CN101833337B - Method for simultaneously realizing attitude maneuver and suppressing vibration of spacecraft with flexible accessory - Google Patents
Method for simultaneously realizing attitude maneuver and suppressing vibration of spacecraft with flexible accessory Download PDFInfo
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- CN101833337B CN101833337B CN2010101957801A CN201010195780A CN101833337B CN 101833337 B CN101833337 B CN 101833337B CN 2010101957801 A CN2010101957801 A CN 2010101957801A CN 201010195780 A CN201010195780 A CN 201010195780A CN 101833337 B CN101833337 B CN 101833337B
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- spacecraft
- attitude
- jet
- flexible accessory
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Abstract
The invention discloses a method for simultaneously realizing attitude maneuver and suppressing vibration of a spacecraft with a flexible accessory, relating to a control method of a spacecraft with a flexible accessory and solving the problems of jet resource waste and vibration suppression incapability of the traditional attitude maneuver control method. The method for simultaneously realizing attitude maneuver and suppressing the vibration comprises the following steps of: (1) measuring the vibration modal information of a flexible spacecraft structure; (2) generating four types of jet switching sequences; (3) setting a minimum action time of the switching sequences; (4) acquiring an attitude angle and the angular velocity of the spacecraft; (5) setting an expected angle value of the attitude maneuver and generating a continuous control moment quantity of the attitude maneuver of the spacecraft according to the attitude angle and the angular velocity; (6) executing the four types of jet switching sequences according to a jet control logic and generating a non-linear switching command acted on a jet thrustor of the spacecraft; and (7) realizing the attitude maneuver of the spacecraft with the flexible accessory to the expected angle value. The invention is suitable for the field of the control of spacecrafts with flexible accessories.
Description
Technical field
The present invention relates to a kind of jet control method with the flexible accessory spacecraft.Be specifically related to a kind of method of utilizing the jet thrust device to realize the wide-angle attitude maneuver of spacecraft is effectively suppressed simultaneously flexible accessory vibration.
Background technology
Along with the development of spationautics, modern spacecraft often has large-scale flexible annexes such as solar energy sailboard, antenna.Exist strong hard and soft coupling between the Rigid Base of this class band flexible accessory spacecraft and the flexible accessory.Spacecraft is in orbit the time, particularly when using the jet thrust device to carry out rapid posture when motor-driven, nonlinear switch control evoking the easily sustained vibration of flexible accessory, to attitude maneuver steadily and precision impact, even may damage relevant device.
When usually spacecraft jet thrust device being carried out large angle maneuver as topworks, nonlinear jet switch command all is the various modulation of carrying out that come from the control moment continuous quantity, as PWM, PWPF etc.But this nonlinear debud mode still excites the vibration of spacecraft flexible structure easily, frequent jet phenomenon waste resource occurs simultaneously easily, reduces jet switch serviceable life simultaneously.
Summary of the invention
The present invention is for the solve existing attitude maneuver control method jet resource of waste that exists, the problem that can't suppress to vibrate, and proposes a kind of method of the simultaneously realizing attitude maneuver and suppressing vibration with the flexible accessory spacecraft.
