CN103808323A - Cosine transition acceleration path method for satellite attitude tracking maneuver - Google Patents

Cosine transition acceleration path method for satellite attitude tracking maneuver Download PDF

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CN103808323A
CN103808323A CN201210439266.7A CN201210439266A CN103808323A CN 103808323 A CN103808323 A CN 103808323A CN 201210439266 A CN201210439266 A CN 201210439266A CN 103808323 A CN103808323 A CN 103808323A
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path
satellite
attitude
motor
acceleration
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刘德庆
彭仁军
张子龙
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SHANGHAI AEROSPACE CONTROL ENGINEERING INSTITUTE
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation

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Abstract

The invention provides a cosine transition acceleration path method for satellite attitude tracking maneuver. Off-centered half periodic cosine function transition is employed at a mutation position of angular acceleration of a BCB path; according to the angular acceleration path, predetermined maneuvering direction vector is projected to the satellite system three shafts; integration is conducted to obtain an angular velocity path; and then kinematics is utilized for calculation of attitude angle or attitude quaternion route. Compared with the prior art, the vibration of flexible attachment can be reduced greatly to improve the stability and rapidity, and realize good flexibility inhibitory effect. The design method is simple, easy for engineering implement, and suitable for satellite attitude maneuver with large flexible coupling.

Description

A kind of attitude of satellite is followed the tracks of motor-driven cosine transition acceleration Path Method
 
