CN102004492B - Non-sun-synchronous orbit satellite double-shaft sailboard control method - Google Patents
Non-sun-synchronous orbit satellite double-shaft sailboard control method Download PDFInfo
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- CN102004492B CN102004492B CN2010105091988A CN201010509198A CN102004492B CN 102004492 B CN102004492 B CN 102004492B CN 2010105091988 A CN2010105091988 A CN 2010105091988A CN 201010509198 A CN201010509198 A CN 201010509198A CN 102004492 B CN102004492 B CN 102004492B
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Abstract
The invention discloses a non-sun-synchronous orbit satellite double-shaft sailboard control method. A double-shaft sailboard is a solar sailboard structure which has two rotational degrees of freedom and of which the two rotating shafts can independently control work. The double-shaft sailboard control method comprises a control method of each single-shaft sailboard in the double-shaft sailboard and an implementation method during double-shaft cooperative work of the sailboard. In the single-shaft control method of the sailboard, measurement modes and rotation strategies for the sailboard indifferent work modes of the satellite are mainly designed. In the double-shaft cooperative work method, the working order of each single shaft and the rotation logic are specified. The inconvenience that a non-sun-synchronous orbit satellite needs to frequently perform attitude maneuver to ensure the sailboard tracks the sun is solved by applying the double-shaft sailboard control method on a satellite. By the method, the satellite can track the sun in real time on orbit by controlling the rotation of the sailboard, so that the energy supply on the satellite is guaranteed, and the requirement of the satellite over the ground directional triaxial stability is met.
Description
Technical field
The present invention relates to a kind of non-satellite in Sun-synchronous orbit twin shaft windsurfing control method, can on star, realize the double freedom motion of windsurfing, mainly on the satellite of non-sun synchronous orbit, use.
Background technology
Be equipped with solar battery sheet on the satellite sailboard, the windsurfing that trails can increase the area that satellite obtains sun power greatly, obtains the indispensable equipment of sun power so windsurfing is most satellites, also is the main energy sources source of satellite in rail flight.China's satellite in orbit just is to use the windsurfing of single-degree-of-freedom except using the fixed-wing windsurfing (the fixed-wing windsurfing is meant that windsurfing is fixed on celestial body, can not rotate) at present.Be equipped with windsurfing driving mechanism (a kind of rotary electric machine) on the windsurfing of single-degree-of-freedom, its effect is exactly to drive windsurfing to rotate to follow the tracks of the sun, makes satellite at utmost obtain sun power, and each the parts work of supply satellite is used.
The characteristic of sun synchronous orbit has determined that the variable angle scope of the sun and orbital plane is less; And the satellite of selecting the single-degree-of-freedom windsurfing for use is when selecting track; Mostly be to select the sun and the little track of orbital plane angle; Thereby the windsurfing driving mechanism just can make sun direct projection windsurfing at vertical track face direction rotation windsurfing, for satellite obtains the energy.So it is generally just enough to be operated in the windsurfing driving mechanism of configuration single-degree-of-freedom on the satellite of sun synchronous orbit.
Because the proposition of new task and new demand, satellite often need adopt non-sun synchronous orbit but in recent years.Under non-sun synchronous orbit, altering a great deal of the sun and orbital plane angle can have the variation range of 90 degree.Obviously, when sun vertical irradiation arrived orbital plane, the windsurfing of vertical track face rotates all in any case can't obtain the energy.So, if the satellite of non-sun synchronous orbit only is equipped with the windsurfing of single-degree-of-freedom, point to the sun in order to realize the windsurfing normal, just must usually carry out the attitude maneuver of satellite.Tend to interrupt the task of satellite earth observation like this, influence the normal use of satellite.
Because mostly the task of satellite is the earth is observed; For example environment mitigation; Remote sensing etc.; Therefore satellite adopts the control method of absolute orientation three-axis stabilization more, and certain one side (side of equipment such as camera for example is installed) that just makes satellite keeps the attitude of satellite relatively stable constant all the time towards ground simultaneously.If but not the satellite of sun synchronous orbit has been selected the single-degree-of-freedom windsurfing,, just can't guarantee that satellite remains the absolute orientation three-axis stabilization for the needs of the energy on the star.That is to say that under non-sun synchronous orbit, satellite just need often stop operate as normal and carry out the attitude adjustment in order to ensure the supply of the energy; And if satellite remains absolute orientation three-axis stabilization (normal operating conditions), will jeopardize the lifetime of satellite because of lacking the energy.This has received very big restriction with regard to the use-pattern that makes satellite, has limited the function and application of satellite.
