CN103869700B - Semi-physical platform for satellite executing mechanism online reconstitution and control method - Google Patents
Semi-physical platform for satellite executing mechanism online reconstitution and control method Download PDFInfo
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- CN103869700B CN103869700B CN201410058500.0A CN201410058500A CN103869700B CN 103869700 B CN103869700 B CN 103869700B CN 201410058500 A CN201410058500 A CN 201410058500A CN 103869700 B CN103869700 B CN 103869700B
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Abstract
The invention discloses a semi-physical platform for satellite executing mechanism online reconstitution and a control method and belongs to the technical field of aerospace. The semi-physical platform comprises a remote control computer, a remote measuring computer, a satellite-borne control computer and a model simulation computer. In the control method, the satellite-borne control computer determines the attitude angle and the angular velocity of a satellite according to an attitude measurement value of a sensor, and solves a control law and a distributive law according to a target control signal to obtain an actual control signal of an executing mechanism; the executing mechanism produces an attitude control moment under the effect of the actual control signal. According to the semi-physical platform for satellite executing mechanism online reconstitution and the control method, the system resources are fully utilized, the control system design is simplified, the system robustness is improved, and the design complexity of a controller is reduced.
Description
Technical field
The invention discloses the semi physical platform of satellite executing mechanism on-line reorganization and control method, belong to Aero-Space
Technical field.
Background technology
Attitude control system, as one of the most complicated subsystem in the many subsystems of satellite, plays non-in satellite control
The effect of the normally off key.However, because satellite works long hours in complicated space environment, the part of posture control system is susceptible to
Fault, needs the performance taking certain measure to ensure attitude control system under failure condition.American National aviation NASA
(NASA) first proposed the concept of reconfigurable control in nineteen eighty-two, it is to develop on the basis of traditional control of redundancy theory
Come.Reconfigurable control refers to when one or more critical components of system break down or lost efficacy, by changing the knot of system
Structure, substitutes fault element using spare part or other operation elements, to keep the performance of system.Execute for having redundancy
The satellite attitude control system of mechanism's configuration, the essence of reconfigurable control is the method with hardware redundancy and Analysis design, fully
Using in system itself functional redundancy, make actuator remain to after breaking down complete gesture stability task.Reconfigurable control
Research have great importance to improving the safety of satellite, stability and survival ability etc..
In recent years, lot of domestic and international scholar is directed to satellite executing mechanism fault, expands multiple reconfigurable control researchs, is used in combination
The method of mathematical simulation demonstrates the effectiveness of control strategy in theory.However, the research of these reconstructing methods is limited only to
Part of theoretical study, its engineering realizability is seldom verified.Reduce new technique to be brought to high investment aerospace industry
Risk, before reconfigurable control method practical application, is the effectiveness of authentication control method, improves the confidence level of emulation, half thing
Reason simulating, verifying is the link that must carry out.
Satellite attitude control system semi-physical simulation platform is exactly by kind on the stars such as sensor and actuator and space
The mathematical modeies such as environment interknit, and reproduce the practical work process of Satellite Attitude Control System, can be applicable to the demonstration of system
And the schematic design phase.Satellite attitude control system is a firmly real-time system, and actuator needs real-time response control to refer to
Order, output control moment, sensor needs Real-time Collection celestial body attitude information, passes to the controller amount of being controlled and resolves, because
This, need to meet the requirement of its hard real-time using real-time semi-physical simulation platform.Existing satellite gravity anomaly semi physical
Write application program using Matlab more than emulation platform, Simulink model compilation is generated by code by RTW, downloads to target
Carry out semi-physical simulation although method is simple on machine, but high to target machine hardware requirement, and code portability is poor, Er Qieqi
Real-time can not meet the performance requirement of satellite attitude control system in engineering.Therefore, using hard real-time operating system and Gao Ke
By property hardware device, build a high reliability, high real-time, code portability, rich interface, the extendible attitude of satellite
Control system on-line reorganization controls semi-physical simulation platform, to verify the engineering realizability of reconstruction strategy, to raising Satellite Attitude
The troubleshooting capability of state control system and reconstructed horizontal, the reliability of practical safeguards system, maintainable and effectiveness, realize
The span of theoretical research to engineer applied has great importance.
Content of the invention
The technical problem to be solved is the deficiency for above-mentioned background technology, there is provided satellite executing mechanism exists
The semi physical platform of line reconstruct and control method.
