CN103241390B - Micro-nano satellite flight attitude control setup and method - Google Patents

Abstract

The present invention proposes a kind of micro-nano satellite flight attitude control setup and method, comprise: fuzzy adapted PI control device, actuator, high power density motor and flywheel body, wherein: fuzzy adapted PI control device is for sending adjustable duty cycle impulse singla to actuator; Actuator is connected with fuzzy adapted PI control device, for adjustable duty cycle impulse singla is converted to moment of momentum control signal, and is sent to high power density motor; High power density motor is connected with actuator, for controlling flywheel body according to moment of momentum control signal; Flywheel body is connected with high power density motor, controls micro-nano satellite flight attitude for exporting variable angular momentum under the driving of high power density motor.Micro-nano satellite flight attitude control setup of the present invention has possessed that self adaptation absorbs the various distrubing moments of period in-orbit, hyper-speed response, pinpoint accuracy, zero tracking error and self adaptation resist the advantages such as external disturbance.

Description

Micro-nano satellite flight attitude control setup and method

Technical field

The invention belongs to satellite gravity anomaly technical field, be specifically related to a kind of micro-nano satellite flight attitude control setup and method.

Background technology

Along with hi-tech developments such as micrometer/nanometers, the research of less than 10 kilograms nanometer satellite technologies becomes one of focus of INSAT international satellite's technical study, the technical study of various countries' Efforts To Develop micro-nano satellite, makes it can have in military affairs, communication, geoexploration, environment and disaster monitoring, Meteorological Services, scientific experiment, survey of deep space etc. and applies more specifically.As one of satellite gordian technique gesture stability to aerial mission implement with completed direct vital function, reaction wheel/the momentum wheel of nanometer Satellite Attitude control actr is arranged on satellite body system of axes three principal moments direction of principal axis, by adjustment Speed of Reaction Wheels, momentum exchange mode is adopted to carry out the interference of absorbing environmental moment to satellite body, keep satellite three axis stabilization, satellite can be made to do attitude maneuver, to meet the needs of Satellite Payloads work and flight test around pitching, rolling and driftage three axles simultaneously.Nanometer satellite own vol is little, inertia is little, lightweight, by many unknown disturbance moment loadings during flight, long-time accumulation can make attitude deviation predetermined ideal state, and impact normally runs.Require micro-momentum wheel theoretical model convergence real system model, along with flywheel temperature, rotation speed change, also there is nonlinearities change in friction moment thereupon, and large inertia claims to the dynamic property of Nano satellite pose adjustment and accurate control than these factors of design.

Summary of the invention

The present invention one of is intended to solve the problems of the technologies described above at least to a certain extent or at least provides a kind of useful business to select.For this reason, first object of the present invention is to propose a kind of micro-nano satellite flight attitude control setup, and second object of the present invention is to propose a kind of micro-nano satellite flight attitude control method.

According to micro-nano satellite flight attitude control setup of the present invention, comprise: fuzzy adapted PI control device, actuator, high power density motor and flywheel body, wherein: described fuzzy adapted PI control device is for sending adjustable duty cycle impulse singla to described actuator; Described actuator is connected with described fuzzy adapted PI control device, for described adjustable duty cycle impulse singla is converted to moment of momentum control signal, and is sent to described high power density motor; Described high power density motor is connected with described actuator, for controlling described flywheel body according to described moment of momentum control signal; Described flywheel body is connected with described high power density motor, controls described micro-nano satellite flight attitude for exporting variable angular momentum under the driving of described high power density motor.

Preferably, described actuator also for gathering torque voltage signal and the protection voltage signal of described high power density motor, and is sent to described fuzzy adapted PI control device.

Preferably, described fuzzy adapted PI control device comprises: speed measuring module, comparator, self adaptation rotational speed governor, treater, adaptive electric machine controller, compare filter and current controller, wherein: described speed measuring module is connected with described high power density motor, for gathering the tach signal of described high power density motor, and be sent to described comparator; Described comparator is connected with described speed measuring module, for described tach signal and given controlling quantity being compared, obtains speed error, and is sent to described self adaptation rotational speed governor; Described self adaptation rotational speed governor is connected with described comparator, for described speed error is converted to spin rate control quantity, and is sent to described treater; Described adaptive electric machine controller is connected with described actuator with described high power density motor respectively, for gathering the motor torque characteristic electric current of described high power density motor, and is converted to torque current controlling quantity and is sent to described treater; Described treater is connected with described adaptive electric machine controller with described self adaptation rotational speed governor, describedly compares filter for described spin rate control quantity and described torque current controlling quantity being converted to voltage signal controlling quantity and being sent to; The described filter that compares is connected with described treater with described actuator, for described torque voltage signal, protection voltage signal and described voltage signal controlling quantity being compared, obtaining comparative voltage signal, and being sent to described current controller; Described current controller is connected with the described filter that compares with described adaptive electric machine controller, compares current signal, and be sent to described adaptive electric machine controller for being converted to by described comparative voltage signal; The described current signal that compares is converted to described adjustable duty cycle impulse singla by described adaptive electric machine controller, and is sent to described actuator.

Micro-nano satellite flight attitude control setup of the present invention has possessed that self adaptation absorbs the various distrubing moments of period in-orbit, hyper-speed response, pinpoint accuracy, zero tracking error and self adaptation resist the advantages such as external disturbance.

According to micro-nano satellite flight attitude control method of the present invention, comprise the following steps: A: the math modeling setting up described micro-nano satellite flight attitude control setup; B: the controlling quantity designing the fuzzy adapted PI control device of described micro-nano satellite flight attitude control setup.