Summary of the invention
Technology of the present invention is dealt with problems and is: the deficiency that overcomes prior art; A kind of non-satellite in Sun-synchronous orbit twin shaft windsurfing control method is provided; Realized the two degree of freedom control of solar array on the satellite; Make the windsurfing normal point to the sun reliable and securely, at utmost satisfy the energy demand of satellite.
Technical solution of the present invention is:
A kind of non-satellite in Sun-synchronous orbit twin shaft windsurfing control method, said satellite twin shaft windsurfing is meant the windsurfing of two rotational freedoms, is defined as windsurfing A axle and windsurfing B axle, step is following:
(1) judges according to the normal mode of operation zone bit whether the current time satellite is in normal mode of operation,, then get into step (2) if be in normal mode of operation; If be not in normal mode of operation, then get into step (3); Said normal mode of operation is meant that satellite keeps three-axis stabilization absolute orientation state;
(2) judge according to the output of simulated solar sensor whether the simulated solar sensor exists fault,, then windsurfing B axle is controlled, get into step (5) afterwards according to windsurfing B Shaft angle counter output quantity if there is fault; If there is not fault, then windsurfing B axle is controlled according to the measured value of simulated solar sensor, get into step (5) afterwards; Said simulated solar sensor is mounted in measurement solar vector and the measurement sensor of windsurfing normal angle on the windsurfing, the counter of the said windsurfing B Shaft angle counter angle value that to be the metering windsurfing rotate along the B axle;
(3) according to day the directional pattern zone bit judge whether the current time satellite is in the day directional pattern, as if being in, then get into step (4) to the day directional pattern; If be not in to the day directional pattern, then make windsurfing B axle keep motionless, get into step (5) afterwards; Said to day directional pattern be instigate satellite keep to day axle point to the state of solar vector; To day axle be meant when windsurfing A axle and B axle all are in 0; Be that the corner of windsurfing A axle and B axle is 0 when spending, the sensing of windsurfing normal, said corner is the measurement output angle value of corner counter;
(4) judge whether windsurfing B axle is in 0,, then make windsurfing B axle keep motionless, get into step (5) afterwards if be in 0; If be not in 0, then make windsurfing B that axle makes zero, get into step (5) afterwards; It is said that to make windsurfing B axle make zero being axial 0 direction of instruction windsurfing B to be rotated up to corner be 0;
(5) judge the whether simultaneously control of windsurfing A axle and windsurfing B axle in the controlled flag position simultaneously according to twin shaft, if not control simultaneously then gets into step (6); If control simultaneously calculate windsurfing A axle control output quantity, and then the control windsurfing rotates along the A axle;
(6) judge whether windsurfing B axle is hold mode, if hold mode then calculate windsurfing A axle control output quantity, and then the control windsurfing rotates along the A axle; If not hold mode then makes windsurfing A axle keep motionless.
According to windsurfing B Shaft angle counter output quantity windsurfing B axle is controlled according to following steps in the said step (2) and is carried out:
(a) through formula β
F=acsin (S
Oy) the theoretical corner β of calculating windsurfing B axle
FS wherein
OyComponent for solar vector Y axle under the satellite orbit coordinate system;
(b) according to the theoretical corner β of the windsurfing B axle that calculates in the step (a)
F, by formula Δ β=β-β
FCalculate the angle delta β that windsurfing B axle need be adjusted, wherein β is the angle value that windsurfing B Shaft angle counter measures obtains.