The present invention adopts the following technical scheme that for achieving the above object：
The control method of satellite executing mechanism on-line reorganization, the semi physical platform using satellite executing mechanism on-line reorganization obtains
To attitude of satellite reconfigurable control scheme,
The semi physical platform of satellite executing mechanism on-line reorganization, including：
Remote control computer, sends target control signal to spaceborne control computer by switch；
Model emulation computer, the tach signal of collection actuator, calculate the controling power acting on satellite body
Square, then draws the theoretical value of attitude of satellite angle and angular velocity according to the dynamical model set up, kinematics model, then
The sensor attitude measured value being obtained according to attitude transducer model is sent to spaceborne control computer；
Spaceborne control computer, equipped with vxworks operating system, determines attitude of satellite angle and angle according to attitude measurement value
Speed, resolves control law according to control targe and obtains target control signal, then resolve the actual control that distributive law obtains actuator
Signal processed, actuator produces gesture stability moment in the presence of actual control signal, and attitude of satellite angle and angular velocity lead to
Cross switch to transmit to remote measurement computer；
Remote measurement computer, for the actual control letter of Real time dynamic display attitude of satellite angle, angular velocity and actuator
Number；
Control method specifically includes following steps：
Step A, in flywheel normal work, using PD control rate u=KPα+KDω+ω × J ω draws the actual control of flywheel
Signal u processed, wherein, α, ω are attitude angle and the angular speed of satellite, KPAnd KDFor ratio and differential coefficient, J rotates used for satellite
Amount；
Step B, when satellite a certain axle flywheel breaks down and has same axle backup flywheel, switching backup flywheel substitutes event
Barrier flywheel, using Assimilated PD control rate u*=KPα+KDω+ω × J ω draws backup actual control signal u of flywheel*；
Step C, breaks down in satellite a certain axle flywheel, when coaxially not backing up flywheel but having the flywheel of redundant configuration,
Resolve control law, distributive law and obtain the actual control signal of each flywheel under fault：
Step C-1, uses Assimilated PD control to restrain ν according to control targe1=KPα+KDω+ω × J ω obtains event described in step C
Target control signal ν under barrier situation, ν are control moment,
Step C-2, installs Matrix C by flywheel and obtains the target control signal ν under failure situations described in step C1With reality
Control signal u1Relational expression：ν1=Cu1Obtain actual control signal u under failure situations described in step C1,
Step C-3, by flywheel fails matrix E, determines control efficiency Matrix Cf：Cf=CE, in conjunction with fault feelings described in step C
Target control signal ν under shape1With actual control signal u1Relational expression it is considered to energetic optimum is controlled point using pseudoinverse technique
Join, take actual control signal u under failure situations described in step C1Two norms be performance indications, be described as：
Trying to achieve its optimal solution is：u1=D ν1=C+ν1, D=C+=CT(CCT)-1For install battle array C pseudo- inverse matrix, that is, required distribute battle array it is considered to
The property taken advantage of fault, provides satellite attitude control system kinetics equation under failure condition：
Wherein：JωFor Rotary Inertia of Flywheel, Ω is flywheel angular velocity, the inefficacy matrix E=diag { e under failure condition1,e2,e3,e4},
0≤ei≤ 1, i=1,2,3,4, work as eiWhen=0, i-th flywheel complete failure；Work as eiWhen=1, i-th flywheel is normal, and system is pacified
Dress battle array Cf=CE, then the distribution battle array that pseudoinverse technique obtains isThe then pseudoinverse of the actual controlled quentity controlled variable of flywheel
Form uf, uf=Dfν1, obtain distributive law expression formula：
Step C-4, it is considered to flywheel actual output torque restricted problem, adopts the distribution correction side based on kernel method
Case, the original allocation result that pseudoinverse technique is obtained is modified, and obtains actual control signal；
Step D, breaks down in satellite a certain axle flywheel, does not coaxially back up flywheel but fills on three principal axis of inertia of satellite
When having magnetic torquer, resolving control law, distributive law obtain the actual control signal of other effectively flywheels and magnetic torquers：
Step D-1, uses Assimilated PD control to restrain ν according to control targe2=KPα+KDω+ω × J ω obtains event described in step D
Target control signal ν under barrier situation2,
Step D-2, according to actuator failure situation, by the target control signal ν under failure situations described in step D2Point
Controlled quentity controlled variable M that solution provides for effective flywheelWControlled quentity controlled variable M providing with magnetic torquerM：ν2=MW+MM；
Step D-3, obtains controlled quentity controlled variable M of magnetic torquer offer according to magnetic torquer operation principle and Geomagnetic Field ModelM, then
Controlled quentity controlled variable M that effective actuator provides is determined by the expression formula of step D-2W,
In Y-axis actuator complete failure, the controlled quentity controlled variable that magnetic torquer providesHave
The controlled quentity controlled variable that effect actuator providesμ is the relation of description magnetic dipole rated value and maximum,
Bx、Bx、BxFor geomagnetic field component, MyRestrain the component in Y-axis for target control amount M obtaining for PD control.
