CN103149030B - Based on the engine plume data acquisition method in-orbit of gyro data - Google Patents
Based on the engine plume data acquisition method in-orbit of gyro data Download PDFInfo
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- CN103149030B CN103149030B CN201310036219.2A CN201310036219A CN103149030B CN 103149030 B CN103149030 B CN 103149030B CN 201310036219 A CN201310036219 A CN 201310036219A CN 103149030 B CN103149030 B CN 103149030B
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Abstract
The invention discloses a kind of engine plume data acquisition method in-orbit based on gyro data, comprise the following steps: set up the normal three-axis stabilization attitude of spacecraft, the topworks adopting momenttum wheel to control as three axles, magnetic torquer unload, and the attitude sensors such as gyro and infrared or star sensor determine appearance; The engine determining to participate in test opens control point and jet time length; Prepare before engine operation (as drive well heater, drive latching valve etc.); The data that record gyro exports; Test result analysis, analyzes the interference force and moment of the jet generation of engine according to the mass property of gyro data and spacecraft.Adopt the plume data acquisition that present invention achieves engine in-orbit under high vacuum true environment.
Description
Technical field
The invention belongs to spacecraft attitude and orbits controlling technical field, relate to one engine plume data acquisition technology in-orbit, especially based on the plume acquiring technology of gyro data.
Background technology
Spacecraft is generally all configured with various engines to realize gesture stability and orbits controlling, as pose adjustment, orbit maneuver etc., the plume sprayed during engine operation may clash into spacecraft surface and produce disturbance force and moment, this will affect spacecraft appearance control precision or Orbit control precision, even produce more serious impact, as out of control.Research shows, correctly will assess the effect of plume to spacecraft, first needs accurately to describe engine vacuum plume.The research of vacuum plume mainly contains two kinds of methods: Method for Numerical and experimental study method.Method for Numerical sets up the mathematics physics model of response mainly for different flow states, and adopts the numerical simulation method adapted with it.Experimental study method is mainly based at ground simulation space environment plume testing, and engine plume data acquisition technology has no report in-orbit.
The degree of accuracy of Method for Numerical relies on the correctness of mathematical physics modeling and selected numerical analysis method, needs the support of verification experimental verification, and ground experiment simulated environment and spacecraft actual high vacuum environment is inconsistent in-orbit, ground experiment simulated environment realizes difficult.Pertinent literature has:
[1] Xiao Zejuan etc., the experimental study of space propulsion plume, aerodynamics journal, in Dec, 2008,26 volumes (2): 480 ~ 485.Have developed a set of ground system test, carry out the plume testing under simulation 100km high altitude conditions.
[2] Cheng Xiaoli etc., the research of Satellite Orbit Maneuver engine plume contamination, Shanghai space flight, 5th phase in 2000: 15 ~ 18. for high-altitude pollution problem during Satellite Orbit Maneuver engine operation, from kinetic molecular theory, direct simulation Monte Carlo (DSMC) method is adopted to carry out numerical simulation analysis to rotational symmetry plume.
[3] Tang Zhenyu etc., attitude control engine plume liquid phase is polluted spacecraft impact analysis, manned space flight, 4th phase in 2011: 54 ~ 58. for the liquid phase pollution problem of liquid attitude control engine plume, carried out literature research, the origin cause of formation formed drop, harm and research method give detailed description.
The deficiency that above-mentioned pertinent literature exists is: numerical simulation result just focuses on the optimization of modeling algorithm, although the analog result provided with foreign literature has carried out comparison, lacks engineering test data supporting; Ground experiment method just simulates the space environment in 100km, adopt the measuring equipments such as pressure transducer, and spacecraft generally runs on the high vacuum environment of 300km or more, different in space environment and 100km, this ground experiment condition does not meet spacecraft high vacuum environment in orbit.
Summary of the invention
Technology of the present invention is dealt with problems and is: for the deficiencies in the prior art, provides a kind of plume of engine in-orbit data acquisition technology based on gyro data, achieves the plume of the engine in-orbit data acquisition under true high vacuum environment.
Technical solution of the present invention is: a kind of engine plume data acquisition method in-orbit based on gyro data, comprises the following steps:
(1) set up the normal three-axis stabilization attitude of spacecraft, the topworks adopting momenttum wheel to control as three axles, magnetic torquer unloading, employing gyro and infrared or star sensor attitude sensor determine appearance;
(2) determine that engine spacecraft participating in test opens control point and jet time length tj, engine starts the data recording gyro output before opening control, after completing until jet, spacecraft enters three-axis stabilization attitude;
(3) gyro recorded according to step (2) exports data, determines the plume disturbance torque of the jet generation of engine.
