CN103523243B - Not offset momentum single flywheel adds magnetic control method - Google Patents
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Abstract
The invention discloses a kind of not offset momentum single flywheel and add magnetic control method, comprise the steps: step 1, flywheel is installed along the axis of rolling, determines rolling arbor wheel control pattern and the magnetic-field intensity for magnetic control; Step 2, flywheel is installed along yaw axis, determines driftage arbor wheel control pattern and the magnetic-field intensity for magnetic control; Step 3, flywheel angle mount, determines wheel control pattern and the magnetic-field intensity for magnetic control; Step 4, the magnetron current output of three axles and the flywheel magnetic dumping fused controlling of pitch axis, realize not offset momentum satellite three axis stabilization and control.Present system configuration requirement is simple, only needs single flywheel and magnetic control to realize not offset momentum satellite three axis stabilization and controls, improve system reliability; Microsatellite and medium-and-large-sized satellite flywheel Fault Control pattern can be applied to; Carry out angular momentum exchange according to rolling and driftage magnetic-field intensity to control to control to switch with gyro torque, algorithm calculates simple, is easy to engineer applied.
Description
Technical field
The present invention relates to satellite flywheel attitude control technology field, specifically a kind of not offset momentum single flywheel adds magnetic control method, runs control for satellite is steady in a long-term in-orbit.
Background technology
Existing satellite in-orbit long-term steady-state controls to mainly contain zero momentum and bias momentum two kinds of modes, and these two kinds wheel prosecutor formulas all exist certain shortcoming: zero momentum control overflow has at least 3 flywheels to use; The momentum wheel that bias momentum controls to install along pitch axis will have larger moment of momentum, and momentum wheel weight, volume and power consumption are general larger.Microsatellite has larger restriction to flywheel quantity, weight, volume and power consumption, and not offset momentum single flywheel is applicable to microsatellite in conjunction with magnetic control algorithm and controls, and is also applicable to medium-and-large-sized satellite flywheel Fault Control pattern simultaneously.
Summary of the invention
The present invention is directed to above shortcomings in prior art, provide a kind of not offset momentum single flywheel and add magnetic control method, the method system configuration requirements is simple, only relies on single flywheel and magnetic control can realize not offset momentum satellite three axis stabilization and controls.
The present invention is achieved by the following technical solutions.
A kind of not offset momentum single flywheel adds magnetic control method, comprises the steps:
Step 1, flywheel is installed along the axis of rolling, determines rolling arbor wheel control pattern and the magnetic-field intensity for magnetic control:
-when rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, pitch axis magnetic torquer carries out magnetic control to yaw attitude, and flywheel adopts angular momentum exchange mode to control roll attitude; Or
-when rolling magnetic-field intensity absolute value is less than or equal to driftage magnetic-field intensity absolute value, yaw attitude controls based on gyro torque, and flywheel adopts angular momentum exchange mode to control roll attitude;
Step 2, flywheel is installed along yaw axis, determines driftage arbor wheel control pattern and the magnetic-field intensity for magnetic control:
-when magnetic-field intensity absolute value of going off course is greater than rolling magnetic-field intensity absolute value, pitch axis magnetic torquer carries out magnetic control to roll attitude, and flywheel adopts angular momentum exchange mode to control yaw attitude;
-when magnetic-field intensity absolute value of going off course is less than or equal to rolling magnetic-field intensity absolute value, roll attitude controls based on gyro torque, and flywheel adopts angular momentum exchange mode to control yaw attitude;
Step 3, flywheel angle mount, determine wheel control pattern and the magnetic-field intensity for magnetic control:
According to rolling and driftage magnetic-field intensity, direct momentum exchange control is carried out to rolling or driftage;
-when rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, yaw attitude controls based on gyro torque, carries out direct momentum exchange control to roll attitude;
-when rolling magnetic-field intensity absolute value is less than or equal to driftage magnetic-field intensity absolute value, roll attitude controls based on gyro torque, carries out direct momentum exchange control to yaw attitude;
Step 4, the magnetron current output of three axles and the flywheel magnetic dumping fused controlling of pitch axis, realize not offset momentum satellite three axis stabilization and control.