A kind of method of the simultaneously realizing attitude maneuver and suppressing vibration with the flexible accessory spacecraft, it is based on the realization of band flexible accessory spacecraft maneuver control system, described band flexible accessory spacecraft maneuver control system comprises the attitude feedback controller, jet steering logic device, band flexible accessory spacecraft and spacecraft jet thrust device, the attitude signal output terminal of band flexible accessory spacecraft links to each other with the attitude signal input end of attitude feedback controller, the control moment signal output part of attitude feedback controller links to each other with the control moment signal input part of jet steering logic device, the jet switch order signal output part of jet steering logic device links to each other with the jet switch order signal input part of spacecraft jet thrust device, the jet thrust signal output part of spacecraft jet thrust device links to each other with the jet thrust signal input part of band flexible accessory spacecraft, and the detailed process of the method for the simultaneously realizing attitude maneuver and suppressing vibration in each control cycle is as follows:
Step 1: the attitude feedback controller is measured the mode of oscillation information of band flexible accessory spacecraft; Vibration modal frequency that described mode of oscillation information is flexible spacecraft or mode of oscillation cycle;
Step 2: the attitude feedback controller produces four kinds of jet on off sequences according to the mode of oscillation information that obtains in the step 1;
Step 3: the attitude feedback controller is according to the Hardware Response Delay time of spacecraft jet thrust device, and the least action time of setting on off sequence in the step 2 is
t Min
Step 4: the attitude feedback controller obtains the attitude angle and the angular velocity of band flexible accessory spacecraft;
Step 5: the attitude feedback controller is set the motor-driven expected angle value of band flexible accessory spacecraft attitude, according to attitude angle and angular velocity in the step 4, produces the motor-driven control moment continuous quantity of spacecraft attitude
T t (
t); And with the motor-driven control moment continuous quantity of this spacecraft attitude
T t (
t) send to jet steering logic device;
Step 6: jet steering logic device is according to the control moment continuous quantity that receives
T t (
t), carry out four kinds of jet on off sequences by jet steering logic, produce the nonlinear switching instruction, affact on the spacecraft jet thrust device;
Step 7: spacecraft jet thrust device is with the attitude maneuver of flexible accessory spacecraft to the expected angle value according to nonlinear switching instruction adjustment.
The invention provides a kind of simple and effective jet control method, can utilize the jet thrust device to the spacecraft large angle maneuver time, to avoid exciting the method for flexible structure vibration.The advantage that have fuel saving, be easy to calculate in real time, engineering feasibility is high at rail.The present invention is applicable to the control field of band flexible accessory spacecraft.
Description of drawings
Fig. 1 is the structural representation of band flexible accessory spacecraft maneuver control system.Fig. 2 is for just opening the sequential chart of jet switch command sequence.Fig. 3 is for just closing the sequential chart of jet switch command sequence.Fig. 4 is the negative sequential chart of opening jet switch command sequence.Fig. 5 is the negative sequential chart that closes jet switch command sequence.Fig. 6 is the process flow diagram of the method for the simultaneously realizing attitude maneuver and suppressing vibration of band flexible accessory spacecraft.
Embodiment
Embodiment one,In conjunction with Fig. 1 and Fig. 6 present embodiment is described, a kind of method of the simultaneously realizing attitude maneuver and suppressing vibration with the flexible accessory spacecraft, it is based on the realization of band flexible accessory spacecraft maneuver control system, described band flexible accessory spacecraft maneuver control system comprises attitude feedback controller 1, jet steering logic device 2, band flexible accessory spacecraft 3 and spacecraft jet thrust device 4, the attitude signal output terminal of band flexible accessory spacecraft 3 links to each other with the attitude signal input end of attitude feedback controller 1, the control moment signal output part of attitude feedback controller 1 links to each other with the control moment signal input part of jet steering logic device 2, the jet switch order signal output part of jet steering logic device 2 links to each other with the jet switch order signal input part of spacecraft jet thrust device 4, the jet thrust signal output part of spacecraft jet thrust device 4 links to each other with the jet thrust signal input part of band flexible accessory spacecraft 3, and the detailed process of the method for the simultaneously realizing attitude maneuver and suppressing vibration in each control cycle is as follows:
Step 1: attitude feedback controller 1 is measured the mode of oscillation information of band flexible accessory spacecraft 3; Vibration modal frequency that described mode of oscillation information is flexible spacecraft 3 or mode of oscillation cycle;
Step 2: attitude feedback controller 1 produces four kinds of jet on off sequences according to the mode of oscillation information that obtains in the step 1;
Step 3: attitude feedback controller 1 is according to the Hardware Response Delay time of spacecraft jet thrust device 4, and the least action time of setting on off sequence in the step 2 is
t Min
Step 4: attitude feedback controller 1 obtains the attitude angle and the angular velocity of band flexible accessory spacecraft 3;
Step 5: attitude feedback controller 1 is set the expected angle value of band flexible accessory spacecraft 3 attitude maneuvers, according to attitude angle and angular velocity in the step 4, produces the motor-driven control moment continuous quantity of spacecraft attitude
T t (
t); And with the motor-driven control moment continuous quantity of this spacecraft attitude
T t (
t) send to jet steering logic device 2;
Step 6: jet steering logic device 2 is according to the control moment continuous quantity that receives
T t (
t), carry out four kinds of jet on off sequences by jet steering logic, produce the nonlinear switching instruction, affact on the spacecraft jet thrust device 4;
Step 7: spacecraft jet thrust device 4 is with the attitude maneuver of flexible accessory spacecraft 3 to the expected angle value according to nonlinear switching instruction adjustment.