Preferably, steps A comprises further: described micro-nano satellite flight attitude control setup is made up of fuzzy adapted PI control device, actuator, high power density motor and flywheel body,

A1: the every phase phase voltage of described high power density motor equals winding resistance pressure drop and winding induced potential sum, after doing reasonable assumption, winding A, B, C three phasevoltage can be expressed as:

$U_A={\mathrm{Ri}}_A+\frac{d}{\mathrm{dt}}(L_A{i}_A+M_{\mathrm{AB}}{i}_B+M_{\mathrm{AC}}{i}_C+{\mathrm{\Ψ}}_{\mathrm{pm}})$

$U_B={\mathrm{Ri}}_B+\frac{d}{\mathrm{dt}}(L_B{i}_B+M_{\mathrm{BA}}{i}_A+M_{\mathrm{BC}}{i}_C+{\mathrm{\Ψ}}_{\mathrm{pm}})$

$U_C={\mathrm{Ri}}_C+\frac{d}{\mathrm{dt}}(L_C{i}_C+M_{\mathrm{CA}}{i}_A+M_{\mathrm{CB}}{i}_B+{\mathrm{\Ψ}}_{\mathrm{pm}})$

Wherein: U _a, U _band U _cfor phase voltage, i _a, i _band i _cfor phase current, L _a, L _band L _cfor self-induction, M _aB, M _bA, M _aC, M _cA, M _bCand M _cBfor mutual inductance, Ψ _pmfor winding permanent magnet magnetic linkage, during rotor turns, described winding permanent magnet magnetic linkage magnetic flux changes with angle, and R is motor phase resistance value, and t is the time, and θ is electric angle;

A2: when described rotor position angle is a, described winding permanent magnet magnetic linkage is:

${\mathrm{\Ψ}}_{\mathrm{pm}}=N{\∫}_{-\frac{\mathrm{\π}}{2}+a}^{\frac{\mathrm{\π}}{2}+a}B\left(\mathrm{\θ}\right)\mathrm{Sd\θ}$

N is number of turns of winding, B (θ) for the close distribution of described rotor permanent magnet radial air gap magnetic, S be that described winding surrounds area on diameter of stator bore surface,

A3: described high power density motor counter potential is:

$e_A=\frac{d}{\mathrm{dt}}\mathrm{NS}{\∫}_{-\frac{\mathrm{\π}}{2}+\mathrm{\θ}}^{\frac{\mathrm{\π}}{2}+\mathrm{\θ}}B\left(x\right)\mathrm{Sdx}=\mathrm{NSw}[B(\frac{\mathrm{\π}}{2}+\mathrm{\θ})-B(-\frac{\mathrm{\π}}{2}+\mathrm{\θ})]$

Wherein, x is rotor-position;

A4: described high power density motor adopts Y type to connect, winding current: i _a+ i _b+ i _c=0,

A5: described high power density motor line voltage equation is:

$\left[\begin{array}{c}{U}_{\mathrm{AB}}\\ U_{\mathrm{BC}}\\ U_{\mathrm{CA}}\end{array}\right]=\left[\begin{array}{ccc}R& -R& 0\\ 0& R& -R\\ -R& 0& R\end{array}\right]\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right]+\left[\begin{array}{ccc}L-M& M-L& 0\\ 0& L-M& M-L\\ M-L& 0& L-M\end{array}\right]\frac{d}{\mathrm{dt}}\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right]+\left[\begin{array}{c}{e}_A-e_B\\ e_B-e_C\\ e_C-e_A\end{array}\right]$

Wherein, e _a, e _band e _cfor counter potential, U _aB, U _bCand U _cAfor winding voltage, L is winding self-induction, and M is winding mutual inductance;

A6: under described high power density motor is operated in 120 ° of ON operation modes, obtaining voltage equation is:

$U_{\mathrm{AB}}=2\mathrm{Ri}+2(L-M)\frac{\mathrm{di}}{\mathrm{dt}}+{2e}_A$

Torque equation is: T _e=K _ti

Wherein K _tfor described high power density motor torque factor, phase current when i is stable state,

A7: the described high power density motor equation of motion is:

T in formula _lfor load torque, J is described rotor moment of inertia, B _vfor viscid friction coefficient, Ω is mechanical angle speed, T _efor motor electromagnetic torque.

Preferably, step B comprises further:

B1: micro-nano satellite flight attitude control setup adopts electric current loop, der Geschwindigkeitkreis double-closed-loop control, control system choose tach signal and given controlling quantity difference be speed error E, speed error rate of change is EC,

The fuzzy set that described speed error E is corresponding is:

A＝[NB NM NS ZO PS PM PB]

The fuzzy set that described speed error rate of change EC is corresponding is:

B＝[NB NM NS ZO PS PM PB]

Fuzz variable NB, NM, NS, ZO, PS, PM and PB represent negative large respectively, negative in, negative little, zero, just little, just neutralize honest,

Fuzzy subset

C＝{NB NM NS ZO PS PM PB}

B2: described fuzzy adapted PI control device is based on PI controller, a kind of controller of forming in conjunction with fuzzy adaptive controller, revises the intermediate-frequency bandwidth h of described control system and minimum resonance peak M in real time by adjustment PI parameter equivalent _min, the pass that described fuzzy adapted PI control device exports between input fuzzy set is:

When after the described fuzz variable of input, export the ternary fuzzy relation with input for:

$\tilde{R}=\underset{k}{\∪}[{(\tilde{A}\×\tilde{B})}^T\×{\tilde{C}}_k]$

Wherein, be speed error E domain on fuzzy subset be speed error rate of change EC domain on fuzzy subset that described fuzzy adapted PI control device exports, wherein by fuzzy relation matrix n × m the vector formed, n and m is respectively domain element number, and T forms transpose of a matrix for inputting the corresponding fuzzy output of fuzzy set A and B;

B3: given micro-nano satellite flight attitude control setup rotary speed instruction, after obtaining described speed error and speed error rate of change, can try to achieve described fuzzy adapted PI control device Δ K by feedback element _pwith Δ K _icorresponding output fuzzy set,

Wherein, " ο " is cartesian product computing;

B4: obtain the precisely controlled amount of result de-fuzzy to described by fuzzy reasoning, obtain precise control amount by gravity model appoach,

$y=\frac{\underset{L=1}{\overset{M}{\mathrm{\Σ}}}\stackrel{\‾}{y}\left[{\mathrm{\μ}}_B^L\left({\stackrel{\‾}{y}}^L\right)\right]}{\underset{L=1}{\overset{M}{\mathrm{\Σ}}}\left[{\mathrm{\μ}}_B^L\left({\stackrel{\‾}{y}}^L\right)\right]}$

Wherein, B is the fuzzy set that speed error variable quantity is corresponding, and y is ambiguity solution value, and L is fuzzy subset number, and M is the sum of fuzzy subset's index, and μ is membership function, for maximum membership degree exports aviation value, for the subordinate function on fuzzy subset L in fuzzy set B;

B5: the controlling quantity be finally applied on described micro-nano satellite flight attitude control setup is:

K _p1＝K _p2+ΔK _p3，K _i1＝K _i2+ΔK _i3

Wherein, K _p1, K _p2, K _i1, K _i2be respectively factor of proportionality and integrating factor, Δ K _p3, Δ K _i3be respectively factor of proportionality variable quantity and integrating factor variable quantity.

Micro-nano satellite flight attitude control method of the present invention has possessed that self adaptation absorbs the various distrubing moments of period in-orbit, hyper-speed response, pinpoint accuracy, zero tracking error and self adaptation resist the advantages such as external disturbance.

Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.

Accompanying drawing explanation

Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:

Fig. 1 is the constructional drawing of the micro-nano satellite flight attitude control setup of the embodiment of the present invention;

Fig. 2 is the constructional drawing of the optimum flywheel body of micro-nano satellite flight attitude control setup of the embodiment of the present invention;

Fig. 3 is the constructional drawing of the micro-nano satellite flight attitude control setup fuzzy adapted PI control device of the embodiment of the present invention;

Fig. 4 is the diagram of circuit of the micro-nano satellite flight attitude control method of the embodiment of the present invention;

Fig. 5 is the schematic diagram of the micro-nano satellite flight attitude control method of the embodiment of the present invention;

Fig. 6 is the fuzzy adapted PI control device figure of the micro-nano satellite flight attitude control method of the embodiment of the present invention;

Fig. 7 is the response curve of the micro-nano satellite flight attitude control method fuzzy adapted PI control device of the embodiment of the present invention;

Fig. 8 is the Control curve figure of the micro-nano satellite flight attitude control method fuzzy adapted PI control device of the embodiment of the present invention;

Fig. 9 is the analogous diagram of the micro-nano satellite flight attitude control method of the embodiment of the present invention;

Figure 10 is the response curve of the flywheel body of the micro-nano satellite flight attitude control method of the embodiment of the present invention;

Figure 11 is the steady state error figure of the flywheel body of the micro-nano satellite flight attitude control method of the embodiment of the present invention;

Figure 12 is the Disturbance Rejection design sketch of the flywheel body of the micro-nano satellite flight attitude control method of the embodiment of the present invention.

Detailed description of the invention

Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.

In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " cw ", orientation or the position relationship of the instruction such as " conter clockwise " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.

In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.

In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.

In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score can comprise the first and second features and directly contact, also can comprise the first and second features and not be directly contact but by the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " comprise fisrt feature directly over second feature and oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " comprise fisrt feature immediately below second feature and tiltedly below, or only represent that fisrt feature level height is less than second feature.

As shown in Figure 1, be the constructional drawing of the micro-nano satellite flight attitude control setup of the embodiment of the present invention, comprise fuzzy adapted PI control device 100, actuator 200, high power density motor 300 and flywheel body 400, wherein:

Fuzzy adapted PI control device 100 is for sending adjustable duty cycle impulse singla to actuator 200; actuator 200 is connected with fuzzy adapted PI control device 100; for adjustable duty cycle impulse singla is converted to moment of momentum control signal; and be sent to high power density motor 300; actuator 200 also for gathering torque voltage signal and the protection voltage signal of high power density motor 300, and is sent to fuzzy adapted PI control device 100.

According to micro-nano satellite around orbital flight time change by many disturbance factors such as gravity gradient torque, solar wind radiation moment, the asymmetric thermal radiation moment caused of celestial body each several part temperature, and the nonlinearities change of uncertain sudden distrubing moment and running temperature and friction moment, fuzzy adapted PI control device 100 and actuator 200 absorb distrubing moment, export with fuzzy self-adaption mode operating angle momentum control signal, real-time stabilization celestial body attitude.