Preferably, described step 1 specifically comprises the steps:
Described step 1 specifically comprises the steps:
Step 1.1, calculates wheel control voltage Vx:
Wherein, Kp is proportional control parameter, Ki is integration control parameter, Kd is respectively differential controling parameters;
for axis of rolling attitude angle;
for axis of rolling angular rate; Vpx is axis of rolling proportional control magnitude of voltage, Vsx is axis of rolling current period integration control magnitude of voltage, Vsx
k-1for on the axis of rolling, a cycle integrated control voltage value, Vdx are axis of rolling differential control voltage value;
Described wheel controls voltage Vx=Vpx+Vsx+Vdx, and wherein, Vsx is axis of rolling current period integration control magnitude of voltage;
Step 1.2, calculates magnetic dumping electric current:
I_magx＝0
I_magy＝Bz*dwspdx
I_magz＝-By*dwspdx
Wherein, By, Bz are respectively the magnetic-field intensity of pitch axis and yaw axis; Dwspdx is axis of rolling flywheel rotating speed to be unloaded; I_magx, I_magy, I_magz are respectively the magnetic dumping electric current of the axis of rolling, pitch axis and yaw axis;
According to the distribution of magnetic-field intensity, By is a minimal value, and therefore for the mainly pitch axis pitch axis magnetic torquer of axis of rolling flywheel unloading, I_magz is approximately 0;
Step 1.3, determines the magnetic-field intensity of magnetic control:
If single flywheel is axis of rolling flywheel, then axis of rolling attitude controls primarily of axis of rolling flywheel, and pitch axis attitude is controlled by axis of rolling magnetic torquer and yaw axis magnetic torquer, and yaw axis attitude is controlled by pitch axis magnetic torquer; Simultaneously pitch axis magnetic torquer takes into account the gesture stability of the axis of rolling, and for the unloading of axis of rolling flywheel:
-Ruo axis of rolling magnetic-field intensity absolute value is less than yaw axis magnetic-field intensity absolute value, then:
Mag_X＝Bz
Mag_Z＝Bx
-Ruo axis of rolling magnetic-field intensity absolute value is more than or equal to yaw axis magnetic-field intensity absolute value, then:
Mag_X＝Bx
Mag_Z＝-Bz
Wherein, Bx is axis of rolling magnetic-field intensity; Mag_X is the axis of rolling magnetic-field intensity for magnetic control; Mag_Z is the yaw axis magnetic-field intensity for magnetic control;
Step 1.4, calculates magnetron current Iconx, Iconz:
Wherein, ky1 is that pitch axis attitude angle calculates axis of rolling magnetron current parameter, ky2 is pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 is that pitch axis attitude angle calculates yaw axis magnetron current parameter, ky4 is pitch axis angular speed calculation yaw axis magnetron current parameter; θ is pitch axis attitude angle;
for pitch axis attitude angular velocity; Bx is axis of rolling magnetic-field intensity, Bz is yaw axis magnetic-field intensity;
Step 1.5, calculates magnetoelectricity stream Ix, Iz and exports:
Ix＝Iconx
Iz＝Iconz。
Preferably, described step 2 specifically comprises the steps:
Step 2.1, calculates wheel control voltage Vz:
Vpz＝Kp*ψ
Vsz＝Vsz
k-1+Ki*ψ
Wherein, Kp is proportional control parameter, Ki is integration control parameter, Kd is differential controling parameters; ψ is yaw axis attitude angle;
for yaw axis angular rate; Vpz is yaw axis proportional control magnitude of voltage, Vsz is yaw axis current period integration control magnitude of voltage, Vsz
k-1for on yaw axis, a cycle integrated control voltage value, Vdz are yaw axis differential control voltage value;
Described wheel controls voltage Vz=Vpz+Vsz+Vdz, and wherein, Vsz is yaw axis current period integration control magnitude of voltage, same to Vsz
k;
Step 2.2, calculates magnetic dumping electric current:
I_magx＝By*dwspdz
I_magy＝-Bx*dwspdz
I_magz＝0
Wherein, Bx, By are respectively the magnetic-field intensity of the axis of rolling and pitch axis; Dwspdz is yaw axis flywheel rotating speed to be unloaded; I_magx, I_magy, I_magz are respectively the magnetic dumping electric current of the axis of rolling, pitch axis and yaw axis;
According to the distribution of magnetic-field intensity, By is a minimal value, and therefore for the mainly pitch axis pitch axis magnetic torquer of axis of rolling flywheel unloading, I_magx is approximately 0;
Step 2.3, determines the magnetic-field intensity of magnetic control:
If single flywheel is yaw axis flywheel, then yaw axis attitude controls primarily of yaw axis flywheel, and pitch axis attitude is controlled by axis of rolling magnetic torquer and yaw axis magnetic torquer, and axis of rolling attitude is controlled by pitch axis magnetic torquer; Simultaneously pitch axis magnetic torquer takes into account the gesture stability of yaw axis, and for the unloading of yaw axis flywheel:
-axis of rolling magnetic-field intensity absolute value is greater than yaw axis magnetic-field intensity absolute value, and yaw axis magnetic-field intensity absolute value is less than 0.1Gs, then::
Mag_X＝Bz
Mag_Z＝4*Bx
-axis of rolling magnetic-field intensity absolute value is not more than yaw axis magnetic-field intensity absolute value, or yaw axis magnetic-field intensity absolute value is not less than 0.1Gs, then:
Mag_X＝Bx
Mag_Z＝-Bz
Wherein, Bx is axis of rolling magnetic-field intensity; Mag_X is the axis of rolling magnetic-field intensity for magnetic control; Mag_Z is the yaw axis magnetic-field intensity for magnetic control;
Step 2.4, calculates magnetron current Iconx, Iconz:
Wherein, ky1 is that pitch axis attitude angle calculates axis of rolling magnetron current parameter, ky2 is pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 is that pitch axis attitude angle calculates yaw axis magnetron current parameter, ky4 is pitch axis angular speed calculation yaw axis magnetron current parameter; θ is pitch axis attitude angle;
for pitch axis cireular frequency; Bx is axis of rolling magnetic-field intensity, Bz is yaw axis magnetic-field intensity;
Step 2.5, calculates magnetoelectricity stream Ix, Iz and exports:
Ix＝Iconx
Iz＝Iconz。
Described pitch axis is magnetron current and unloads current-carrying integrated value:
Iy＝Icony+I_magy
Wherein:
Icony＝Icony1+Icony2；
in formula, kx1 is that axis of rolling attitude angle calculates pitch axis magnetron current parameter, kx2 is axis of rolling angular speed calculation pitch axis magnetron current parameter;
be respectively axis of rolling attitude angle and axis of rolling angular rate; Mag_z is the yaw axis magnetic-field intensity for magnetic control;
in formula, kz1 is that yaw axis attitude angle calculates pitch axis magnetron current parameter, kz2 is yaw axis angular speed calculation pitch axis magnetron current parameter;
be respectively yaw axis attitude angle and yaw axis angular rate; Mag_x is the axis of rolling magnetic-field intensity for magnetic control;
I_magy is the magnetic dumping electric current of pitch axis.