According to the measured value of simulated solar sensor windsurfing B axle is controlled in the said step (2) and be meant; The measured value of current time simulated solar sensor is the angle of solar vector and windsurfing normal; This angle is the angle value that windsurfing B axle need rotate; Windsurfing B axle rotates after this angle value, makes the parallel the present invention with solar vector of windsurfing normal beneficial effect compared with prior art be:
(1) the present invention need not the motor-driven satellite sailboard normal that just can make of the attitude of satellite and points to the sun; Thereby simplified the mission program of satellite greatly; Practiced thrift the cost (attitude maneuver expends fuel, and in the space, fuel very finite sum is very valuable) that satellite carries out attitude maneuver.And satellite can remain at absolute orientation three-axis stabilization state, and the operate as normal content of satellite need not largely to have improved the work efficiency of satellite because of attitude maneuver is interrupted, and has reduced the handling cost of satellite.
(2) the present invention carries out attitude maneuver owing on satellite, having used the biaxial solar windsurfing to need not satellite, makes satellite reduce greatly the requirement of attitude maneuver, can reduce the equipment and the algorithm that are equipped with for attitude maneuver on the star; And can use different control methods, and for example bias momentum control, these not only can reduce the development cost of satellite; Also opened up the application of satellite; And,, make satellite weight alleviate to some extent owing to having reduced the equipment that is equipped with for attitude maneuver on a large amount of stars; For the limited rocket of driving force, can also make the increase useful load.
(3) with satellite adopts all is that fixed-wing windsurfing or single shaft windsurfing driving mechanism are compared in the prior art; The present invention be directed to control method that biaxial solar windsurfing driving mechanism proposes, for the satellite that will adopt twin shaft windsurfing driving mechanism from now on provides good application foundation.
Description of drawings
Fig. 1 is a process flow diagram of the present invention;
Fig. 2 is a satellite sailboard driving mechanism synoptic diagram of the present invention.
Embodiment
Further describe in detail below in conjunction with the accompanying drawing specific embodiments of the invention.
The windsurfing of satellite is satellite obtains the energy at rail main means.The windsurfing of general single-degree-of-freedom is under the state of satellite absolute orientation three-axis stabilization, and rotation direction is perpendicular to orbital plane.Under sun synchronous orbit (the variable angle scope of the orbital characteristics decision sun and orbital plane is less), when the sun moves near orbital plane, rotate windsurfing and can guarantee that sun direct projection is on windsurfing like this.But not under the sun synchronous orbit, the variable angle scope of the sun and orbital plane very big (90 spend to 90 degree), the sun has the possibility of parallel windsurfing, and in this case, windsurfing can not obtain the energy.And well-known, a vector is rotated to the position of another vector, need two rotation angle.When windsurfing had only one degree of freedom, another rotation can only be carried out attitude maneuver by satellite and realize; And windsurfing depend merely on the rotation of windsurfing and just can aim at the sun, and satellite just can remain the duty of absolute orientation three-axis stabilization when two degree of freedom are arranged.So the twin shaft windsurfing is to improving the work efficiency of satellite, the operating cost that is reduced in rail all is of great benefit to.The invention provides a kind of method, can on star, independently realize the tracking of twin shaft windsurfing or catch the sun, for the satellite energy provides safeguard.
According to shown in Figure 2, the twin shaft windsurfing is installed on a side of satellite, and windsurfing has two rotary freedoms, is called A axle and B axle respectively, the similar joint of its working method.Wherein the A axle is equal to the sense of rotation of single-degree-of-freedom windsurfing, and the B axle is nested within the A axle, and promptly the A axle can drive the B axle and rotates together.The definition of the sense of rotation of B axle is, when windsurfing is in zero-bit state (corner of A axle and B axle is exported and is 0), the direction that satellite advances is the sense of rotation of B axle.And A axle and B axle are control separately, i.e. A axle rotation does not receive the influence of B axle, and vice versa
As shown in Figure 1, the present invention proposes a kind of non-satellite in Sun-synchronous orbit twin shaft windsurfing control method, step is following:
(1) judges according to normal mode of operation zone bit (the definition zone bit is NormalWorkMode) whether the current time satellite is in normal mode of operation,, then get into step (2) if be in normal mode of operation (NormalWorkMode=1); If be not in normal mode of operation (NormalWorkMode=0), then get into step (3); Said normal mode of operation is meant that satellite keeps three-axis stabilization absolute orientation state (certain face earth of satellite keeps the constant state of attitude);
(2) judge that according to the output of simulated solar sensor (what the simulated solar sensor adopted is the ASS-1K simulated solar sensor of control engineering Research Institute; Comprise the zone bit of seeing the sun in the simulated solar sensor measurement data; Judge according to this zone bit: lose the sun if simulated solar sensor measurement data under the situation that should see the sun shows; Then think the simulated solar sensor failure) whether the simulated solar sensor exist fault; If there is fault, then windsurfing B axle is controlled according to windsurfing B Shaft angle counter output quantity, get into step (5) afterwards; If there is not fault, then windsurfing B axle is controlled according to the measured value of simulated solar sensor, get into step (5) afterwards; Said simulated solar sensor is mounted in measurement solar vector and the measurement sensor of windsurfing normal angle on the windsurfing, and said windsurfing B Shaft angle counter is installed in the B axle windsurfing driving mechanism, the counter of the angle value that to be the metering windsurfing rotate along the B axle;
(3) based on whether day directional pattern flag bit judgement (the definition flag bit is PSWorkMode) current time satellite is in the day directional pattern,, then get into step (4) if be in to day directional pattern (PSWorkMode=1); If be not in to day directional pattern (PSWorkMode=0), then make windsurfing B axle keep motionless, get into step (5) afterwards; Said to day directional pattern be instigate satellite keep to day axle point to the duty of solar vector; To day axle be meant when windsurfing A axle and B axle all are in 0; Be that the corner of windsurfing A axle and B axle is 0 when spending, the sensing of windsurfing normal, said corner is the measurement output angle value of corner counter;
(4) judge whether windsurfing B axle is in 0,, then make windsurfing B axle keep motionless, get into step (5) afterwards if be in 0; If be not in 0, then make windsurfing B that axle makes zero, get into step (5) afterwards; Saidly make windsurfing B axle make zero being axial 0 direction of instruction windsurfing B to be rotated being output as 0 up to the corner counter;
(5) control flag bit (the definition flag bit is DualPanelControl) simultaneously based on twin shaft and judge the whether simultaneously control of windsurfing A axle and windsurfing B axle, if not control (DualPanelControl=0) simultaneously then gets into step (6); If control (DualPanelControl=1) simultaneously calculate windsurfing A axle control output quantity, and then the control windsurfing rotates along the A axle;
(6) judge whether windsurfing B axle is that (B Shaft angle counter does not change hold mode, then is hold mode, as long as in the middle of the step before; B Shaft angle counter had numerical value change, illustrated that the B axle is not in hold mode), if hold mode; (control logic of A axle and B axle are similar then to calculate windsurfing A axle control output quantity; Brief introduction is following: when satellite under normal mode of operation, then: if simulated solar sensor fault-free, then control based on simulated solar sensor output quantity; If the simulated solar fault is then based on A Shaft angle counter output control; If satellite to day the orientation works pattern and A axle windsurfing not at 0, then A axle windsurfing makes zero; A axle windsurfing keeps motionless in addition, and then the control windsurfing rotates along the A axle; If not hold mode then makes windsurfing A axle keep motionless.The central control comparative maturity of prior art for single-degree-of-freedom rotation windsurfing, the control of windsurfing A axle among the present invention, single-degree-of-freedom windsurfing of the prior art exactly moves control.)
According to windsurfing B Shaft angle counter output quantity windsurfing B axle is controlled according to following steps in the said step (2) and is carried out:
(a) through formula β
F=acsin (S
Oy) the theoretical corner β of calculating windsurfing B axle
FS wherein
OyComponent (β for solar vector Y axle under the satellite orbit coordinate system
F=acsin (S
Oy) the deriving from of formula
R
OiBe the transition matrix of equator inertial system and orbital coordinate system, R
OiDerivation is referring to " satellite orbit and attitude dynamics and control ", publishing house of BJ University of Aeronautics & Astronautics, and Zhang Renwei writes, P138～P139;
Be solar vector at inertial system upper/lower positions coordinate, derive and to see " spacecraft orbit is theoretical ", National Defense Industry Press, Liu Linzhu, P253～258);
(b) according to the theoretical corner β of the windsurfing B axle that calculates in the step (a)
F, by formula Δ β=β-β
FCalculate the angle delta β that windsurfing B axle need be adjusted, wherein β is the angle value that windsurfing B Shaft angle counter measures obtains.