High power density motor 300 is connected with actuator 200, for controlling flywheel body 400 according to moment of momentum control signal, enough power is kept while reduced volume and quality, flywheel body 400 is connected with high power density motor 300, controls micro-nano satellite flight attitude for exporting variable angular momentum under the driving of high power density motor 300.Flywheel body 400 absorbs the various distrubing moments of period in-orbit adaptively under the drive of high power density motor 300.

As shown in Figure 2, be the constructional drawing of the optimum flywheel body 400 of micro-nano satellite flight attitude control setup of the embodiment of the present invention.

For meeting micro-nano satellite totally to the requirement of the configuration of flywheel body 400, size, quality and power consumption, reduce the volume of flywheel body 400 as far as possible, improve the inertia/mass ratio of flywheel body 400 simultaneously, design is optimized to the parameter such as configuration, size, quality of flywheel body 400.Under above constraint condition, flywheel body 400 have employed tray type structure as shown in Figure 2, ensure that the intensity of flywheel body 400 makes the quality of flywheel body 400 away from rotating shaft, thus improves inertia/mass ratio, realize maximum rotation inertia with the little quality of small size.Wherein h represents the height of flywheel body 400, and t represents the thickness on flywheel body 400 chassis, R and r represents external diameter and the internal diameter of flywheel body 400 respectively.

As shown in Figure 3, for the constructional drawing of the micro-nano satellite flight attitude control setup fuzzy adapted PI control device 100 of the embodiment of the present invention, comprising: speed measuring module 110, comparator 120, self adaptation rotational speed governor 130, treater 140, adaptive electric machine controller 150, compare filter 160 and current controller 170.

Speed measuring module 110 is connected with high power density motor 300, for gathering the tach signal of high power density motor 300, and is sent to comparator 120.

Comparator 120 is connected with speed measuring module 110, for tach signal and given controlling quantity being compared, obtains speed error, and is sent to self adaptation rotational speed governor 130.

Self adaptation rotational speed governor 130 is connected with comparator 120, for speed error is converted to spin rate control quantity, and is sent to treater 140.

Adaptive electric machine controller 150 is connected with actuator 200 with high power density motor 300 respectively, for gathering the motor torque characteristic electric current of high power density motor 300, and is converted to torque current controlling quantity and is sent to treater 140.

Treater 140 is connected with adaptive electric machine controller 150 with self adaptation rotational speed governor 130, compares filter 160 for spin rate control quantity and torque current controlling quantity are converted to voltage signal controlling quantity and are sent to.

Relatively filter 160 is connected with treater 140 with actuator 200, for torque voltage signal, protection voltage signal and voltage signal controlling quantity being compared, obtaining comparative voltage signal, and being sent to current controller 170.

Current controller 170 and adaptive electric machine controller 150 with compare filter 160 and be connected, compare current signal for being converted to by comparative voltage signal, and be sent to adaptive electric machine controller 150.

Adaptive electric machine controller 150 is converted to adjustable duty cycle impulse singla by comparing current signal, and is sent to actuator 200.

According to the micro-nano satellite flight attitude control setup of the embodiment of the present invention, micro-nano satellite can be made to depart from fast and stable attitude after rocket injection, make micro-nano satellite during subsequent flights by keeping the stable of attitude under multiple external interference moment environment and making necessary attitude maneuver, the embodiment of the present invention is according to micro-nano satellite celestial body attitude and suffered external disturbance moment, optimum flywheel body is driven by high power density motor, output angle momentum control signal controls micro-nano satellite flight attitude, possess the various distrubing moments that self adaptation absorbs period in-orbit, hyper-speed responds, pinpoint accuracy, the characteristics such as zero tracking error and self adaptation opposing external disturbance.

As shown in Figure 4, be the diagram of circuit of the micro-nano satellite flight attitude control method of the embodiment of the present invention, and the schematic diagram of the micro-nano satellite flight attitude control method of the embodiment of the present invention shown in composition graphs 5, comprise the following steps:

A: the math modeling setting up micro-nano satellite flight attitude control setup.

Steps A comprises further:

Micro-nano satellite flight attitude control setup is made up of fuzzy adapted PI control device, actuator, high power density motor and flywheel body, wherein, when high power density motor is preferably FaulHarber-2036B permanent-magnet brushless DC electric machine:

A1: the every phase phase voltage of high power density motor equals winding resistance pressure drop and winding induced potential sum, after doing reasonable assumption, winding A, B, C three phasevoltage can be expressed as:

$U_A={\mathrm{Ri}}_A+\frac{d}{\mathrm{dt}}(L_A{i}_A+M_{\mathrm{AB}}{i}_B+M_{\mathrm{AC}}{i}_C+{\mathrm{\Ψ}}_{\mathrm{pm}})$

$U_B={\mathrm{Ri}}_B+\frac{d}{\mathrm{dt}}(L_B{i}_B+M_{\mathrm{BA}}{i}_A+M_{\mathrm{BC}}{i}_C+{\mathrm{\Ψ}}_{\mathrm{pm}})$

$U_C={\mathrm{Ri}}_C+\frac{d}{\mathrm{dt}}(L_C{i}_C+M_{\mathrm{CA}}{i}_A+M_{\mathrm{CB}}{i}_B+{\mathrm{\Ψ}}_{\mathrm{pm}})$

Wherein: U _a, U _band U _cfor phase voltage, i _a, i _band i _cfor phase current, L _a, L _band L _cfor self-induction, M _aB, M _bA, M _aC, M _cA, M _bCand M _cBfor mutual inductance, Ψ _pmfor winding permanent magnet magnetic linkage, during rotor turns, winding permanent magnet magnetic linkage magnetic flux changes with angle, and R is motor phase resistance value, and t is the time, and θ is electric angle.