Preferably, described I_magy is determined by flywheel installation shaft.
Preferably, described flywheel angle mount all has moment of momentum component to three axles.
Preferably, in described step 1, pitch axis magnetic torquer applies disturbance torque according to yaw attitude to rolling, and flywheel absorbs interference, controls yaw attitude by gyro torque.
Preferably, in described step 2, pitch axis magnetic torquer applies disturbance torque according to roll attitude to driftage, and flywheel absorbs interference, controls roll attitude by gyro torque.
Preferably, the angle between the axis of angular momentum of described flywheel and the axis of rolling is 30 °.
Not offset momentum single flywheel provided by the invention adds magnetic control method, realizes the continuous magnetic control of pitch attitude based on axis of rolling magnetic torquer and yaw axis magnetic torquer; According to rolling and go off course magnetic-field intensity feature in-orbit, configuration flywheel optimum embedding angle, near-earth satellite rolls and driftage magnetic-field intensity can be approximated to be sine and cosine curve, driftage magnetic-field intensity amplitude is about 2 times of rolling magnetic-field intensity amplitude, angle mount flywheel adopts direct momentum to control, its moment of momentum has impact to rolling and driftage, and consider magnetic control efficiency, flywheel the best is installed as the axis of angular momentum and axis of rolling angle about 30 °.
Not offset momentum single flywheel provided by the invention adds magnetic control method, compared with prior art, has the following advantages and beneficial effect:
1, system configuration requirements is simple, only needs single flywheel and magnetic control to realize not offset momentum satellite three axis stabilization and controls, improve system reliability;
2, microsatellite and medium-and-large-sized satellite flywheel Fault Control pattern can be applied to;
3, carry out angular momentum exchange according to rolling and driftage magnetic-field intensity to control to control to switch with gyro torque, algorithm calculates simple, is easy to engineer applied.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the reference rectangular coordinate system that the present invention selects;
Fig. 2 is the flywheel optimum embedding angle schematic diagram that the present invention configures;
Fig. 3 is diagram of circuit of the present invention.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Please refer to Fig. 1 to Fig. 3.
The present invention is achieved by the following technical solutions.
A kind of not offset momentum single flywheel adds magnetic control method, comprises the steps:
Step 1, flywheel is installed along the axis of rolling (X-axis), determines rolling arbor wheel control pattern and the magnetic-field intensity for magnetic control:
-when rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, pitch axis magnetic torquer carries out magnetic control to yaw attitude, and flywheel adopts angular momentum exchange mode to control roll attitude; Or
-when rolling magnetic-field intensity absolute value is less than or equal to driftage magnetic-field intensity absolute value, yaw attitude controls based on gyro torque, and flywheel adopts angular momentum exchange mode to control roll attitude;
Step 2, flywheel is installed along yaw axis (Z axis), determines driftage arbor wheel control pattern and the magnetic-field intensity for magnetic control:
-when magnetic-field intensity absolute value of going off course is greater than rolling magnetic-field intensity absolute value, pitch axis magnetic torquer carries out magnetic control to roll attitude, and flywheel adopts angular momentum exchange mode to control yaw attitude;
-when magnetic-field intensity absolute value of going off course is less than or equal to rolling magnetic-field intensity absolute value, roll attitude controls based on gyro torque, and flywheel adopts angular momentum exchange mode to control yaw attitude;
Step 3, flywheel angle mount, determine wheel control pattern and the magnetic-field intensity for magnetic control:
According to rolling and driftage magnetic-field intensity, direct momentum exchange control is carried out to rolling or driftage;
-when rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, yaw attitude controls based on gyro torque, carries out direct momentum exchange control to roll attitude;
-when rolling magnetic-field intensity absolute value is less than or equal to driftage magnetic-field intensity absolute value, roll attitude controls based on gyro torque, carries out direct momentum exchange control to yaw attitude;
Step 4, the magnetron current output of three axles (X, Y, Z axis) and the flywheel magnetic dumping fused controlling of pitch axis (Y-axis), realize not offset momentum satellite three axis stabilization and control.
