CN101833285A - Formation satellite attitude cooperative control simulating device and simulation verification method thereof - Google Patents
Formation satellite attitude cooperative control simulating device and simulation verification method thereof Download PDFInfo
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Abstract
The invention relates to a formation satellite attitude cooperative control simulating device and a simulation verification method thereof, which belong to the field of aerospace and aims and solve the problem that a traditional satellite attitude cooperative control problem only can be stopped on the level of mathematical simulation. The device comprises a basic platform unit, n air-floating rotary table systems, a camera positioning system and a ground control unit, and the simulation verification method which is carried out on the basis of the device comprises the following steps of: issuing a control instruction by a ground control computer according to a scheme and computing control torque by a PC104 simulation computer; designing a torque distribution method for a thruster, and carrying out simulation by an air-floating rotary table according to the set scheme; transmitting the information of a camera after photo taking to a photo processing computer to obtain angle information; acquiring the angular speed information by utilizing an optical fiber gyro; alternating the angle information per se and the angular speed information by each air-floating rotary table system through bluetooth; and receiving all the attitude information by the ground control computer, recording the attitude information in a data recording computer and verifying the correctness of the scheme.
Description
Technical field
The present invention relates to formation satellite attitude cooperative control simulating device and emulation verification method thereof, belong to aerospace field.
Background technology
The formation flight technology is the innovation means that the spacecraft development realizes system applies, usually the spacecraft formation flight be by physically disjunct, realize the space system that a plurality of spacecrafts of the same space task constitute jointly, be the certainty of 21 century space technology development.According to the mission requirements of formation satellite, require the formation satellite in whole duty cycle, to realize the consistent observed object of pointing to of attitude high precision, so attitude Collaborative Control technology become important technology of satellites formation.
The satellite control system physical simulation is distinctive a kind of emulation mode in the development satellite process, and it utilizes air floating table as motion simulator, also claims air floating table emulation.The satellite control system physical simulation adopts air floating table analog satellite body as controlling object, and control system adopts the satellite control system material object to carry out emulation.When spacecraft carries out physical simulation, will utilize air supporting to come important space environments such as simulated weightlessness or non-resistance on the ground.
For reducing the risk that new technology is brought for the high investment aerospace industry, before the attitude Collaborative Control algorithm practical application of reality, be the access control algorithm validity, improve the degree of confidence of emulation, the physical simulation checking is a link must carrying out.Simultaneously because domestic formation spacecrafts systematic research still is in the starting stage, physical simulation experiment exists analogue simulation equipment complexity, development capital to cross high reason simultaneously, and domestic formation spacecrafts system emulation gordian technique checking mostly adopts the mathematical simulation mode to carry out.Existing attitude of satellite Collaborative Control problem can only rest on the aspect of mathematical simulation.
Summary of the invention
The present invention seeks to provides a kind of formation satellite attitude cooperative control simulating device and emulation verification method thereof in order to solve the problem on the aspect that existing attitude of satellite Collaborative Control problem can only rest on mathematical simulation.
A kind of formation satellite attitude cooperative control simulating device of the present invention is made up of basic platform unit, a n air-float turntable system, camera positioning system and terrestrial contr, n 〉=2, wherein:
The basic platform unit comprises 1 polishing cast iron platform, and the polishing cast iron platform is used to carry n air-float turntable system;
The air-float turntable system, be used to receive the steering order of terrestrial contr, and finish simulating, verifying according to described steering order, be used for and terrestrial contr between by the wireless network interactive information, also be used for carrying out interactive information by Bluetooth wireless communication mode and other air-float turntable system
The air-float turntable system comprises 1 air-float turntable, disposes PC104 simulation computer, optical fibre gyro and thruster on the air-float turntable,
The PC104 simulation computer disposes n bluetooth module, a described n bluetooth module be used for and photo process computer and other air-float turntable system between information interaction,
Optical fibre gyro is used to measure the angle of air-float turntable,
8 nozzles that thruster is installed by " cruciform " symmetry constitute.