A2: when rotor position angle is a, winding permanent magnet magnetic linkage is:

${\mathrm{\Ψ}}_{\mathrm{pm}}=N{\∫}_{-\frac{\mathrm{\π}}{2}+a}^{\frac{\mathrm{\π}}{2}+a}B\left(\mathrm{\θ}\right)\mathrm{Sd\θ}$

N is number of turns of winding, B (θ) for the close distribution of rotor permanent magnet radial air gap magnetic, S be that winding surrounds area on diameter of stator bore surface.

A3: high power density motor counter potential is:

$e_A=\frac{d}{\mathrm{dt}}\mathrm{NS}{\∫}_{-\frac{\mathrm{\π}}{2}+\mathrm{\θ}}^{\frac{\mathrm{\π}}{2}+\mathrm{\θ}}B\left(x\right)\mathrm{Sdx}=\mathrm{NSw}[B(\frac{\mathrm{\π}}{2}+\mathrm{\θ})-B(-\frac{\mathrm{\π}}{2}+\mathrm{\θ})].$

Wherein, x is rotor-position.

A4: high power density motor FaulHarber-2036B adopts Y type to connect, winding current: i _a+ i _b+ i _c=0.

A5: high power density motor line voltage equation is:

$\left[\begin{array}{c}{U}_{\mathrm{AB}}\\ U_{\mathrm{BC}}\\ U_{\mathrm{CA}}\end{array}\right]=\left[\begin{array}{ccc}R& -R& 0\\ 0& R& -R\\ -R& 0& R\end{array}\right]\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right]+\left[\begin{array}{ccc}L-M& M-L& 0\\ 0& L-M& M-L\\ M-L& 0& L-M\end{array}\right]\frac{d}{\mathrm{dt}}\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right]+\left[\begin{array}{c}{e}_A-e_B\\ e_B-e_C\\ e_C-e_A\end{array}\right].$

Wherein, e _a, e _band e _cfor counter potential, U _aB, U _bCand U _cAfor winding voltage, L is winding self-induction, and M is winding mutual inductance.

A6: under high power density motor is operated in 120 ° of ON operation modes, obtaining voltage equation is:

$U_{\mathrm{AB}}=2\mathrm{Ri}+2(L-M)\frac{\mathrm{di}}{\mathrm{dt}}+{2e}_A$

Torque equation is: T _e=K _ti

Wherein K _tfor high power density motor torque factor, phase current when i is stable state.

A7: the high power density motor equation of motion is:

T in formula _lfor load torque, J is rotor moment of inertia, B _vfor viscid friction coefficient, Ω is mechanical angle speed, T _efor motor electromagnetic torque.

As the above analysis, as load torque T _lto change or along with rotation speed change and temperature traverse, viscid friction coefficient B _valso nonlinearities change is presented.

Further, UC1625 motor fuzzy adapted PI control device and driver model by analysis, can be equivalent to first order inertial loop:

$G\left(s\right)=\frac{K}{\mathrm{Ts}+1}$

B: the controlling quantity of the fuzzy adapted PI control device of design micro-nano satellite flight attitude control setup.

Micro-nano satellite flight attitude control setup adopts electric current loop, der Geschwindigkeitkreis double-closed-loop control.For the permanent-magnet brushless DC electric machine that the high power density motor of the embodiment of the present invention uses, this controlled object is the model of non-linear a, multivariate, close coupling.Work under perturbation action, conventional PI control device is more difficult reaches ideal effect, and the feature of micro-nano satellite flight attitude control setup self and working environment determine the adaptive controller of dynamically-adjusting parameter when one need be adopted to change according to working environment.

Fuzzy adapted PI control device is based on PI controller, in conjunction with a kind of controller that fuzzy adaptive controller is formed.The intermediate-frequency bandwidth h of momentum wheel system and minimum resonance peak M is revised in real time by adjustment PI parameter equivalent _min, improve large inertia and compare system dynamic characteristic.Be applicable to nonlinearity, parameter is comparatively large with operation point variation, cross-coupled serious, environmental factor interference is strong, math modeling is changeable or uncertainly control environment.Fuzzy adapted PI control device as shown in Figure 6.

B1: micro-nano satellite flight attitude control setup adopts electric current loop, der Geschwindigkeitkreis double-closed-loop control, control system choose tach signal and given controlling quantity difference be speed error E, speed error rate of change is EC, the domain of speed error E is [-6000,6000], the quantizing factor K of speed error E _e=0.001083, the domain of speed error rate of change EC is [-40000,40000], the quantizing factor K of speed error rate of change EC _eC=0.0001625,

The fuzzy set that speed error E is corresponding is:

A＝[NB NM NS ZO PS PM PB]

The fuzzy set that speed error rate of change EC is corresponding is:

B＝[NB NM NS ZO PS PM PB]

Fuzz variable NB, NM, NS, ZO, PS, PM and PB represent negative large respectively, negative in, negative little, zero, just little, just neutralize honest,

Fuzzy adapted PI control device exports Δ K _pwith Δ K _idomain in fuzzy set is

{-6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6}

Fuzzy subset

C＝{NB NM NS ZO PS PM PB}

As shown in Figure 7, be the response curve of the micro-nano satellite flight attitude control method fuzzy adapted PI control device of the embodiment of the present invention, for improving dynamic performance and steady-state behaviour, response curve is at OA section Proportional coefficient K _pshould be first big after small, integral coefficient K _ilarge after Ying Xian little, to export very fast convergence stable state.AB section Proportional coefficient K _pshould increase gradually, error is eliminated as early as possible, integral coefficient K _ishould slowly reduce to prevent saturation integral.BC section Proportional coefficient K _pshould be less and reduce gradually with error, integral coefficient should increase.CD section Proportional coefficient K _pincrease gradually, integral coefficient K _ireduce gradually.DE section Proportional coefficient K _pshould reduce gradually, integral coefficient should increase gradually.Last K _pand K _itend towards stability.