The present invention adopts technique scheme, has the advantages that：This patent is using controlling the distribution technique can be by
Control law and distributive law separately design, and can make full use of system resource, and simplified control system designs；Occur in part actuator
During malfunction and failure it is only necessary to adjustment corresponding control allocative decision and need not change control algolithm can be realized as fault dynamically every
From the change of system being made minimum, improves system robustness；And in the case that actuator output is limited, can directly exist
Control and in allocation algorithm, enter row constraint process, reduce the complexity of controller design.
Brief description
Fig. 1 is the schematic diagram in kind of embodiment Satellite actuator on-line reorganization semi physical platform.
Fig. 2 is the illustrative view of functional configuration of embodiment Satellite actuator on-line reorganization semi physical platform.
Fig. 3 is the flow chart of control method in embodiment.
Fig. 4 (a), Fig. 4 (b) are the attitude of PD control under non-failure conditions under flywheel four angle mount mounting means in embodiment
Angle, angular velocity response curve.
Fig. 5 is the output torque song being assigned to each flywheel under non-failure conditions under flywheel four angle mount mounting means in embodiment
Line chart.
Fig. 6 (a), Fig. 6 (b) are the attitude under failure condition under flywheel four angle mount mounting means in embodiment based on pseudoinverse technique
Angle, angular velocity response curve.
Fig. 7 is the flywheel output torque after pseudoinverse technique distribution under failure condition under flywheel four angle mount mounting means in embodiment
Response curve.
Fig. 8 (a), Fig. 8 (b) are that during Y-axis flywheel fault in embodiment, flywheel and magnetic torquer jointly control attitude angle and angle
Velocity-response curve figure.
Fig. 9 is that when under Y-axis flywheel fault in embodiment, flywheel and magnetic torquer jointly control, the response of flywheel output torque is bent
Line chart.
Figure 10 is that when under Y-axis flywheel fault in embodiment, flywheel and magnetic torquer jointly control, magnetic torquer output torque is rung
Answer curve chart.
Specific embodiment
Below in conjunction with the accompanying drawings the technical scheme of invention is described in detail：
The semi physical platform of satellite executing mechanism on-line reorganization is as shown in figure 1, include：Remote control computer, model emulation meter
Calculation machine, spaceborne control computer, remote measurement computer, switch.
Remote control computer is formulated control strategy and is sent target control signal to spaceborne control computer by wireless routing.
Model emulation computer, the tach signal of collection flywheel, calculate the control moment acting on satellite body, so
Afterwards the theoretical value of attitude of satellite angle and angular velocity is drawn according to the dynamical model set up, kinematics model, then by root
According to the sensor attitude measured value that attitude transducer model obtains, spaceborne control computer is sent to by serial ports.
Spaceborne control computer, equipped with vxworks operating system, determines attitude of satellite angle according to sensor attitude measured value
And angular velocity, control law is resolved according to target control signal and distributive law obtains the actual control signal of actuator, execution
Mechanism produces gesture stability moment in the presence of actual control signal, and attitude of satellite angle and angular velocity are passed by wireless routing
Transport to remote measurement computer.The embedded hard real-time oss that VxWorks are a kind of high-performance operating on target machine, can reduce
System, supports multiple main flows CPU, and code portability is strong.Satellite gravity anomaly algorithm be related to substantial amounts of floating-point operation it is contemplated that
The hard real-time simulation requirements of satellite attitude control system, this patent proposes one kind and is applied to VxWorks real time operating system
Scheme in satellite executing mechanism on-line reorganization semi physical platform, makes full use of that VxWorks interrupt response time is short, task switching
The real-time performance such as the time is short improves the real-time of system.Satellite gravity anomaly in the case of to actuator failure carries out half thing
During reason emulation experiment, existing method needs to redesign control law parameter, work in the case that actuator is broken down
Amount is big, and real-time is low, and results even in the unstability of system in the case that fault is serious.
Remote measurement computer, for the actual control signal of Dynamic Announce actuator, attitude of satellite angle and angular velocity.
The actuator of semi-physical simulation platform can be used alone flywheel gear, it is possible to use flywheel and magnetic torquer
Jointly control.Actuator has various configurations and mounting means, and this patent is mainly for following three kinds of modes：1st, flywheel six formal dress
Install, the pitching of satellite, rolling, each axle of three axles of going off course are coaxially installed with two flywheels, one of flywheel is as backup.