Preferably, described step 1 specifically comprises the steps:
Described step 1 specifically comprises the steps:
Step 1.1, calculates wheel control voltage Vx:
Wherein, Kp is proportional control parameter, Ki is integration control parameter, Kd is differential controling parameters;
for axis of rolling attitude angle;
for axis of rolling angular rate; Vpx is axis of rolling proportional control magnitude of voltage, Vsx is axis of rolling current period integration control magnitude of voltage, Vsx
k-1for on the axis of rolling, a cycle integrated control voltage value, Vdx are axis of rolling differential control voltage value;
Described wheel controls voltage Vx=Vpx+Vsx+Vdx, and wherein, Vsx is axis of rolling current period integration control magnitude of voltage;
Step 1.2, calculates magnetic dumping electric current:
I_magx＝0
I_magy＝Bz*dwspdx
I_magz＝-By*dwspdx
Wherein, By, Bz are respectively the magnetic-field intensity of pitch axis and yaw axis; Dwspdx is axis of rolling flywheel rotating speed to be unloaded; I_magx, I_magy, I_magz are respectively the magnetic dumping electric current of the axis of rolling, pitch axis and yaw axis;
According to the distribution of magnetic-field intensity, By is a minimal value, and therefore for the mainly pitch axis pitch axis magnetic torquer of axis of rolling flywheel unloading, I_magz is approximately 0;
Step 1.3, determines the magnetic-field intensity of magnetic control:
If single flywheel is axis of rolling flywheel, then axis of rolling attitude controls primarily of axis of rolling flywheel, and pitch axis attitude is controlled by axis of rolling magnetic torquer and yaw axis magnetic torquer, and yaw axis attitude is controlled by pitch axis magnetic torquer; Simultaneously pitch axis magnetic torquer takes into account the gesture stability of the axis of rolling, and for the unloading of axis of rolling flywheel:
-Ruo axis of rolling magnetic-field intensity absolute value is less than yaw axis magnetic-field intensity absolute value, then:
Mag_X＝Bz
Mag_Z＝Bx
-Ruo axis of rolling magnetic-field intensity absolute value is more than or equal to yaw axis magnetic-field intensity absolute value, then:
Mag_X＝Bx
Mag_Z＝-Bz
Wherein, Bx is axis of rolling magnetic-field intensity; Mag_X is the axis of rolling magnetic-field intensity for magnetic control; Mag_Z is the yaw axis magnetic-field intensity for magnetic control;
Step 1.4, calculates magnetron current Iconx, Iconz:
Wherein, ky1 is that pitch axis attitude angle calculates axis of rolling magnetron current parameter, ky2 is pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 is that pitch axis attitude angle calculates yaw axis magnetron current parameter, ky4 is pitch axis angular speed calculation yaw axis magnetron current parameter; θ is pitch axis attitude angle;
for pitch axis attitude angular velocity; Bx is axis of rolling magnetic-field intensity, Bz is yaw axis magnetic-field intensity;
Step 1.5, calculates magnetoelectricity stream Ix, Iz and exports:
Ix＝Iconx
Iz＝Iconz。
Preferably, described step 2 specifically comprises the steps:
Step 2.1, calculates wheel control voltage Vz:
Vpz＝Kp*ψ
Vsz＝Vsz
k-1+Ki*ψ
Wherein, Kp is proportional control parameter, Ki is integration control parameter, Kd is differential controling parameters; ψ is yaw axis attitude angle;
for yaw axis angular rate; Vpz is yaw axis proportional control magnitude of voltage, Vsz is yaw axis current period integration control magnitude of voltage, Vsz
k-1for on yaw axis, a cycle integrated control voltage value, Vdz are yaw axis differential control voltage value;
Described wheel controls voltage Vz=Vpz+Vsz+Vdz, and wherein, Vsz is yaw axis current period integration control magnitude of voltage;
Step 2.2, calculates magnetic dumping electric current:
I_magx＝By*dwspdz
I_magy＝-Bx*dwspdz
I_magz＝0
Wherein, Bx, By are respectively the magnetic-field intensity of the axis of rolling and pitch axis; Dwspdz is yaw axis flywheel rotating speed to be unloaded; I_magx, I_magy, I_magz are respectively the magnetic dumping electric current of the axis of rolling, pitch axis and yaw axis;
According to the distribution of magnetic-field intensity, By is a minimal value, and therefore for the mainly pitch axis pitch axis magnetic torquer of axis of rolling flywheel unloading, I_magx is approximately 0;
Step 2.3, determines the magnetic-field intensity of magnetic control:
If single flywheel is yaw axis flywheel, then yaw axis attitude controls primarily of yaw axis flywheel, and pitch axis attitude is controlled by axis of rolling magnetic torquer and yaw axis magnetic torquer, and axis of rolling attitude is controlled by pitch axis magnetic torquer; Simultaneously pitch axis magnetic torquer takes into account the gesture stability of yaw axis, and for the unloading of yaw axis flywheel:
-axis of rolling magnetic-field intensity absolute value is greater than yaw axis magnetic-field intensity absolute value, and yaw axis magnetic-field intensity absolute value is less than 0.1Gs, then::
Mag_X＝Bz
Mag_Z＝4*Bx
-axis of rolling magnetic-field intensity absolute value is not more than yaw axis magnetic-field intensity absolute value, or yaw axis magnetic-field intensity absolute value is not less than 0.1Gs, then:
Mag_X＝Bx
Mag_Z＝-Bz
Wherein, Bx is axis of rolling magnetic-field intensity; Mag_X is the axis of rolling magnetic-field intensity for magnetic control; Mag_Z is the yaw axis magnetic-field intensity for magnetic control;
Step 2.4, calculates magnetron current Iconx, Iconz:
Wherein, ky1 is that pitch axis attitude angle calculates axis of rolling magnetron current parameter, ky2 is pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 is that pitch axis attitude angle calculates yaw axis magnetron current parameter, ky4 is pitch axis angular speed calculation yaw axis magnetron current parameter; θ is pitch axis attitude angle;
for pitch axis cireular frequency;
Step 2.5, calculates magnetoelectricity stream Ix, Iz and exports:
Ix＝Iconx
Iz＝Iconz。
Described pitch axis is magnetron current and unloads current-carrying integrated value:
Iy＝Icony+I_magy
Wherein:
Icony＝Icony1+Icony2；
in formula, kx1 is that axis of rolling attitude angle calculates pitch axis magnetron current parameter, kx2 is axis of rolling angular speed calculation pitch axis magnetron current parameter;
be respectively axis of rolling attitude angle and axis of rolling angular rate; Mag_z is the yaw axis magnetic-field intensity for magnetic control;
in formula, kz1 yaw axis attitude angle calculates pitch axis magnetron current parameter, kz2 is yaw axis angular speed calculation pitch axis magnetron current parameter; Mag_x is the axis of rolling magnetic-field intensity for magnetic control;
I_magy is the magnetic dumping electric current of pitch axis.
Preferably, described I_magy is determined by flywheel installation shaft.
Preferably, described flywheel angle mount all has moment of momentum component to three axles.
Preferably, in described step 1, pitch axis magnetic torquer applies disturbance torque according to yaw attitude to rolling, and flywheel absorbs interference, controls yaw attitude by gyro torque.
Preferably, in described step 2, pitch axis magnetic torquer applies disturbance torque according to roll attitude to driftage, and flywheel absorbs interference, controls roll attitude by gyro torque.
Preferably, the angle between the axis of angular momentum of described flywheel and the axis of rolling is 30 °.
Be specially:
Method concrete steps of the present invention are as shown in Figure 3:
A. wheel control rotating speed is calculated
1) if X-axis flywheel:
Wherein: Kp, Ki, Kd are wheel control parameter;
---axis of rolling attitude angle and angular rate.
X-axis wheel control voltage: Vx=Vpx+Vsx+Vdx
2) if Z axis flywheel:
Vpz＝Kp*ψ
Vsz＝Vsz
k-1+Ki*ψ
Wherein: Kp, Ki, Kd are wheel control parameter;
---yaw axis attitude angle and angular rate.
Z axis wheel control voltage: Vz=Vpz+Vsz+Vdz
Angle mount flywheel is according to stagger angle regulating wheel control voltage.
B. magnetic dumping electric current is calculated
1) if X-axis flywheel
I_magx＝0
I_magy＝Bz*dwspdx
I_magz＝-By*dwspdx
In formula: Bx, By, Bz---three-axle magnetic field intensity;
Dwspdx---X-axis flywheel rotating speed to be unloaded;
I_magx, I_magy, I_magz---three axle magnetic dumping electric currents.
According to the distribution of magnetic-field intensity, By is a minimal value, and therefore for the mainly Y-axis magnetic torquer of X-axis flywheel unloading, I_magz is approximately 0.
2) if Z axis flywheel
I_magx＝By*dwspdz
I_magy＝-Bx*dwspdz
I_magz＝0
In formula: dwspdz---Z axis flywheel rotating speed to be unloaded.
Equally for the mainly Y-axis magnetic torquer of Z axis flywheel unloading, I_magx is approximately 0.。
C. the magnetic-field intensity of magnetic control is determined
1) if X-axis flywheel
If single flywheel is X-axis flywheel, then X-axis attitude controls primarily of X-axis flywheel, and Y-axis attitude is controlled by X/Z axle magnetic torquer, and Z axis attitude is controlled by Y-axis magnetic torquer; Simultaneously Y-axis magnetic torquer takes into account the gesture stability of X-axis, and for the unloading of X flywheel.