B2: fuzzy adapted PI control device is based on PI controller, a kind of controller of forming in conjunction with fuzzy adaptive controller, by intermediate-frequency bandwidth h and the minimum resonance peak M of adjustment PI parameter equivalent real-time Correction and Control system _min, the pass that fuzzy adapted PI control device exports between input fuzzy set is:

When after input fuzz variable, export the ternary fuzzy relation with input for:

$\tilde{R}=\underset{k}{\∪}[{(\tilde{A}\×\tilde{B})}^T\×{\tilde{C}}_k]$

Wherein, be speed error E domain on fuzzy subset be speed error rate of change EC domain on fuzzy subset that fuzzy adapted PI control device exports, wherein by fuzzy relation matrix n × m the vector formed, n and m is respectively domain element number, and T forms transpose of a matrix for inputting the corresponding fuzzy output of fuzzy set A and B.

B3: given micro-nano satellite flight attitude control setup rotary speed instruction, after obtaining speed error and speed error rate of change, can try to achieve fuzzy adapted PI control device Δ K by feedback element _pwith Δ K _icorresponding output fuzzy set,

Wherein, " ο " is cartesian product computing, as shown in Figure 8, is the Control curve figure of the micro-nano satellite flight attitude control method fuzzy adapted PI control device of the embodiment of the present invention.

B4: to being obtained the precisely controlled amount of result de-fuzzy by fuzzy reasoning, obtain precise control amount by gravity model appoach,

$y=\frac{\underset{L=1}{\overset{M}{\mathrm{\Σ}}}\stackrel{\‾}{y}\left[{\mathrm{\μ}}_B^L\left({\stackrel{\‾}{y}}^L\right)\right]}{\underset{L=1}{\overset{M}{\mathrm{\Σ}}}\left[{\mathrm{\μ}}_B^L\left({\stackrel{\‾}{y}}^L\right)\right]}$

Wherein, B is the fuzzy set that speed error variable quantity is corresponding, and y is ambiguity solution value, and L is fuzzy subset number, and M is the sum of fuzzy subset's index, and μ is membership function, maximum membership degree exports aviation value, for the subordinate function on fuzzy subset L in fuzzy set B.

B5: the controlling quantity be finally applied on micro-nano satellite flight attitude control setup is:

K _p＝K _p+ΔK _p，K _i＝K _i+ΔK _i，

Wherein, K _p, K _ibe respectively factor of proportionality and integrating factor, Δ K _p, Δ K _ibe respectively factor of proportionality variable quantity and integrating factor variable quantity.

As shown in Figure 9, be the analogous diagram of the micro-nano satellite flight attitude control method of the embodiment of the present invention, to certain Nano satellite fine motion amount wheel system, parameter is as follows: high power density motor rotor moment of inertia J=1.95gcm ², Rotary Inertia of Flywheel J '=1.34 × 10 ^-4kgm ², high power density motor phase resistance R=3.4 Ω, high power density motor self-induction L _a=L _b=L _c=148uH, FaulHarber-2036B velocity constant k _n=1506rpm/V, EMF (Electromotive Force, electro-motive force) constant k _e=0.664mV/rpm, high power density motor torque factor k _t=6.34mNm/A, mechanical time constant τ _m=16ms, namely high power density motor in rated voltage and under zero load rotating speed reach the time required for 63% of rated speed of rotation, actuator equivalent time constant τ=0.0148ms.

NS-2 flywheel body operating range is as shown in Figure 90 ~ 6000rpm, when being 6024rpm from t=5s moment given rotating speed controlling quantity, flywheel body response curve as shown in Figure 10,1. curve is without flywheel body step response curve under controlled reset, curve is 2. for adopting the flywheel body step response curve of conventional PI control device, curve is 3. for adopting the flywheel body step response curve of fuzzy adapted PI control device, and flywheel body adopts fuzzy adapted PI control device response time than the short of conventional PI control device and overshoot is little.As shown in figure 11, be 6024.1rpm at the rotating speed at 7 seconds places, steady state error is now 0.00166%, reaches the designing requirement of steady state error 1/6000rpm, and response time is about 0.2s.A disturbing signal is applied in the 7.1s moment, the disturbed appearance fluctuation of flywheel body rotating speed, when there is disturbance and rapid adjustment System in fuzzy adapted PI control device, with relative to conventional PI control device speed faster, disturbed output amplitude is tending towards stable state, as shown in figure 12, curve is 1. for adopting conventional PI control device by flywheel body response curve during disturbance, and curve is 2. for adopting fuzzy adapted PI control device by flywheel body response curve during disturbance for its simulated effect.

According to the micro-nano satellite flight attitude control method of the embodiment of the present invention, fuzzy adapted PI control device can make flywheel body super fast response, and response time is less than or equal to 0.2s, obtains extra small steady state error simultaneously, steady state error is 0.00166%, meets the designing requirements such as high interference immunity high precision.