Beneficial effect:
Utilize spacecraft jet thrust device 4 to realize the quick wide-angle attitude maneuver of band flexible accessory spacecraft 3 among the present invention, avoid exciting vibration simultaneously, keep the stationarity of attitude maneuver the bigger flexibility first rank mode of spacecraft influence.
Embodiment two,In conjunction with Fig. 2 to Fig. 5 present embodiment is described, present embodiment is to the further specifying of embodiment one, and four kinds of jet on off sequences described in the step 2 are for just opening sequence, just closing sequence, negative sequence, the negative sequence of closing opened.
Among Fig. 2 to Fig. 5
TBe the band flexible accessory 3 first rank modal vibration cycles of spacecraft in the step 1.Extremely shown in Figure 5 as Fig. 2, four kinds of switch command sequence synoptic diagram of the present invention, be respectively " just opening sequence ", " just closing sequence ", " the negative sequence of opening ", " the negative sequence of closing ", realize successively that jet forward is opened, forward is closed, reverse opening, the instruction output of oppositely closing, the switch command of single is become repeatedly output, excite the vibration of flexible accessory in the time of can avoiding jet thrust device output torque and stop output torque through such processing.Only reach the jet on off sequence least action time
t MinThe time, these four kinds of switch commands could be switched, with the effect that guarantees flexible accessory vibration is suppressed.When the first rank modal vibration cycle is 2s, when jet delay is 0.1s,
t MinCan be taken as 0.77s.
Embodiment three,Present embodiment is that embodiment one further specified the least action time of on off sequence in the step 3
t Min=
T/3
+ T h , wherein
T h Be the jet thrust device Hardware Response Delay time,
TBe the band flexible accessory 3 first rank modal vibration cycles of spacecraft.
Embodiment four,Present embodiment is to the further specifying of embodiment one, and produces the motor-driven control moment continuous quantity of spacecraft attitude in the step 5
T t (
t) mode be pid control mode.
Embodiment five,Present embodiment is that the attitude FEEDBACK CONTROL equation of pid control mode is to the further specifying of embodiment four:
Getting the attitude feedback controller is
Wherein,
,
Be tracking attitude angle and angular velocity,
,
Be current attitude angle of space flight and angular velocity output,
K p ,
K d For greater than zero scale-up factor, choose according to real system parameter and tracking effect.
Embodiment six,Present embodiment is to the further specifying of embodiment one or two, and in the step 6, jet steering logic device 2 is according to the control moment continuous quantity that receives
T t (
t), carry out four kinds of jet on off sequences by jet steering logic, produce the nonlinear switching instruction, the detailed process that affacts on the spacecraft jet thrust device 4 is as follows:
If
T t (
t)
a, and
t-
t Act t Min, and last jet control command sequence is not " just opening sequence ", triggers so to carry out and once " just opening sequence ";
If
T t (
t)＜-
a, and
t-
t Act t Min, and last jet control command sequence is not " negative open sequence ", triggers so and carries out once " the negative sequence of opening ";
If-
a≤
T t (
t)≤
a, and
t-
t Act t Min, and last jet control command sequence is not " just closing sequence ", triggers so to carry out once " just closing sequence ";
If-
a≤
T t (
t)≤
a, and
t-
t Act t Min, and last jet control command sequence is not " negative close sequence ", triggers so and carries out once " the negative sequence of closing ";
If triggered new control command sequence, then upgrade last jet control command sequence and reach
t Act , otherwise the jet attitude of remaining stationary;
Wherein,
aFor greater than zero normal value, be used for the motor-driven control moment continuous quantity of spacecraft attitude
T t (
t) zero passage detection, and produce jet control dead area;
t Act Be beginning the effect moment of jet control command of last time,
tBe current working time,
t-
t Act t MinBe used to guarantee that each command sequence can reach the least action time.