Technical field
The present invention relates to attitude of satellite control techniques, especially the attitude of satellite is followed the tracks of motor-driven trajectory planning, a kind of method that uses cosine transition acceleration path.
Background technology
In order to increase satellite imagery fabric width, instant observation is realized in accident area, or realize three-dimensional imaging along forward sight and the backsight of trajectory direction via satellite, the fast reserve ability of satellite has been proposed to strict requirement.It is motor-driven motor-driven with closed loop that the motor-driven method of the attitude of satellite is divided into open loop.Open loop is motor-driven, and to model, qualitative requirement is higher really, general only motor-driven for single shaft; Motor-driven step instruction mode and the path planning pattern of being divided into of closed loop, step instruction mode often has overshoot, and path planning pattern can be avoided overshoot, and mobile process is reliable gently.So, use path planning pattern to realize the attitude of satellite motor-driven, especially three-axis attitude is motor-driven is a kind of trend.
A new generation's satellite structure often needs to carry large-scale solar array or large-scale deployable antenna, the mutation process of angular acceleration is equivalent to the step response process of second-order system, easily evoke the vibration of flexible appendage, especially windsurfing, its damping ratios is very little, vibration modal frequency is low, the effect of step exciting force will cause windsurfing violent oscillatory motion last very long, have a strong impact on the attitude stability of satellite body, increase the difficulty of attitude control.For the maneuver model in trace command path, the planning quality in path has a strong impact on the vibration suppressioning effect of flexible appendage.
Prior art is checked in to published paths planning method to be had:
1) BCB path: be the more motor-driven path of current practical application, according to bang-bang control principle, according to the path of the mode planning of " accelerate-at the uniform velocity-Chang value of normal value is slowed down ", this path can make this system respond fast, but the sudden change of angular acceleration (being uncontinuity) often causes the judder of flexible windsurfing, and control accuracy is not high.As shown in Figure 1, for applying maximum BCB path schematic diagram, this path planning is simple.Nearly all open loop is motor-driven is all to adopt BCB mode, but, stability requirement more and more higher satellite more and more stronger for flexible coupling must be made improvement to instruction mode.
2) S type path: permed for 2010 the 25th in " the motor-driven path planning of satellite based on multi-objective Evolutionary Algorithm " shown at aviation power journal by Shen Xiaoning etc., proposed the motor-driven path based on S type rate curve for sudden change of acceleration problem, the method application multi-objective optimization algorithm is found the parameter of S function.But its path complex forms, and speed is larger, and topworks is easily saturated, is not suitable for Project Realization.As shown in Figure 2, for parabolic type acceleration path schematic diagram, can find out,
Figure 2012104392667100002DEST_PATH_IMAGE001
, ,
Figure DEST_PATH_IMAGE003
,
Figure 161088DEST_PATH_IMAGE004
moment angular acceleration differential is larger, and compares with BCB path, does not make full use of accessible maximum angular acceleration.
3) parabolic type acceleration path: permed for 2011 the 39th in " the Spacecraft Large Angle Attitude Maneuver path planning " shown at Central China University of Science and Technology's journal by Zheng Lijun etc., propose the angular acceleration based on the parabolic function design motor-driven path of syllogic, the constant in BCB path is replaced by parabolic function.There is certain flexible inhibition, but owing to rationally not utilizing the maximum output torque of topworks, make the path time of planning longer, and the differential of segment section angular acceleration is larger, is further improved.
The problem that above-mentioned each path exists is: BCB path planning is simple, but flexible inhibition is not made to consideration; Flexible inhibition is considered in S type path, but complex forms is not easy to Project Realization; Consideration has been made to flexible inhibition in parabolic type acceleration path, but to sacrifice planning time as cost.Therefore need the path planning that can consider flexible inhibition and energy Practical.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind ofly follows the tracks of motor-driven cosine transition acceleration Path Method for the attitude of satellite, can suppress flexible appendage vibration, and form is simple, and engineering is easy to the motor-driven path of realizing.