● if X-axis magnetic-field intensity absolute value is less than Z axis magnetic-field intensity absolute value, then:
Mag_X＝Bz
Mag_Z＝Bx
● if X-axis magnetic-field intensity absolute value is not less than Z axis magnetic-field intensity absolute value, then:
Mag_X＝Bx
Mag_Z＝-Bz
2) if Z axis flywheel
If single flywheel is Z axis flywheel, then Z axis attitude controls primarily of Z axis flywheel, and Y-axis attitude is controlled by X/Z axle magnetic torquer, and X-axis attitude is controlled by Y-axis magnetic torquer; Simultaneously Y-axis magnetic torquer takes into account the gesture stability of Z axis, and for the unloading of Z axis flywheel.
● if X-axis magnetic-field intensity absolute value is greater than Z axis magnetic-field intensity absolute value, and Z axis magnetic-field intensity absolute value is less than 0.1Gs, then:
Mag_X＝Bz
Mag_Z＝4*Bx
● if X-axis magnetic-field intensity absolute value is not more than Z axis magnetic-field intensity absolute value, or Z axis magnetic-field intensity absolute value is not less than 0.1Gs, then:
Mag_X＝Bx
Mag_Z＝-Bz
In formula: Bx, Bz---satellite X/Z axle magnetic-field intensity;
Mag_X, Mag_Z---for the X/Z axle magnetic-field intensity of magnetic control.
D. magnetron current is calculated
1) X-axis magnetron current:
2) Z axis magnetron current:
3) Y-axis magnetron current:
Control X-axis:
Control Z axis:
The magnetron current that Y-axis is total: Icony=Icony1+Icony2
Wherein: ky1, ky2, kx1, kx2, kz1, kz2---magnetron current parameter, in test, ky1 is 1000, ky2 be 100000, kx1, kz1 be 20, kx2, kz2 is 20000.
E. calculate magnetoelectricity stream to export
No matter be X-axis flywheel or Z axis flywheel, what unload for flywheel is mainly Y-axis magnetic torquer, and therefore the output of three magnetic torquers is as follows respectively:
1) X/Z axle magnetic torquer is magnetron current: Ix=Iconx; Iz=Iconz
2) Y-axis magnetic torquer is magnetron current and unloads current-carrying integrated value: Iy=Icony+I_magy.
The not offset momentum single flywheel that the present embodiment provides adds magnetic control method, only relies on single flywheel and magnetic control to realize not offset momentum satellite three axis stabilization and controls, and carried out the design of flywheel optimum embedding angle.According to rolling and driftage magnetic-field intensity determination pitch axis magnetic torquer, magnetic control is carried out to rolling/yaw attitude, carry out angular momentum exchange along the formal dress flywheel that rolls or go off course according to rolling and driftage magnetic-field intensity to control to control with gyro torque, angle mount flywheel adopts direct momentum exchange to control, and applies magnetic and unload flywheel; According to rolling and go off course magnetic-field intensity feature design flywheel optimum embedding angle in-orbit.
The present embodiment system configuration requirements is simple, only needs single flywheel and magnetic control to realize not offset momentum satellite three axis stabilization and controls, improve system reliability; Microsatellite flywheel can be applied to control and medium-and-large-sized satellite flywheel Fault Control pattern; Carry out angular momentum exchange according to rolling and driftage magnetic-field intensity to control to control with gyro torque, algorithm calculates simple, is easy to engineer applied.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (9)
1. not offset momentum single flywheel adds a magnetic control method, it is characterized in that, comprises the steps:
Step 1, flywheel is installed along the axis of rolling, determines rolling arbor wheel control pattern and the magnetic-field intensity for magnetic control:
-when rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, pitch axis magnetic torquer carries out magnetic control to yaw attitude, and flywheel adopts angular momentum exchange mode to control roll attitude; Or
-when rolling magnetic-field intensity absolute value is less than or equal to driftage magnetic-field intensity absolute value, yaw attitude controls based on gyro torque, and flywheel adopts angular momentum exchange mode to control roll attitude;
Step 2, flywheel is installed along yaw axis, determines driftage arbor wheel control pattern and the magnetic-field intensity for magnetic control:
-when magnetic-field intensity absolute value of going off course is greater than rolling magnetic-field intensity absolute value, pitch axis magnetic torquer carries out magnetic control to roll attitude, and flywheel adopts angular momentum exchange mode to control yaw attitude;
-when magnetic-field intensity absolute value of going off course is less than or equal to rolling magnetic-field intensity absolute value, roll attitude controls based on gyro torque, and flywheel adopts angular momentum exchange mode to control yaw attitude;
Step 3, flywheel angle mount, determine wheel control pattern and the magnetic-field intensity for magnetic control:
According to rolling and driftage magnetic-field intensity, direct momentum exchange control is carried out to rolling or driftage;
-when rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, yaw attitude controls based on gyro torque, carries out direct momentum exchange control to roll attitude;
-when rolling magnetic-field intensity absolute value is less than or equal to driftage magnetic-field intensity absolute value, roll attitude controls based on gyro torque, carries out direct momentum exchange control to yaw attitude;
Step 4, the magnetron current output of three axles and the flywheel magnetic dumping fused controlling of pitch axis, realize not offset momentum satellite three axis stabilization and control.