About
aChoose, mainly consider the requirement of attitude control accuracy, attitude accuracy requires when high,
aGet a little bit smallerly, attitude accuracy requires when low
aGet more greatly,
aToo little of the frequent jet phenomenon of easy appearance of attitude stabilization stage, cause the wasting of resources.
Claims (5)
1. method with the simultaneously realizing attitude maneuver and suppressing vibration of flexible accessory spacecraft, it is characterized in that it is based on that band flexible accessory spacecraft maneuver control system realizes, described band flexible accessory spacecraft maneuver control system comprises attitude feedback controller (1), jet steering logic device (2), band flexible accessory spacecraft (3) and spacecraft jet thrust device (4), the attitude signal output terminal of band flexible accessory spacecraft (3) links to each other with the attitude signal input end of attitude feedback controller (1), the control moment signal output part of attitude feedback controller (1) links to each other with the control moment signal input part of jet steering logic device (2), the jet switch order signal output part of jet steering logic device (2) links to each other with the jet switch order signal input part of spacecraft jet thrust device (4), the jet thrust signal output part of spacecraft jet thrust device (4) links to each other with the jet thrust signal input part of band flexible accessory spacecraft (3), and the detailed process of the method for the simultaneously realizing attitude maneuver and suppressing vibration in each control cycle is as follows:
Step 1: attitude feedback controller (1) is measured the mode of oscillation information of band flexible accessory spacecraft (3); Described mode of oscillation information is the vibration modal frequency or the mode of oscillation cycle of flexible spacecraft (3);
Step 2: attitude feedback controller (1) produces four kinds of jet on off sequences according to the mode of oscillation information that obtains in the step 1;
Step 3: attitude feedback controller (1) is according to the Hardware Response Delay time of spacecraft jet thrust device (4), and the least action time of setting on off sequence in the step 2 is
t Min
Step 4: attitude feedback controller (1) obtains the attitude angle and the angular velocity of band flexible accessory spacecraft (3);
Step 5: attitude feedback controller (1) is set the expected angle value of band flexible accessory spacecraft (3) attitude maneuver, according to attitude angle and angular velocity in the step 4, produces the motor-driven control moment continuous quantity of spacecraft attitude
T t (
t); And with the motor-driven control moment continuous quantity of this spacecraft attitude
T t (
t) send to jet steering logic device (2);
Step 6: jet steering logic device (2) is according to the control moment continuous quantity that receives
T t (
t), carry out four kinds of jet on off sequences by jet steering logic, produce the nonlinear switching instruction, affact on the spacecraft jet thrust device (4);
Step 7: spacecraft jet thrust device (4) is with the attitude maneuver of flexible accessory spacecraft (3) to the expected angle value according to nonlinear switching instruction adjustment.
2. the method for a kind of simultaneously realizing attitude maneuver and suppressing vibration with the flexible accessory spacecraft according to claim 1, it is characterized in that four kinds of jet on off sequences described in the step 2 are for just opening sequence, just closing sequence, negative sequence, the negative sequence of closing opened, realize successively that jet forward is opened, forward is closed, reverse opening, the instruction output of oppositely closing, the switch command of single is become repeatedly output.
3. the method for a kind of simultaneously realizing attitude maneuver and suppressing vibration with the flexible accessory spacecraft according to claim 1 is characterized in that least action time of on off sequence in the step 3
t Min=
T/3
+ T h , wherein
T h Be the jet thrust device Hardware Response Delay time,
TBe band flexible accessory (3) the first rank modal vibration cycles of spacecraft.
4. the method for a kind of simultaneously realizing attitude maneuver and suppressing vibration with the flexible accessory spacecraft according to claim 1 is characterized in that producing in the step 5 the motor-driven control moment continuous quantity of spacecraft attitude
T t (
t) mode be pid control mode.