For solving the problems of the technologies described above, of the present inventionly a kind ofly follow the tracks of motor-driven cosine transition acceleration Path Method for the attitude of satellite, it is the improvement to BCB path, adopt the half period cosine function transition of biasing in angular acceleration sudden change place in BCB path, projecting to satellite body according to angular acceleration path according to predetermined motor-driven direction vector is three axles, after integration, obtain angular velocity path, then use kinematics to resolve attitude angle or attitude quaternion path.
Described cosine transition acceleration Path Method, specifically comprises the steps:
Step 1, calculating attitude of satellite anglec of rotation size, determine motor-driven direction;
Step 2, choose transit time by engineering is actual
Figure DEST_PATH_IMAGE005
If when the flexible coupling coefficient of satellite flexible appendage is large, choose transit time
Figure 929191DEST_PATH_IMAGE005
value is large, otherwise chooses transit time be worth little;
Step 3, choose maximum angular acceleration amplitude according to actuator stem force square restriction, satellite inertia size and motor-driven direction
Figure 644392DEST_PATH_IMAGE006
Consider that topworks's moment is saturated, choose
Figure DEST_PATH_IMAGE007
, in formula for topworks's maximum output torque on an axle,
Figure DEST_PATH_IMAGE009
for the maximum principal moments of satellite body three axles;
Step 4, determine at the uniform velocity section angular velocity size according to the limit of range of speed measuring device
Figure 555903DEST_PATH_IMAGE010
Desirable in order to reserve surplus
Figure DEST_PATH_IMAGE011
, in formula for the measurable maximum angular rate of speed measuring device;
Step 5, basis
Figure DEST_PATH_IMAGE013
calculate the constant accelerating sections time
Figure 250506DEST_PATH_IMAGE002
;
The at the uniform velocity section time of step 6, calculating
Figure 452686DEST_PATH_IMAGE014
If
Figure DEST_PATH_IMAGE015
, calculate
Figure 312058DEST_PATH_IMAGE016
Figure DEST_PATH_IMAGE017
; If
Figure 733943DEST_PATH_IMAGE018
Figure DEST_PATH_IMAGE019
, put
Figure 287196DEST_PATH_IMAGE020
, and reset in step 3
Figure DEST_PATH_IMAGE021
;
Step 7, to planning angular acceleration path be assigned on body series three axles and obtain by direction vector definite in step 1
Figure 360194DEST_PATH_IMAGE022
;
Step 8, angular acceleration vector path integration obtain target angular velocity
Figure DEST_PATH_IMAGE023
; Use hypercomplex number kinematical equation to resolve to angular velocity vector path and obtain Satellite Targets attitude quaternion
Figure 141200DEST_PATH_IMAGE024
.
Cosine transition acceleration Path Method of the present invention, compared with prior art, its advantage and beneficial effect are:
1, make full use of the maximum output of topworks, on the basis of as far as possible reducing planning time, utilize cosine function transition to reduce the flexible vibration bringing in mobile process;
2, the cosine transition function adopting, owing to being zero at initial and end differential, does not have angular acceleration saltus step and the saltus step of angular acceleration differential, and flexible inhibition is good;
3, cosine transition section only need to be selected transit time and just can plan migration path, and Project Realization is simple;
4, acceleration path and known inertia battle array multiply each other, and obtain the torque command of softening, for open loop maneuver model, use such torque command can suppress the vibration of flexible appendage, and then improve degree of stability and rapidity.
Accompanying drawing explanation
Fig. 1 is existing BCB path schematic diagram;
Fig. 2 is existing parabolic type acceleration path schematic diagram;
Fig. 3 is cosine transition acceleration of the present invention path schematic diagram;
Fig. 4 is cosine transition acceleration path design process flow diagram of the present invention;
Fig. 5 is that cosine transition acceleration path contrasts figure with BCB path to flexible inhibition;
Fig. 6 is that cosine transition acceleration path and parabolic type acceleration path are to flexible inhibition
Effect comparison figure.
 