According to the micro-nano satellite flight attitude control method of the embodiment of the present invention, micro-nano satellite can be made to depart from fast and stable attitude after rocket injection, make micro-nano satellite during subsequent flights by keeping the stable of attitude under multiple external interference moment environment and making necessary attitude maneuver, the embodiment of the present invention is according to micro-nano satellite celestial body attitude and suffered external disturbance moment, optimum flywheel body is driven by high power density motor, output angle momentum control signal controls micro-nano satellite flight attitude, possess the various distrubing moments that self adaptation absorbs period in-orbit, hyper-speed responds, pinpoint accuracy, the characteristics such as zero tracking error and self adaptation opposing external disturbance.

Describe and can be understood in diagram of circuit or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.

In the description of this specification sheets, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.

Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, those of ordinary skill in the art can change above-described embodiment within the scope of the invention when not departing from principle of the present invention and aim, revising, replacing and modification.

Claims (4)

1. a micro-nano satellite flight attitude control setup, is characterized in that, comprising: fuzzy adapted PI control device, actuator, high power density motor and flywheel body, wherein:

Described fuzzy adapted PI control device is for sending adjustable duty cycle impulse singla to described actuator;

Described actuator is connected with described fuzzy adapted PI control device, for described adjustable duty cycle impulse singla is converted to moment of momentum control signal, and be sent to described high power density motor, and gather torque voltage signal and the protection voltage signal of described high power density motor, and be sent to described fuzzy adapted PI control device;

Described high power density motor is connected with described actuator, for controlling described flywheel body according to described moment of momentum control signal;

Described flywheel body is connected with described high power density motor, controls described micro-nano satellite flight attitude for exporting variable angular momentum under the driving of described high power density motor.

2. micro-nano satellite flight attitude control setup as claimed in claim 1, it is characterized in that, described fuzzy adapted PI control device comprises: speed measuring module, comparator, self adaptation rotational speed governor, treater, adaptive electric machine controller, compare filter and current controller, wherein:

Described speed measuring module is connected with described high power density motor, for gathering the tach signal of described high power density motor, and is sent to described comparator;

Described comparator is connected with described speed measuring module, for described tach signal and given controlling quantity being compared, obtains speed error, and is sent to described self adaptation rotational speed governor;

Described self adaptation rotational speed governor is connected with described comparator, for described speed error is converted to spin rate control quantity, and is sent to described treater;

Described adaptive electric machine controller is connected with described actuator with described high power density motor respectively, for gathering the motor torque characteristic electric current of described high power density motor, and is converted to torque current controlling quantity and is sent to described treater;

Described treater is connected with described adaptive electric machine controller with described self adaptation rotational speed governor, describedly compares filter for described spin rate control quantity and described torque current controlling quantity being converted to voltage signal controlling quantity and being sent to;

The described filter that compares is connected with described treater with described actuator, for described torque voltage signal, protection voltage signal and described voltage signal controlling quantity being compared, obtaining comparative voltage signal, and being sent to described current controller;

Described current controller is connected with the described filter that compares with described adaptive electric machine controller, compares current signal, and be sent to described adaptive electric machine controller for being converted to by described comparative voltage signal;

The described current signal that compares is converted to described adjustable duty cycle impulse singla by described adaptive electric machine controller, and is sent to described actuator.

3. a micro-nano satellite flight attitude control method, is characterized in that, is applied to the micro-nano satellite flight attitude control setup according to any one of claim 1-2, comprises the following steps:

A: the math modeling setting up described micro-nano satellite flight attitude control setup, wherein, steps A comprises further: described micro-nano satellite flight attitude control setup is made up of fuzzy adapted PI control device, actuator, high power density motor and flywheel body;

A1: the every phase phase voltage of described high power density motor equals winding resistance pressure drop and winding induced potential sum, after doing reasonable assumption, winding A, B, C three phasevoltage can be expressed as:

$U_A={\mathrm{Ri}}_A+\frac{d}{\mathrm{dt}}(L_A{i}_A+M_{\mathrm{AB}}{i}_B+M_{\mathrm{AC}}{i}_C+{\mathrm{\Ψ}}_{\mathrm{pm}})$

$U_B={\mathrm{Ri}}_B+\frac{d}{\mathrm{dt}}(L_B{i}_B+M_{\mathrm{BA}}{i}_A+M_{\mathrm{BC}}{i}_C+{\mathrm{\Ψ}}_{\mathrm{pm}})$

$U_C={\mathrm{Ri}}_C+\frac{d}{\mathrm{dt}}(L_C{i}_C+M_{\mathrm{CA}}{i}_A+M_{\mathrm{CB}}{i}_B+{\mathrm{\Ψ}}_{\mathrm{pm}})$

Wherein: U _a, U _band U _cfor phase voltage, i _a, i _band i _cfor phase current, L _a, L _band L _cfor self-induction, M _aB, M _bA, M _aC, M _cA, M _bCand M _cBfor mutual inductance, Ψ _pmfor winding permanent magnet magnetic linkage, during rotor turns, described winding permanent magnet magnetic linkage magnetic flux changes with angle, and R is motor phase resistance value, and t is the time;

A2: when described rotor position angle is a, described winding permanent magnet magnetic linkage is:

${\mathrm{\Ψ}}_{\mathrm{pm}}=N{\∫}_{-\frac{\mathrm{\π}}{2}+a}^{\frac{\mathrm{\π}}{2}+a}B\left(\mathrm{\θ}\right)\mathrm{Sd\θ}$

N is number of turns of winding, B (θ) for the close distribution of described rotor permanent magnet radial air gap magnetic, S be that described winding surrounds area on diameter of stator bore surface, θ is electric angle;