The plume disturbance torque of the jet generation of described engine is determined according to following formula:
T
di=J
i（ω
izt1-ω
izt0）/（t1-t0）
Wherein: T
difor i (i=x, y, z) axle disturbance torque, dimension: N.m;
J
ifor spacecraft i (i=x, y, z) axle inertia, dimension: kg.m
2;
ω
izt1for the jet t1 moment, spacecraft i (i=x, y, z) axle inertia angular velocity, dimension: rad/s;
ω
izt0for the jet t0 moment, spacecraft i (i=x, y, z) axle inertia angular velocity, dimension: rad/s.
The present invention compared with prior art tool has the following advantages:
1) test environment of the present invention is high vacuum true environment, spacecraft is steady-state operation in-orbit, and three-axis attitude controls to adopt momenttum wheel to control, except the jet interference of engine that test is selected, there is no the interference of other jet acting force, truer than the plume analysis environments of current techniques.
2) the present invention is based on gyro data analysis, the high precision of gyro ensure that the high precision of plume analysis result, and simply, engineering realizability is strong for algorithm of the present invention and logic.
3) algorithmic formula of the present invention calculates simple, has both been beneficial to ground and has processed afterwards and be also beneficial to autonomous directly process in-orbit.
Accompanying drawing explanation
Fig. 1 is process flow diagram of the present invention.
Embodiment
The present invention is under spacecraft is in normal three axle stable state offline mode, by adopting momenttum wheel as attitude control actuator, gesture stability adopts PID control law, choose engine and open control point and jet time length, record the gyro data of this process, the change exported according to gyro to measure and the mass property of spacecraft ask for the function influence of engine plume to spacecraft.
For realizing said process, the present invention includes following steps:
(1) set up the normal three-axis stabilization attitude of spacecraft: adopt the topworks that controls as three axles of momenttum wheel, three-axis attitude controls to adopt that momenttum wheel PID controls, magnetic torquer unloads, the attitude sensor such as gyro and infrared or star sensor determines appearance, attitude angle and angular velocity and be in stable state.
(2) engine determining to participate in test opens control point and jet time length:
The jet direction of engine participating in test wants to produce with celestial body to interfere.The selection of opening control point with whole test can for principle in TT & c arc.
Jet time length is scattered by the steady-state specific impulse of engine controller switching accuracy, engine, gyro to measure relative error, test accuracy index etc. are determined.Such as AOCC generally controls the switch of engine with 82C54, and after arriving when 82C54 counter counts, produce and interrupt, AOCC responds impeding shutdown thruster, and the time clock unit of 82C54 is t1 second, and the temporal error therefore brought is less than t1 second.The specific impulse error of engine changed with the working time, when being less than 1.0 seconds when the engine operates, there is specific impulse error in engine, working time is shorter, error is larger, when being 0.05 second when operating, scattering and is about 50%, when being more than or equal to 1.0 seconds when the engine operates, what can be similar to thinks that distribution is 0.Suppose that the steady-state specific impulse of engine scatters as n1%, gyro to measure relative error is n2%, test accuracy index is N% (namely test findings is better than N%), then (n1+n2+N) %<1 and jet time length Δ t is greater than t1/(1-(n1+n2+N)/100) second, such test error is Δ N=1-t1/ Δ t-(n1+n2)/100, visible increasing Δ t contributes to improving precision, and suggestion jet time length is greater than 1.0 seconds.
(3) prepare before engine operation: engine opens the last circle of control and opens engine heater, close on (as opening first 1 minute of control) before opening control and close well heater; Close on before opening control and open the corresponding latching valve of engine.Well heater is determined (such as 1 minute) according to the request for utilization of engine concrete switching time.
(4) engine starts the data recording gyro output before opening control, and after completing until jet, spacecraft enters three axle stable states.Jet complete after to kill engine corresponding latching valve.
Engine is jet: the catalytic bed temperature change of observation engine; The output of observation engine corresponding pressure sensor; Monitor the attitude angular velocity of spacecraft, attitude angle and gyro exporting change situation; If attitude angle is greater than threshold value (as 3 degree), then stop at once (as directly closed instruction from locking-valve), this tests end.
(5) by gyro data and spacecraft inertia, the disturbance torque of the jet generation of engine is analyzed.
According to measurement output and the spacecraft inertia of gyro, disturbance torque T can be drawn
di(i=x, y, z):
T
di=J
i（ω
izt1-ω
izt0）/（t1-t0）
Wherein: T
difor i (i=x, y, z) axle disturbance torque, dimension: N.m.
J
ifor spacecraft i (i=x, y, z) axle inertia, dimension: kg.m
2.
T0, t1 are the time, dimension: s.
ω
izt1for the jet t1 moment, spacecraft i (i=x, y, z) axle inertia angular velocity, dimension: rad/s.