2. not offset momentum single flywheel according to claim 1 adds magnetic control method, and it is characterized in that, described step 1 specifically comprises the steps:
Step 1.1, calculates wheel control voltage Vx:
Wherein, Kp is proportional control parameter, Ki is integration control parameter, Kd is differential controling parameters;
for axis of rolling attitude angle;
for axis of rolling angular rate; Vpx is axis of rolling proportional control magnitude of voltage, Vsx is axis of rolling current period integration control magnitude of voltage, Vsx
k-1for on the axis of rolling, a cycle integrated control voltage value, Vdx are axis of rolling differential control voltage value;
Described wheel controls voltage Vx=Vpx+Vsx+Vdx, and wherein, Vsx is axis of rolling current period integration control magnitude of voltage;
Step 1.2, calculates magnetic dumping electric current:
I_magx＝0
I_magy＝Bz*dwspdx
I_magz＝-By*dwspdx
Wherein, By, Bz are respectively the magnetic-field intensity of pitch axis and yaw axis; Dwspdx is axis of rolling flywheel rotating speed to be unloaded; I_magx, I_magy, I_magz are respectively the magnetic dumping electric current of the axis of rolling, pitch axis and yaw axis;
According to the distribution of magnetic-field intensity, By is a minimal value, and therefore for the mainly pitch axis pitch axis magnetic torquer of axis of rolling flywheel unloading, I_magz is approximately 0;
Step 1.3, determines the magnetic-field intensity of magnetic control:
If single flywheel is axis of rolling flywheel, then axis of rolling attitude controls primarily of axis of rolling flywheel, and pitch axis attitude is controlled by axis of rolling magnetic torquer and yaw axis magnetic torquer, and yaw axis attitude is controlled by pitch axis magnetic torquer; Simultaneously pitch axis magnetic torquer takes into account the gesture stability of the axis of rolling, and for the unloading of axis of rolling flywheel:
-Ruo axis of rolling magnetic-field intensity absolute value is less than yaw axis magnetic-field intensity absolute value, then:
Mag_X＝Bz
Mag_Z＝Bx
-Ruo axis of rolling magnetic-field intensity absolute value is more than or equal to yaw axis magnetic-field intensity absolute value, then:
Mag_X＝Bx
Mag_Z＝-Bz
Wherein, Bx is axis of rolling magnetic-field intensity; Mag_X is the axis of rolling magnetic-field intensity for magnetic control; Mag_Z is the yaw axis magnetic-field intensity for magnetic control;
Step 1.4, calculates magnetron current Iconx, Iconz:
Wherein, ky1 is that pitch axis attitude angle calculates axis of rolling magnetron current parameter, ky2 is pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 is that pitch axis attitude angle calculates yaw axis magnetron current parameter, ky4 is pitch axis angular speed calculation yaw axis magnetron current parameter; θ is pitch axis attitude angle;
for pitch axis cireular frequency; Bx is axis of rolling magnetic-field intensity, Bz is yaw axis magnetic-field intensity;
Step 1.5, calculates magnetoelectricity stream Ix, Iz and exports:
Ix＝Iconx
Iz＝Iconz。
3. not offset momentum single flywheel according to claim 1 adds magnetic control method, and it is characterized in that, described step 2 specifically comprises the steps:
Step 2.1, calculates wheel control voltage Vz:
Vpz＝Kp*ψ
Vsz＝Vsz
k-1+Ki*ψ
Wherein, Kp is proportional control parameter, Ki is integration control parameter, Kd is differential controling parameters; ψ is yaw axis attitude angle;
for yaw axis angular rate; Vpz is yaw axis proportional control magnitude of voltage, Vsz is yaw axis current period integration control magnitude of voltage, Vsz
k-1for on yaw axis, a cycle integrated control voltage value, Vdz are yaw axis differential control voltage value;
Described wheel controls voltage Vz=Vpz+Vsz+Vdz, and wherein, Vsz is yaw axis current period integration control magnitude of voltage;
Step 2.2, calculates magnetic dumping electric current:
I_magx＝By*dwspdz
I_magy＝-Bx*dwspdz
I_magz＝0
Wherein, Bx, By are respectively the magnetic-field intensity of the axis of rolling and pitch axis; Dwspdz is yaw axis flywheel rotating speed to be unloaded; I_magx, I_magy, I_magz are respectively the magnetic dumping electric current of the axis of rolling, pitch axis and yaw axis;
According to the distribution of magnetic-field intensity, By is a minimal value, and therefore for the mainly pitch axis pitch axis magnetic torquer of axis of rolling flywheel unloading, I_magx is approximately 0;
Step 2.3, determines the magnetic-field intensity of magnetic control:
If single flywheel is yaw axis flywheel, then yaw axis attitude controls primarily of yaw axis flywheel, and pitch axis attitude is controlled by axis of rolling magnetic torquer and yaw axis magnetic torquer, and axis of rolling attitude is controlled by pitch axis magnetic torquer; Simultaneously pitch axis magnetic torquer takes into account the gesture stability of yaw axis, and for the unloading of yaw axis flywheel:
-axis of rolling magnetic-field intensity absolute value is greater than yaw axis magnetic-field intensity absolute value, and yaw axis magnetic-field intensity absolute value is less than 0.1Gs, then:
Mag_X＝Bz
Mag_Z＝4*Bx
-axis of rolling magnetic-field intensity absolute value is not more than yaw axis magnetic-field intensity absolute value, or yaw axis magnetic-field intensity absolute value is not less than 0.1Gs, then:
Mag_X＝Bx
Mag_Z＝-Bz
Wherein, Bx is axis of rolling magnetic-field intensity; Mag_X is the axis of rolling magnetic-field intensity for magnetic control; Mag_Z is the yaw axis magnetic-field intensity for magnetic control;
Step 2.4, calculates magnetron current Iconx, Iconz:
Wherein, ky1 is that pitch axis attitude angle calculates axis of rolling magnetron current parameter, ky2 is pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 is that pitch axis attitude angle calculates yaw axis magnetron current parameter, ky4 is pitch axis angular speed calculation yaw axis magnetron current parameter; θ is pitch axis attitude angle;
for pitch axis cireular frequency; Bx is axis of rolling magnetic-field intensity, Bz is yaw axis magnetic-field intensity;
Step 2.5, calculates magnetoelectricity stream Ix, Iz and exports:
Ix＝Iconx
Iz＝Iconz。
4. the not offset momentum single flywheel according to Claims 2 or 3 adds magnetic control method, it is characterized in that, described pitch axis is magnetron current and unloads current-carrying integrated value:
Iy＝Icony+I_magy
Wherein:
Icony＝Icony1+Icony2；
in formula, kx1 is that axis of rolling attitude angle calculates pitch axis magnetron current parameter, kx2 is axis of rolling angular speed calculation pitch axis magnetron current parameter;
be respectively axis of rolling attitude angle and axis of rolling angular rate; Mag_z is the yaw axis magnetic-field intensity for magnetic control;
in formula, kz1 is that yaw axis attitude angle calculates pitch axis magnetron current parameter, kz2 is respectively yaw axis angular speed calculation pitch axis magnetron current parameter; ψ,
be respectively yaw axis attitude angle and yaw axis angular rate; Mag_x is the axis of rolling magnetic-field intensity for magnetic control;
I_magy is the magnetic dumping electric current of pitch axis.
5. not offset momentum single flywheel according to claim 4 adds magnetic control method, and it is characterized in that, described I_magy is determined by flywheel installation shaft.
6. not offset momentum single flywheel according to claim 1 adds magnetic control method, it is characterized in that, described flywheel angle mount all has moment of momentum component to three axles.
7. not offset momentum single flywheel according to claim 1 and 2 adds magnetic control method, it is characterized in that, in described step 1, pitch axis magnetic torquer applies disturbance torque according to yaw attitude to rolling, flywheel absorbs interference, controls yaw attitude by gyro torque.
8. the not offset momentum single flywheel according to claim 1 or 3 adds magnetic control method, it is characterized in that, in described step 2, pitch axis magnetic torquer applies disturbance torque according to roll attitude to driftage, flywheel absorbs interference, controls roll attitude by gyro torque.
9. not offset momentum single flywheel according to claim 1 adds magnetic control method, it is characterized in that, the angle between the axis of angular momentum of described flywheel and the axis of rolling is 30 °.
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| CN104176276A (en) * | 2014-08-15 | 2014-12-03 | 上海新跃仪表厂 | Non-biased momentum single flywheel magnetizing control algorithm |
| CN106184820B (en) * | 2016-08-10 | 2018-12-25 | 西北工业大学 | A kind of combination drives more torque leaving momentum wheels and its control method |
| CN106542118B (en) * | 2016-10-08 | 2018-08-28 | 上海航天控制技术研究所 | A method of normal attitude being restored to from magnet-wheel joint control state control using flywheel |
| CN108069050B (en) * | 2016-11-14 | 2021-02-26 | 上海微小卫星工程中心 | Spacecraft initial attitude capture control method and system |
| CN106494646B (en) * | 2016-11-21 | 2019-03-26 | 上海航天控制技术研究所 | Earth control method and system are recaptured in a kind of magnetic damping |
| CN106809406B (en) * | 2017-01-19 | 2019-04-30 | 上海航天控制技术研究所 | A kind of flywheel based on geomagnetic torque rotation control method |
| CN109649691B (en) * | 2018-12-27 | 2021-07-13 | 上海航天控制技术研究所 | Single flywheel and magnetic combined control method and system for offset momentum satellite |
| CN110697085B (en) * | 2019-09-16 | 2020-09-18 | 北京控制工程研究所 | Satellite control method combining double SGCMG and magnetic torquer |
| CN114476135B (en) * | 2022-02-22 | 2024-02-09 | 中国空间技术研究院 | Satellite bias momentum flywheel hot standby method |
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