The camera positioning system comprises photo process computer and the camera that is installed in the wide visual field of polishing the cast iron platform sky, is used to obtain the angle information of each air-float turntable system of any time;
Terrestrial contr is made up of ground control computer and data recording calculating machine, is used to finish the exchanges data between user and the air-float turntable system, also is used to control the air-float turntable system and carries out simulating, verifying.
The emulation verification method that carries out based on above-mentioned formation satellite attitude cooperative control simulating device may further comprise the steps:
Step 1: ground control computer is assigned steering order according to attitude Collaborative Control scheme and is given PC104 simulation computer in the corresponding air-float turntable system, and described PC104 simulation computer calculates control corresponding moment according to the steering order that receives,
Step 2: described PC104 simulation computer is according to the described control moment moment distribution method suitable for thruster designs, with the control corresponding moment loading that produces to air-float turntable, make described air-float turntable carry out simulating sports by the attitude Collaborative Control scheme of setting
Step 3: camera is taken the photo of whole polishing cast iron platform with the speed of per second 10 width of cloth, and photographic intelligence is sent to the photo process computer;
Step 4: the photo process computer obtains the angle information of each air-float turntable system according to described photographic intelligence, and each air-float turntable system obtains the angle information of himself alternately from the photo process computer by bluetooth;
Step 5: the angular velocity information that obtains each air-float turntable according to optical fibre gyro;
Step 6: each air-float turntable system gives other air-float turntable system with himself angle and angular velocity attitude information alternately by bluetooth, make each air-float turntable system know the attitude information of all air-float turntable systems, so that make each air-float turntable system finish Collaborative Control by attitude Collaborative Control scheme;
Step 7: ground control computer receives the attitude information of all air-float turntable systems, and it is recorded in the data recording calculating machine, according to the correctness of record result verification attitude Collaborative Control scheme emulation.
Advantage of the present invention: the present invention is directed to this simulated environment of air floating table, by designing complete hardware configuration and information link, use it can verify attitude Collaborative Control algorithm, solve the problem that in the past can only on the mathematical simulation aspect, verify attitude Collaborative Control algorithm, improved the degree of confidence of algorithm.The user can verify attitude Collaborative Control algorithm with regard to available its under the situation of not understanding hardware configuration.
Description of drawings
Fig. 1 is the inventive method process flow diagram, and Fig. 2 is apparatus of the present invention process flow diagrams, and Fig. 3 is the structural representation that 8 nozzle thrusters are installed on the air-float turntable, Fig. 4 apparatus of the present invention theory diagram.
Embodiment
Embodiment one: below in conjunction with Fig. 2 to Fig. 4 present embodiment is described, present embodiment is made up of basic platform unit, a n air-float turntable system 4, camera positioning system and terrestrial contr, n 〉=2, wherein:
The basic platform unit comprises 1 polishing cast iron platform 1, and polishing cast iron platform 1 is used to carry n air-float turntable system 4;
Air-float turntable system 4, be used to receive the steering order of terrestrial contr, and finish simulating, verifying according to described steering order, be used for and terrestrial contr between by the wireless network interactive information, also be used for carrying out interactive information by Bluetooth wireless communication mode and other air-float turntable system 4
The camera positioning system comprises photo process computer 3 and the camera 2 that is installed in the wide visual field of polishing cast iron platform 1 sky, is used to obtain the angle information of each air-float turntable system 4 of any time;
Terrestrial contr calculates machine 6 by ground control computer 5 and data recording and forms, and is used to finish the exchanges data between user and the air-float turntable system 4, also is used to control air-float turntable system 4 and carries out simulating, verifying.
Air-float turntable system 4 comprises 1 air-float turntable 4-1, disposes PC104 simulation computer 4-2, optical fibre gyro 4-3 and thruster 4-4 on the air-float turntable 4-1,
PC104 simulation computer 4-2 disposes n bluetooth module 4-5, described n bluetooth module 4-5 be used for and photo process computer 3 and other air-float turntable system 4 between information interaction,
Optical fibre gyro 4-3 is used to measure the angle of air-float turntable 4-1,
8 nozzles that thruster 4-4 is installed by " cruciform " symmetry constitute.