ω
izt0for the jet t0 moment, spacecraft i (i=x, y, z) axle inertia angular velocity, dimension: rad/s.
Further, by engine mounting positions and the mass property of spacecraft and the disturbance torque of above-mentioned calculating, the perturbed force of the jet generation of engine is determined.Plume can be improved and analyze method for numerical simulation.
Embodiment
The present invention utilizes certain three axis stabilized satellite engine in-orbit of 915km orbit altitude, has carried out engine high vacuum plume to the test of spacecraft effect, and adopting gyro data to analyze test findings, is the engineering test technology of in the past never carrying out.Suppose t1=2ms, n1=0.1%, n2=0.8%, N=98%, require that jet time length is greater than t1/(1-(n1+n2+N according to above-mentioned steps (2)) %)=2 seconds, get jet time length 5.0 seconds, other key step is as follows:
A. set up the normal three-axis stabilization attitude of spacecraft, injection engine opens control point and jet time length.
B. prepare before engine operation, specifically see above-mentioned steps (3).
C. to open control point independently jet to engine for engine, and records the data of above-mentioned steps (4).
D. by analytic record data, the inertia angular velocity that engine jet front and back Z-direction gyro exports is respectively ω
izt0=0.0rad/s, ω
izt1=8.6651e-4rad/s, other direction does not change, and inertia J
z=2943.7kg.m
2, then disturbance torque T
dz=0.51015Nm.Can be 99.06% in the hope of test accuracy like this, be better than 98% of index request.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (2)
1., based on an engine plume data acquisition method in-orbit for gyro data, it is characterized in that, comprise the following steps:
(1) set up the normal three-axis stabilization attitude of spacecraft, the topworks adopting momenttum wheel to control as three axles, magnetic torquer unloading, employing gyro and infrared posture sensor or gyro and star sensor determine appearance;
(2) determine that engine spacecraft participating in test opens control point and jet time length tj, engine starts the data recording gyro output before opening control, after completing until jet, spacecraft enters three-axis stabilization attitude; Described jet time length is greater than t/ (1-(n1+n2+N)/100) second, t is the time clock unit controlling tail-off, the steady-state specific impulse of engine scatters as n1%, and gyro to measure relative error is n2%, and test accuracy index is N%;
(3) gyro recorded according to step (2) exports data, determines the plume disturbance torque of the jet generation of engine.
2. a kind of engine plume data acquisition method in-orbit based on gyro data according to claim 1, is characterized in that: the plume disturbance torque of the jet generation of described engine is determined according to following formula:
T
di＝J
i(ω
izt1-ω
izt0)/(t1-t0)
Wherein: T
difor i (i=x, y, z) axle disturbance torque, dimension: N.m;
J
ifor spacecraft i (i=x, y, z) axle inertia, dimension: kg.m
2;
ω
izt1for the jet t1 moment, spacecraft i (i=x, y, z) axle inertia angular velocity, dimension: rad/s;
ω
izt0for the jet t0 moment, spacecraft i (i=x, y, z) axle inertia angular velocity, dimension: rad/s.
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Citations (3)
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| CN101066706A (en) * | 2007-07-03 | 2007-11-07 | 北京控制工程研究所 | Estimating and compensating method for reducing influence of attitude controlling jetting on the orbit |
| CN101226561A (en) * | 2007-12-28 | 2008-07-23 | 南京航空航天大学 | Minitype simulation support system and operating method for minitype spacecraft attitude orbital control system |
| CN102411304A (en) * | 2011-12-15 | 2012-04-11 | 北京航空航天大学 | Optimization method of spacecraft small-angle attitude maneuver control parameters |
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| US8688296B2 (en) * | 2008-11-17 | 2014-04-01 | David A. Bailey | Method for maximum data collection with a control moment gyroscope controlled satellite |
| US20110011982A1 (en) * | 2009-07-20 | 2011-01-20 | Jason Herman | Modular control moment gyroscope (cmg) system for spacecraft attitude control |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066706A (en) * | 2007-07-03 | 2007-11-07 | 北京控制工程研究所 | Estimating and compensating method for reducing influence of attitude controlling jetting on the orbit |
| CN101226561A (en) * | 2007-12-28 | 2008-07-23 | 南京航空航天大学 | Minitype simulation support system and operating method for minitype spacecraft attitude orbital control system |
| CN102411304A (en) * | 2011-12-15 | 2012-04-11 | 北京航空航天大学 | Optimization method of spacecraft small-angle attitude maneuver control parameters |
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| Title |
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| 利用动量轮测试气浮台干扰力矩的新方法;张振军等;《计算机测量与控制》;20080825;第16卷(第08期);第1122页第2栏第3段-第1123页第1栏第4段 * |
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