Embodiment
Below with reference to drawings and Examples, the present invention is described in further detail:
As shown in Figure 3, be cosine transition acceleration path schematic diagram.Adopt the half period cosine function transition of biasing in angular acceleration sudden change place in existing BCB path, projecting to satellite body according to angular acceleration path according to predetermined motor-driven direction vector is three axles, after integration, obtain angular velocity path, then use kinematics to resolve attitude angle or attitude quaternion path.
In figure
Figure DEST_PATH_IMAGE025
for maximum angular acceleration amplitude;
Figure 299649DEST_PATH_IMAGE026
for transit time;
Figure 11253DEST_PATH_IMAGE002
the constant accelerating sections time.Four transition sections adopt cosine function to describe, as first paragraph transition cosine curve is
Figure DEST_PATH_IMAGE027
.Needing explanation, do not provide S type path schematic diagram, be because S type path is take angular velocity as plan objects, and this method comparability is not strong, and S type path is Project Realization difficulty.
As shown in Figure 4, be the design flow diagram in cosine transition acceleration path, to adopt three axles of quaternion feedback motor-driven as example, specifically comprise the steps:
Step 1, calculating attitude of satellite anglec of rotation size, determine motor-driven direction
The hypercomplex number initial value of supposing the relative targeted attitude of satellite initial attitude is
Figure 250342DEST_PATH_IMAGE028
Figure DEST_PATH_IMAGE029
, satellite need to complete the axle around Euler
Figure 202248DEST_PATH_IMAGE030
rotation
Figure DEST_PATH_IMAGE031
;
In formula
Figure 847993DEST_PATH_IMAGE032
for the hypercomplex number of initial attitude relative reference coordinate system,
Figure DEST_PATH_IMAGE033
for the hypercomplex number of targeted attitude relative reference coordinate system;
Step 2, choose transit time
Figure 409294DEST_PATH_IMAGE005
Choose transit time by engineering is actual
Figure 394567DEST_PATH_IMAGE005
if when the flexible coupling coefficient of satellite flexible appendage is large, choose transit time
Figure 766643DEST_PATH_IMAGE005
value is large, otherwise chooses transit time
Figure 650416DEST_PATH_IMAGE005
be worth little;
Step 3, choose maximum angular acceleration amplitude
Figure 703823DEST_PATH_IMAGE034
Choose maximum angular acceleration amplitude according to the restriction of actuator stem force square, satellite inertia size and motor-driven direction
Figure 979821DEST_PATH_IMAGE034
, consider saturated can the choosing of topworks's moment
Figure DEST_PATH_IMAGE035
, in formula
Figure 273530DEST_PATH_IMAGE008
for topworks's maximum output torque on an axle,
Figure 628288DEST_PATH_IMAGE036
for the maximum principal moments of satellite body three axles;
Step 4, definite at the uniform velocity section angular velocity size
Figure DEST_PATH_IMAGE037
Determine at the uniform velocity section angular velocity size according to the limit of range of speed measuring device
Figure 791111DEST_PATH_IMAGE037
, desirable in order to reserve surplus , in formula for the measurable maximum angular rate of speed measuring device;
Step 5, calculating constant accelerating sections time
Figure 12325DEST_PATH_IMAGE002
Acceleration mobile process has
Figure 57641DEST_PATH_IMAGE040
Figure DEST_PATH_IMAGE041
Figure 515167DEST_PATH_IMAGE042
;
The at the uniform velocity section time of step 6, calculating
Figure 375545DEST_PATH_IMAGE014
If
Figure DEST_PATH_IMAGE043
, calculate
Figure 525904DEST_PATH_IMAGE044
;
If
Figure 605986DEST_PATH_IMAGE046
, put
Figure DEST_PATH_IMAGE047
, and revise in step 3
Figure 867203DEST_PATH_IMAGE021
;
If determined constant angular acceleration
Figure 582087DEST_PATH_IMAGE034
, the constant acceleration time , transit time
Figure 657677DEST_PATH_IMAGE048
afterwards, time at the uniform velocity
Figure 394688DEST_PATH_IMAGE014
size need to determine according to needed motor-driven angle, at the uniform velocity motor-driven angle is
Figure DEST_PATH_IMAGE049
=
Figure 793440DEST_PATH_IMAGE050
Figure 223284DEST_PATH_IMAGE041
Figure 510915DEST_PATH_IMAGE044
If
Figure DEST_PATH_IMAGE051
, illustrate and do not need at the uniform velocity section, at this moment can determine to revise according to engineering problem
Figure 113935DEST_PATH_IMAGE052
,
Figure 757405DEST_PATH_IMAGE048
or
Figure 905621DEST_PATH_IMAGE037
, or three parameters revise simultaneously, only need to make
Figure DEST_PATH_IMAGE053
just can, in step 6, provide be revise
Figure 14304DEST_PATH_IMAGE034
.
Step 7, to the angular acceleration path of planning by the Central European pulling shaft of step 1
Figure 93118DEST_PATH_IMAGE054
direction vector be assigned on body series three axles and obtain angular acceleration vector
Figure DEST_PATH_IMAGE055
;
Step 8, angular acceleration vector path integration obtain expects angular velocity
Figure 653412DEST_PATH_IMAGE056
; Use hypercomplex number kinematical equation to resolve to angular velocity vector path and obtain satellite expectation attitude quaternion
Figure DEST_PATH_IMAGE057
.
As shown in Figure 5, for using BCB path and the cosine transition acceleration path result contrast figure with identical control parameters simulation test, planning was realized in BCB path at 42 seconds, planning was realized in cosine transition acceleration path at 46 seconds, in figure, provide the 45-80 front quadravalence flexible mode figure of second, can find out residual oscillation situation, although cosine transition acceleration path has extended planning time a little, to flexible inhibiting effect successful.
As shown in Figure 6, for being used parabolic type acceleration path, same maneuver simulation test contrasts figure with the emulation that uses cosine transition acceleration path, planning was realized in parabolic type acceleration path at 55 seconds, than BCB path length 13 seconds, but but do not use cosine transition acceleration path good to the flexible vibration suppressioning effect of remnants.In figure, provide the front quadravalence flexible mode figure of 55-80 second.