Wireless interaction between the PC104 simulation computer 4-2 of each air-float turntable system 4 and the ground control computer 5 in order to save cost, also can be calculated data recording machine 6 cancellations, only finishes the task of control and recording storage with ground control computer 5.
The present invention is achieved in that being write the attitude Collaborative Control scheme that needs physical verification as the Matlab language program is stored in the ground control computer 5, when needs carry out simulating, verifying to this scheme, by WLAN (wireless local area network) with this program from Ground Control machine 5 is injected into PC104 simulation computer 4-2 in the corresponding air-float turntable system 4.Equipment in the operation total system is finished the checking work of physical simulation, derives simulation result at last.
Provide a specific embodiment below, set n=2, i.e. 2 air-float turntable systems 4, the embodiment that realization was obtained and controlled to concrete data in the simulation process is provided by following:
1) angle of utilizing the wide visual field of Computer Processing CMOS camera photo to obtain two air-float turntable 4-1 is respectively
With
The angular velocity that obtains two air-float turntable 4-1 by optical fibre gyro 4-3 is respectively
With
2) by the attitude information of mutual two the air-float turntable 4-1 of bluetooth, make an air-float turntable 4-1 can obtain the attitude information of another air-float turntable 4-1;
3) with more common master-slave mode attitude Collaborative Control algorithm be the verification the verifying results of example explanation air-float turntable here.For convenience of description, be the 1st air-float turntable and the 2nd air-float turntable respectively with two air-float turntables, the main task of master-slave mode attitude Collaborative Control scheme is that the 2nd air-float turntable followed the tracks of the rotary state of the 1st air-float turntable to finish the collaborative work of attitude.Here the 1st air-float turntable do not have control moment input, only given initial angle and angular velocity.The controlling schemes of the 2nd air-float turntable is as follows:
Wherein
The control moment of expression air-float turntable 2,
With
Be respectively ratio and differential controlled variable.
4) control moment that previous step is calculated designs suitable moment distribution method, i.e. 8 nozzle switch schemes are to produce on 2 air-float turntables of control corresponding moment loading to the.
The nozzle that air-float turntable 4-1 go up to install in the emulation shown in 3, jet being output as that can produce:
Wherein
Output situation for air-float turntable 4-1 top nozzle.
Owing to adopt less 50ms control cycle in emulation, nozzle can directly adopt switch control in control procedure.The switch solution of control moment is as follows:
Wherein
Minimum value (when opening) for jet generation moment as nozzle 1 and 5;
The control moment that calculates for control algolithm.In this embodiment, at the control moment that designs the 2nd air-float turntable
The time,
i=2.
Embodiment two: below in conjunction with Fig. 1 present embodiment is described, present embodiment is based on the emulation verification method that the described formation satellite attitude cooperative control simulating device of embodiment carries out, and this method may further comprise the steps:
Step 1: ground control computer 5 is assigned steering order according to attitude Collaborative Control scheme and is given PC104 simulation computer 4-2 in the corresponding air-float turntable system 4, and described PC104 simulation computer 4-2 calculates control corresponding moment according to the steering order that receives,
Step 2: described PC104 simulation computer 4-2 is the suitable moment distribution method of thruster 4-4 design according to described control moment, with the control corresponding moment loading that produces to air-float turntable 4-1, make described air-float turntable 4-1 carry out simulating sports by the attitude Collaborative Control scheme of setting
Step 3: camera 2 is taken the photo of whole polishing cast iron platform 1 with the speed of per second 10 width of cloth, and photographic intelligence is sent to photo process computer 3;
Step 4: photo process computer 3 obtains the angle information of each air-float turntable system 4 according to described photographic intelligence, and each air-float turntable system 4 obtains the angle information of himself alternately from photo process computer 3 by bluetooth;
Step 5: the angular velocity information that obtains each air-float turntable 4-1 according to optical fibre gyro 4-3;
Step 6: each air-float turntable system 4 gives other air-float turntable system 4 with himself angle and angular velocity attitude information alternately by bluetooth, make each air-float turntable system 4 know the attitude information of all air-float turntable systems 4, so that make each air-float turntable system 4 finish Collaborative Control by attitude Collaborative Control scheme;
Step 7: ground control computer 5 receives the attitude information of all air-float turntable systems 4, and it is recorded in the data recording calculating machine 6, according to the correctness of record result verification attitude Collaborative Control scheme emulation.