According to the measured value of simulated solar sensor windsurfing B axle is controlled in the said step (2) and be meant; The measured value of current time simulated solar sensor is the angle of solar vector and windsurfing normal; This angle is the angle value that windsurfing B axle need rotate; Windsurfing B axle rotates after this angle value, makes the windsurfing normal parallel with solar vector.
On star, adopted biaxial solar windsurfing driving mechanism on China's model satellite first, through in the rail test shows, used algorithm of the present invention after; Windsurfing can the real-time follow-up sun; Tracking accuracy satisfies the index request of task in 10 degree, ensured the supply of the satellite energy effectively.
The content of not doing to describe in detail in the instructions of the present invention belongs to this area professional and technical personnel's known technology.
Claims (1)
1. non-satellite in Sun-synchronous orbit twin shaft windsurfing control method, said satellite twin shaft windsurfing is meant the windsurfing of two rotational freedoms, is defined as windsurfing A axle and windsurfing B axle, it is characterized in that step is following:
(1) judges according to the normal mode of operation zone bit whether the current time satellite is in normal mode of operation,, then get into step (2) if be in normal mode of operation; If be not in normal mode of operation, then get into step (3); Said normal mode of operation is meant that satellite keeps three-axis stabilization absolute orientation state;
(2) judge according to the output of simulated solar sensor whether the simulated solar sensor exists fault,, then windsurfing B axle is controlled, get into step (5) afterwards according to windsurfing B Shaft angle counter output quantity if there is fault; If there is not fault, then windsurfing B axle is controlled according to the measured value of simulated solar sensor, get into step (5) afterwards; Said simulated solar sensor is mounted in measurement solar vector and the measurement sensor of windsurfing normal angle on the windsurfing, the counter of the said windsurfing B Shaft angle counter angle value that to be the metering windsurfing rotate along the B axle;
Said windsurfing B axle control according to following steps according to windsurfing B Shaft angle counter output quantity carried out:
(a) through formula β
F=acsin (S
Oy) the theoretical corner β of calculating windsurfing B axle
FS wherein
OyComponent for solar vector Y axle under the satellite orbit coordinate system;
(b) according to the theoretical corner β of the windsurfing B axle that calculates in the step (a)
F, by formula Δ β=β-β
FCalculate the angle delta β that windsurfing B axle need be adjusted, wherein β is the angle value that windsurfing B Shaft angle counter measures obtains.
Said measured value according to the simulated solar sensor is controlled windsurfing B axle and is meant; The measured value of current time simulated solar sensor is the angle of solar vector and windsurfing normal; This angle is the angle value that windsurfing B axle need rotate; Windsurfing B axle rotates after this angle value, makes the windsurfing normal parallel with solar vector;
(3) according to day the directional pattern zone bit judge whether the current time satellite is in the day directional pattern, as if being in, then get into step (4) to the day directional pattern; If be not in to the day directional pattern, then make windsurfing B axle keep motionless, get into step (5) afterwards; Said to day directional pattern be instigate satellite keep to day axle point to the state of solar vector; To day axle be meant when windsurfing A axle and B axle all are in 0; Be that the corner of windsurfing A axle and B axle is 0 when spending, the sensing of windsurfing normal, said corner is the measurement output angle value of corner counter;
(4) judge whether windsurfing B axle is in 0,, then make windsurfing B axle keep motionless, get into step (5) afterwards if be in 0; If be not in 0, then make windsurfing B that axle makes zero, get into step (5) afterwards; It is said that to make windsurfing B axle make zero being axial 0 direction of instruction windsurfing B to be rotated up to corner be 0;
(5) judge the whether simultaneously control of windsurfing A axle and windsurfing B axle in the controlled flag position simultaneously according to twin shaft, if not control simultaneously then gets into step (6); If control simultaneously calculate windsurfing A axle control output quantity, and then the control windsurfing rotates along the A axle;
(6) judge whether windsurfing B axle is hold mode, if hold mode then calculate windsurfing A axle control output quantity, and then the control windsurfing rotates along the A axle; If not hold mode then makes windsurfing A axle keep motionless.
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