present invention is widely.
Claims (5)
1, a kind of autonomous orbit changing method of satellite is characterized in that comprising:
(1) fixed star is caught: before satellite is set up rail control firing attitude, estimate the inertia attitude of satellite, carry out satellite attitude control, utilize star sensor information to demarcate gyro wander, utilize the telemetry data of accelerometer to demarcate the accelerometer zero offset;
(2) inertia posture adjustment: when the program time that is provided with then, the fixed star acquisition phase changes the inertia posture adjustment stage automatically over to, be used to set up satellite rail control firing attitude, the realization satellite attitude is motor-driven, utilize the gyro wander of demarcating in the take off data of gyro and the fixed star acquisition procedure to estimate satellite inertia attitude, utilize jet control to carry out satellite attitude control;
(3) fixed star orientation: when the program time that is provided with then, the inertia posture adjustment stage changes the directed stage of fixed star automatically over to, carries out Steady-State Control after satellite is set up rail control firing attitude, utilizes star sensor that satellite attitude is carried out the filtering correction;
(4) rail control orientation: when the program time that is provided with then, the directed stage of fixed star changes the directed stage of rail control automatically over to, carries out the control of rail control engine open and close machine, determines the firing attitude of satellite, and carries out the attitude stabilization control between burn period.
2, the autonomous orbit changing method of a kind of satellite according to claim 1, it is characterized in that: the program time of the setting described in step (1), step (2) and the step (3) is meant the on time of at first determining the rail control engine, be the point of ignition of satellite orbit control, from then on the time begins to calculate the time opening that becomes rail new field of technical activity in each stage forward; Attitude capability for correcting according to the directed stage attitude filtering correction algorithm of fixed star, can determine the time opening of fixed star orientation, the time in directed stage of fixed star to guarantee correction algorithm with satellite in inertia posture adjustment process because the attitude misalignment that gyro wander causes is adapted to becomes in the scope that rail requires; From the time opening of fixed star orientation, according to the ability of satellite inertia posture adjustment and the scope of needs posture adjustment, retrodicting is provided with the zero hour of inertia posture adjustment; At the fixed star acquisition phase, need to demarcate the zero offset of gyro wander and accelerometer, need 1 hour at least, according to this time demand, can before beginning constantly, the inertia posture adjustment push away the time opening that fixed star is caught.
3, the autonomous orbit changing method of a kind of satellite according to claim 1 is characterized in that: carry out satellite attitude control in the described step (1) and adopt the method that phase plane is jet and momentum wheel jointly controls.
4, the autonomous orbit changing method of a kind of satellite according to claim 1 is characterized in that: the jet control method of proofreading and correct based on the proportional plus integral plus derivative controller PID and the filtering of pulse-width modulation PWM is adopted in the attitude stabilization control in the described step (4) during the igniting.
5, the autonomous orbit changing method of a kind of satellite according to claim 1, it is characterized in that: the start of rail control engine takes to inject in advance the autonomous program control igniting of on time in the described step (4), the control method of velocity increment and time double insurance shutdown is adopted in the shutdown of rail control engine, rail control velocity increment and time double insurance shutdown control method are meant, in rail control engine shutdown a time interval is set around the nominal time, the interval rail control engine of forbidding before shuts down at this moment, the interval rail control engine of forcing afterwards shuts down at this moment, within the interval, then adopt the velocity increment of accelerometer measures to carry out the shutdown control of rail control engine at this moment.
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| CNB2007103015884A CN100493993C (en) | 2007-12-26 | 2007-12-26 | Self-independent orbit transfer method for satellite |
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