2nd, flywheel do not reside at pitching, rolling and driftage three principal axis of inertia on, and by four angle mounts or three positive one oblique in the way of install.
3rd, flywheel three formal dress is arranged on the principal axis of inertia, and is coaxially installed with the magnetic torquer as redundancy actuator.
The satellite executing mechanism on-line reorganization control strategy of the present invention is described in conjunction with Fig. 2.Join for six formal dress flywheel redundancies
Put positive with three one tiltedly or four angle mount flywheels configure, study the reconfigurable control strategy based on hardware redundancy and Analysis design respectively.First
Whether first detecting system breaks down, if not breaking down, carries out gesture stability using original PD control method.If occurring
Fault, then first extract fault message, then the configuration judging actuator.If flywheel six formal dress configuring condition, then in a certain axle
When breaking down, do not consider actuator efficiency, the backup flywheel directly switching on this axle carries out gesture stability；If flywheel
For three positive one oblique or four angle mount configuring conditions, then, when a certain axle breaks down, using controlling distribution reconfigurable control method, do not change
Become the design of control law, according to energy optimization principle, design distributive law using pseudoinverse technique, and consider flywheel actual output torque about
Shu Wenti, using the distribution amendment scheme based on kernel method, the original allocation result that pseudoinverse technique is obtained is modified, will
The control instruction that control law obtains is assigned on actually used flywheel, finally gives control voltage, and through DA conversion, output
To each flywheel actuator；If flywheel is three formal dress mounting means, three axles are coaxially installed with magnetic torquer, then according to design
Torque distribution scheme it would be desirable to control moment be assigned in addition to fault flywheel other effective flywheels and three-axis magnetorquer on,
Obtain the actual control signal of each actuator, export to each actuator after DA conversion.
The implementation process of the present invention is described in conjunction with Fig. 3, Flag represents actuator configuration flag bit, Flag=1 represents winged
Take turns four angle mounts or three positive tiltedly to install, Flag=2 represents flywheel three formal dress and equipped with coaxial magnetic torquer, and Flag=3 represents winged
Take turns six formal dress, that is, each principal axis of inertia configures a backup flywheel：
(1) the actuator on-line reorganization control strategy carrying out physical verification will be needed to be write as Matlab LISP program LISP, enter
Row Digital Simulation；
(2) trimming operation system component, makes VxWorks mirror image, bootroom, transplants vxworks operating system：?
Serial ports and network service is write with embedded type C language, DA conversion, pulse are tested the speed etc., and hardware drives on Tornado2.2 development environment
The application program such as dynamic program and attitude determination, gesture stability, dynamical motion model, sensor model, makes after the completion of debugging
It is made bootable program, is loaded into respectively in target machine PC104 (spaceborne control computer and model emulation computer), form base
Gesture stability computer and model emulation computer software in multi-task scheduling；
(3) set up human-computer interaction interface using VS on remote control computer, complete actuator configuration, direct fault location, control
Policy selection processed, sends the functions such as control instruction；
(4) set up human-computer interaction interface using VS and STK on remote measurement computer, complete attitude data storage, animation and
Curve chart such as shows at the function；
(5) each functional module hardware is connected, power up to each operational module, and each program of startup optimization；
(6)) on remote control computer, system is initialized, and select actuator to configure, send control instruction；
(7) spaceborne control computer is according to satellite initial state information, sensor measurement information, flywheel fault simulation and appearance
State controls requirement, is controlled rule and distributive law resolves, output order voltage is to actuator；
(8) model emulation computer measures Speed of Reaction Wheels by rotating speed acquisition module, and is translated into wheel action power
Square, attitude of satellite angle sensor being recorded by kinetic model, kinematics model, environmental model, sensor model etc., angle
Velocity information passes to spaceborne control computer by serial communication modular；
(9) attitude information after attitude determines is passed to remote measurement by network communication module by spaceborne control computer
Computer；
(10) attitude angle, angular rate information are stored inside according in storehouse by remote measurement computer, and with VS and STK to attitude
Data carries out real-time curve chart and flash demo；
(11), under flywheel six formal dress mounting means, fault mode is set on the human-computer interaction interface of remote control computer as bowing
Face upward axle flywheel complete failure fault, carry out direct fault location.Select to enable the reconfigurable control method that flywheel is backed up on pitch axis, pass through
Control instruction is sent to spaceborne control computer by network communication mode, repeats above-mentioned (7) to (10)；
(12), under flywheel four angle mount mounting means, fault mode is set on the human-computer interaction interface of remote control computer as certain
One axle flywheel fails 30%, i.e. ei=0.3, i=1,2,3,4, select to be reconstructed control based on the control distribution method of pseudoinverse technique
Control instruction is sent to spaceborne control computer by network communication mode, repeats above-mentioned (7) to (10) by system.