Claims (2)

1. follow the tracks of motor-driven cosine transition acceleration Path Method for the attitude of satellite for one kind, it is characterized in that: to the improvement in BCB path, adopt the half period cosine function transition of biasing in angular acceleration sudden change place in BCB path, projecting to satellite body according to angular acceleration path according to predetermined motor-driven direction vector is three axles, after integration, obtain angular velocity path, then use kinematics to resolve attitude angle or attitude quaternion path.
2. according to claim 1ly follow the tracks of motor-driven cosine transition acceleration Path Method for the attitude of satellite, it is characterized in that: it specifically comprises the steps:
Step 1, calculating attitude of satellite anglec of rotation size, determine motor-driven direction;
Step 2, choose transit time by engineering is actual
Figure 693016DEST_PATH_IMAGE001
;
Step 3, choose maximum angular acceleration amplitude according to actuator stem force square restriction, satellite inertia size and motor-driven direction
Figure 577795DEST_PATH_IMAGE002
;
Step 4, determine at the uniform velocity section angular velocity size according to the limit of range of speed measuring device
Figure 156413DEST_PATH_IMAGE003
;
Step 5, basis
Figure 355313DEST_PATH_IMAGE004
calculate the constant accelerating sections time
Figure 86508DEST_PATH_IMAGE005
;
The at the uniform velocity section time of step 6, calculating
Figure 892922DEST_PATH_IMAGE006
;
Step 7, the angular acceleration path of target is assigned on satellite system three axles and is obtained by direction vector definite in step 1 ;
Step 8, angular acceleration vector path integration obtain target angular velocity
Figure 446580DEST_PATH_IMAGE008
; Use hypercomplex number kinematical equation to resolve to angular velocity vector path and obtain Satellite Targets attitude quaternion
Figure 969965DEST_PATH_IMAGE009
.
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CN106527471A (en) * 2017-01-25 2017-03-22 上海航天控制技术研究所 Trigonometric function track planning method used for restraining flexible vibration in attitude maneuver process and system thereof
CN107515611A (en) * 2017-07-28 2017-12-26 北京控制工程研究所 A kind of sinusoidal motor-driven paths planning method of superimposed type mixing
CN107608213A (en) * 2017-10-12 2018-01-19 上海航天控制技术研究所 A kind of Parameters design of the motor-driven path planning of the attitude of satellite
CN107807657A (en) * 2017-11-29 2018-03-16 南京理工大学 A kind of Flexible Spacecraft self-adaptation control method based on path planning
CN107831521A (en) * 2017-10-16 2018-03-23 中国西安卫星测控中心 Low orbit satellite tracks the window calculation method of non-orbital flight high dynamic target
CN111798701A (en) * 2020-07-07 2020-10-20 中国船舶工业系统工程研究院 Unmanned ship path tracking control method, system, storage medium and terminal
CN112422184A (en) * 2020-09-28 2021-02-26 东方红卫星移动通信有限公司 Rotation control method and device of coarse pointing device for space optical communication
CN113830330A (en) * 2021-09-30 2021-12-24 北京控制工程研究所 Satellite attitude pointing method and system based on relay satellite measurement and control

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CN105005312A (en) * 2015-06-29 2015-10-28 哈尔滨工业大学 Satellite planning trajectory method based on maximum angular acceleration and maximum angular velocity
CN106527471A (en) * 2017-01-25 2017-03-22 上海航天控制技术研究所 Trigonometric function track planning method used for restraining flexible vibration in attitude maneuver process and system thereof
CN106527471B (en) * 2017-01-25 2019-10-01 上海航天控制技术研究所 Inhibit the method for planning track and system of flexible vibration during attitude maneuver
CN107515611A (en) * 2017-07-28 2017-12-26 北京控制工程研究所 A kind of sinusoidal motor-driven paths planning method of superimposed type mixing
CN107515611B (en) * 2017-07-28 2020-11-10 北京控制工程研究所 Superposition type hybrid sine maneuvering path planning method
CN107608213B (en) * 2017-10-12 2020-11-03 上海航天控制技术研究所 Parameter design method for satellite attitude maneuver path planning
CN107608213A (en) * 2017-10-12 2018-01-19 上海航天控制技术研究所 A kind of Parameters design of the motor-driven path planning of the attitude of satellite
CN107831521A (en) * 2017-10-16 2018-03-23 中国西安卫星测控中心 Low orbit satellite tracks the window calculation method of non-orbital flight high dynamic target
CN107831521B (en) * 2017-10-16 2020-10-23 中国西安卫星测控中心 Window calculation method for low-orbit satellite to track non-orbit flying high-dynamic target
CN107807657B (en) * 2017-11-29 2021-01-26 南京理工大学 Flexible spacecraft attitude self-adaptive control method based on path planning
CN107807657A (en) * 2017-11-29 2018-03-16 南京理工大学 A kind of Flexible Spacecraft self-adaptation control method based on path planning
CN111798701A (en) * 2020-07-07 2020-10-20 中国船舶工业系统工程研究院 Unmanned ship path tracking control method, system, storage medium and terminal
CN111798701B (en) * 2020-07-07 2022-07-26 中国船舶工业系统工程研究院 Unmanned ship path tracking control method, system, storage medium and terminal
CN112422184A (en) * 2020-09-28 2021-02-26 东方红卫星移动通信有限公司 Rotation control method and device of coarse pointing device for space optical communication
CN113830330A (en) * 2021-09-30 2021-12-24 北京控制工程研究所 Satellite attitude pointing method and system based on relay satellite measurement and control
CN113830330B (en) * 2021-09-30 2023-08-29 北京控制工程研究所 Satellite attitude pointing method and system based on relay satellite measurement and control

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