A3: described high power density motor counter potential is:

$e_A=\frac{d}{\mathrm{dt}}\mathrm{NS}{\∫}_{-\frac{\mathrm{\π}}{2}+\mathrm{\θ}}^{\frac{\mathrm{\π}}{2}+\mathrm{\θ}}B\left(x\right)\mathrm{Sdx}=\mathrm{NSw}[B(\frac{\mathrm{\π}}{2}+\mathrm{\θ})-B(-\frac{\mathrm{\π}}{2}+\mathrm{\θ})$

Wherein, x is rotor-position;

A4: described high power density motor adopts Y type to connect, winding current: i _a+ i _b+ i _c=0,

A5: described high power density motor line voltage equation is:

$\left[\begin{array}{c}{U}_{\mathrm{AB}}\\ U_{\mathrm{BC}}\\ U_{\mathrm{CA}}\end{array}\right]=\left[\begin{array}{ccc}R& -R& 0\\ 0& R& -R\\ -R& 0& R\end{array}\right]\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right]+\left[\begin{array}{ccc}L-M& M-L& 0\\ 0& L-M& M-L\\ M-L& 0& L-M\end{array}\right]\frac{d}{\mathrm{dt}}\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right]+\left[\begin{array}{c}{e}_A-e_B\\ e_B-e_C\\ e_C-e_A\end{array}\right]$

Wherein, e _a, e _band e _cfor counter potential, U _aB, U _bCand U _cAfor winding voltage, L is winding self-induction, and M is winding mutual inductance;

A6: under described high power density motor is operated in 120 ° of ON operation modes, obtaining voltage equation is:

$U_{\mathrm{AB}}=2\mathrm{Ri}+2(L-M)\frac{\mathrm{di}}{\mathrm{dt}}+{2e}_A$

Torque equation is: T _e=K _ti

Wherein K _tfor described high power density motor torque factor, phase current when i is stable state,

A7: the described high power density motor equation of motion is:

T in formula _lfor load torque, J is described rotor moment of inertia, B _vfor viscid friction coefficient, Ω is mechanical angle speed, T _efor motor electromagnetic torque;

B: the controlling quantity designing the fuzzy adapted PI control device of described micro-nano satellite flight attitude control setup.

4. micro-nano satellite flight attitude control method as claimed in claim 3, it is characterized in that, step B comprises further:

B1: micro-nano satellite flight attitude control setup adopts electric current loop, der Geschwindigkeitkreis double-closed-loop control, control system choose tach signal and given controlling quantity difference be speed error E, speed error rate of change is EC,

The fuzzy set that described speed error E is corresponding is:

A＝[NB NM NS ZO PS PM PB]

The fuzzy set that described speed error rate of change EC is corresponding is:

B＝[NB NM NS ZO PS PM PB]

Fuzz variable NB, NM, NS, ZO, PS, PM and PB represent negative large respectively, negative in, negative little, zero, just little, just neutralize honest,

Fuzzy subset

C＝{NB NM NS ZO PS PM PB}

B2: described fuzzy adapted PI control device is based on PI controller, a kind of controller of forming in conjunction with fuzzy adaptive controller, revises the intermediate-frequency bandwidth h of described control system and minimum resonance peak M in real time by adjustment PI parameter equivalent _min, the pass that described fuzzy adapted PI control device exports between input fuzzy set is:

When after the described fuzz variable of input, the ternary fuzzy relation R exporting and input ~ be:

$\tilde{R}=\underset{k}{U}[{(\tilde{A}\×\tilde{B})}^T\×{\tilde{C}}_K]$

Wherein, be speed error E domain on fuzzy subset be speed error rate of change EC domain on fuzzy subset that described fuzzy adapted PI control device exports, wherein by fuzzy relation matrix n × m the vector formed, n and m is respectively domain element number, and T forms transpose of a matrix for inputting the corresponding fuzzy output of fuzzy set A and B;

B3: given micro-nano satellite flight attitude control setup rotary speed instruction, after obtaining described speed error and speed error rate of change, can try to achieve described fuzzy adapted PI control device Δ K by feedback element _pwith Δ K _icorresponding output fuzzy set,

Wherein, " ο " is cartesian product computing;

B4: obtain the precisely controlled amount of result de-fuzzy to described by fuzzy reasoning, obtain precise control amount by gravity model appoach,

$y=\frac{\underset{L=1}{\overset{M}{\mathrm{\Σ}}}\stackrel{\‾}{y}\left[{\mathrm{\μ}}_B^L\left({\stackrel{\‾}{y}}^L\right)\right]}{\underset{L=1}{\overset{M}{\mathrm{\Σ}}}\left[{\mathrm{\μ}}_B^L\left({\stackrel{\‾}{y}}^L\right)\right]}$

Wherein, B is the fuzzy set that speed error variable quantity is corresponding, and y is ambiguity solution value, and L is fuzzy subset number, and M is the sum of fuzzy subset's index, and μ is membership function, for maximum membership degree exports aviation value, for the subordinate function on fuzzy subset L in fuzzy set B;

B5: the controlling quantity be finally applied on described micro-nano satellite flight attitude control setup is:

K _p1＝K _p2+ΔK _p3，K _i1＝K _i2+ΔK _i3，

Wherein, K _p1, K _p2, K _i1, K _i2be respectively factor of proportionality and integrating factor, Δ K _p3, Δ K _i3be respectively factor of proportionality variable quantity and integrating factor variable quantity.