Claims (3)
1. a formation satellite attitude cooperative control simulating device is characterized in that, it is made up of basic platform unit, a n air-float turntable system (4), camera positioning system and terrestrial contr, n 〉=2, wherein:
The basic platform unit comprises 1 polishing cast iron platform (1), and polishing cast iron platform (1) is used to carry n air-float turntable system (4);
Air-float turntable system (4), be used to receive the steering order of terrestrial contr, and finish simulating, verifying according to described steering order, be used for and terrestrial contr between by the wireless network interactive information, also be used for carrying out interactive information by Bluetooth wireless communication mode and other air-float turntable system (4)
The camera positioning system comprises photo process computer (3) and is installed in the camera (2) that polishes the overhead wide visual field of cast iron platform (1), is used to obtain the angle information of each air-float turntable system (4) of any time;
Terrestrial contr calculates machine (6) by ground control computer (5) and data recording and forms, and is used to finish the exchanges data between user and the air-float turntable system (4), also is used to control air-float turntable system (4) and carries out simulating, verifying.
2. formation satellite attitude cooperative control simulating device according to claim 1, it is characterized in that, air-float turntable system (4) comprises 1 air-float turntable (4-1), disposes PC104 simulation computer (4-2), optical fibre gyro (4-3) and thruster (4-4) on the air-float turntable (4-1)
PC104 simulation computer (4-2) disposes n bluetooth module (4-5), a described n bluetooth module (4-5) be used for and photo process computer (3) and other air-float turntable system (4) between information interaction,
Optical fibre gyro (4-3) is used to measure the angle of air-float turntable (4-1),
8 nozzles that thruster (4-4) is installed by " cruciform " symmetry constitute.
3. the emulation verification method that carries out based on the described formation satellite attitude cooperative control simulating device of claim 2 is characterized in that, this method may further comprise the steps:
Step 1: ground control computer (5) is assigned steering order to the PC104 simulation computer (4-2) in the corresponding air-float turntable system (4) according to attitude Collaborative Control scheme, and described PC104 simulation computer (4-2) calculates control corresponding moment according to the steering order that receives;
Step 2: described PC104 simulation computer (4-2) is the suitable moment distribution method of thruster (4-4) design according to described control moment, to air-float turntable (4-1), make described air-float turntable (4-1) carry out simulating sports with the control corresponding moment loading that produces by the attitude Collaborative Control scheme of setting;
Step 3: camera (2) is taken the photo of whole polishing cast iron platform (1) with the speed of per second 10 width of cloth, and photographic intelligence is sent to photo process computer (3);
Step 4: photo process computer (3) obtains the angle information of each air-float turntable system (4) according to described photographic intelligence, and each air-float turntable system (4) obtains the angle information of himself from photo process computer (3) alternately by bluetooth;
Step 5: the angular velocity information that obtains each air-float turntable (4-1) according to optical fibre gyro (4-3);
Step 6: each air-float turntable system (4) gives other air-float turntable system (4) with himself angle and angular velocity attitude information alternately by bluetooth, make each air-float turntable system (4) know the attitude information of all air-float turntable systems (4), so that make each air-float turntable system (4) finish Collaborative Control by attitude Collaborative Control scheme;
Step 7: ground control computer (5) receives the attitude information of all air-float turntable systems (4), and it is recorded in the data recording calculating machine (6), according to the correctness of record result verification attitude Collaborative Control scheme emulation.
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| CN101929872A (en) * | 2010-09-16 | 2010-12-29 | 哈尔滨工业大学 | Simple simulation device and simulation method applied to star sensor of single-shaft air-floating platform |
| CN102040008A (en) * | 2010-12-13 | 2011-05-04 | 北京航空航天大学 | Anti-collision control method for safety of in-obit operation of formation-flying satellites |
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Open date: 20100915 |