5. the method for a kind of simultaneously realizing attitude maneuver and suppressing vibration with the flexible accessory spacecraft according to claim 4 is characterized in that the attitude FEEDBACK CONTROL equation of pid control mode is:
Getting the attitude feedback controller is
Wherein,
,
Be tracking attitude angle and angular velocity,
,
Be current attitude angle of space flight and angular velocity output,
K p ,
K d For greater than zero scale-up factor, choose according to real system parameter and tracking effect.
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| CN2010101957801A CN101833337B (en) | 2010-06-09 | 2010-06-09 | Method for simultaneously realizing attitude maneuver and suppressing vibration of spacecraft with flexible accessory |
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| CN2010101957801A CN101833337B (en) | 2010-06-09 | 2010-06-09 | Method for simultaneously realizing attitude maneuver and suppressing vibration of spacecraft with flexible accessory |
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| CN101833337B true CN101833337B (en) | 2011-07-27 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323825B (en) * | 2011-07-18 | 2013-05-22 | 北京航空航天大学 | Torque compensation control method of DGMSCMG (double-gimbal magnetically suspended control moment gyroscope) system for spacecraft maneuver |
| CN105843237B (en) * | 2016-03-22 | 2017-07-04 | 北京航空航天大学 | A kind of spacecraft attitude reference instruction generation method for suppressing flexible vibration |
| CN105759827B (en) * | 2016-03-22 | 2017-05-03 | 北京航空航天大学 | Spacecraft attitude control system for suppressing unexpected flexible vibration |
| CN105843074B (en) * | 2016-03-28 | 2018-08-14 | 北京空间飞行器总体设计部 | A kind of dynamic modeling method obtaining the in-orbit vibration effect of antenna |
| CN106406086B (en) * | 2016-05-26 | 2019-05-07 | 北京航空航天大学 | A kind of flexible spacecraft interference compensation method based on sliding formwork interference observer |
| CN107703742B (en) * | 2017-09-06 | 2020-09-01 | 南京邮电大学 | Flexible spacecraft sensor fault adjusting method |
| CN107515612B (en) * | 2017-10-20 | 2021-03-02 | 湖北航天技术研究院总体设计所 | Elastic vibration suppression method based on side jet flow control |
| CN107831775B (en) * | 2017-11-14 | 2021-06-08 | 哈尔滨工业大学深圳研究生院 | Attitude control method based on flexible spacecraft non-angular velocity measurement |
| CN108536164B (en) * | 2018-03-23 | 2021-10-08 | 哈尔滨工业大学深圳研究生院 | Attitude control method for flexible spacecraft non-angular velocity measurement |
| CN110209052B (en) * | 2019-06-03 | 2022-04-22 | 北京控制工程研究所 | Flexible spacecraft modal parameter-oriented in-orbit identification excitation signal design method |
| CN110471436B (en) * | 2019-08-08 | 2022-05-03 | 南京航空航天大学 | Attitude control method of flexible spacecraft |
| CN111176317B (en) * | 2020-02-05 | 2021-05-18 | 哈尔滨工业大学 | Non-fragile performance-guaranteeing static output feedback attitude stability control method |
| CN114229039B (en) * | 2021-12-14 | 2023-09-15 | 内蒙古工业大学 | Self-adaptive non-angular velocity composite control method for liquid-filled flexible spacecraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS6452599A (en) * | 1987-08-20 | 1989-02-28 | Mitsubishi Electric Corp | Attitude controller for artificial satellite |
| US6052630A (en) * | 1996-12-17 | 2000-04-18 | Space Systems/Loral, Inc. | Thruster optimized pair selection |
| CN100439204C (en) * | 2007-07-03 | 2008-12-03 | 北京控制工程研究所 | Estimating and compensating method for reducing influence of attitude controlling jetting on the orbit |
| CN100493993C (en) * | 2007-12-26 | 2009-06-03 | 北京控制工程研究所 | Self-independent orbit transfer method for satellite |
| CN100541370C (en) * | 2008-02-25 | 2009-09-16 | 北京航空航天大学 | A kind of no-manned machine multi-mode control and changing method |
| CN101554926B (en) * | 2009-05-20 | 2012-05-23 | 上海微小卫星工程中心 | Attitude control system for space vehicle and method thereof |
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