(13) flywheel three formal dress is installed, and in the case of having coaxial mounted three-axis magnetorquer, in remote control computer
Fault mode is set on human-computer interaction interface as a certain axle flywheel fails 100%, select to combine control based on flywheel and magnetic torquer
The Torque distribution scheme of system is reconstructed control, by network communication mode, control instruction is sent to spaceborne control computer,
Repeat above-mentioned (7) to (10).
To above-mentioned, Digital Simulation is carried out based on the satellite attitude control system reconfigurable control scheme revising pseudoinverse technique, checking sets
The control law of meter and the effectiveness of distribution method, emulation initial parameter setting is as follows：
Satellite rotary inertia and flywheel are installed battle array and are taken as respectively：
The control parameter of PD control rule is chosen for：
Kp=diag (0.56 0.48 0.52), Kd=diag (5.4 4.8 5.4)
Choosing satellite three-axis attitude angle and angular velocity initial value is α=[- 55 6]TDegree, ω=[- 0.5 0.5 0.5]T
Degrees second, provides the attitude angle response curve of PD control under non-failure conditions as shown in figure 4, being assigned to the output torque of each flywheel
As shown in Figure 5.
From Fig. 4,5 as can be seen that in the case of system failure, the PD control rule of design ensure that system exists
During attitude initial deviation, converge to poised state quickly, and the distributive law design based on pseudoinverse technique can be by desired control
Moment is efficiently assigned to each effect flywheel.
Assume flywheel 1 complete failure, inefficacy matrix E=diag { 0,1,1,1 }, 0≤ei≤ 1, i=1,2,3,4, according to event
Barrier failure conditions, do not change the design of control law, and only use the distribution method based on revising pseudoinverse technique to carry out On-line Control power
Square is redistributed, and shown in attitude of satellite angle and angular velocity such as Fig. 6 (a), Fig. 6 (b), its initial value is identical with non-failure conditions, point
Join rear flywheel output torque response curve as shown in Figure 7.It can be seen that, in the case that a certain flywheel breaks down, using design
PD control rule and the distributive law based on correction pseudoinverse technique, it is possible to achieve the pose stabilization control of system, complete under failure condition
Reconfigurable control.
Flywheel and magnetic torquer combined reconstruction control program are carried out with Digital Simulation, emulation initial parameter setting is as follows：
Initial attitude angle, angular velocity, rotary inertia and PD control parameter are identical with during fault-free, and orbit parameter is：Half
Major axis a=642km, eccentric ratio e=0.0001, orbit inclination angle i=97.3 °, 0 ° of injection point ascending node, disturbance torque model is such as
Under：
There is the situation of complete failure fault for y-axis, provide flywheel and magnetic torquer jointly control result such as Fig. 8 (a),
Shown in Fig. 8 (b), Fig. 9, Figure 10.Simulation result shows, has initial attitude angle, angular velocity deviation and there is external disturbance
In the case of, if a certain axle of flywheel breaks down, flywheel and magnetic torquer combination control method using design can be effectively
It is controlled Torque distribution, the attitude reconstruction realized under satellite executing mechanism failure condition controls.
Above-described embodiment simply lists for six formal dress flywheel redundant configuration and three positive tiltedly or the configuration of four angle mount flywheels
Satellite executing mechanism semi physical platform example, only comprise flywheel as the controlling party of the semi physical platform of redundancy actuator
Method, is coaxially installed with the control method of the semi physical platform of magnetic torquer for actuator, and the checking of embodiment is also only
For the situation of Y-axis flywheel complete failure, but the embodiment of the present invention is not limited to the example enumerated in embodiment
Son, the conversion of every embodiment or any equivalents having enumerated embodiment meeting present inventive concept both falls within this
Bright protection domain.
In sum, this patent, can be fully sharp using controlling distribution technique can separately design control law and distributive law
With system resource, simplified control system design；When inefficacy is broken down in part actuator it is only necessary to corresponding control of adjustment is divided
Formula case and control algolithm need not be changed and can be realized as fault dynamic isolation, the change of system can be made minimum, improve system Shandong
Rod；And in the case that actuator output is limited, directly can enter row constraint in controlling allocation algorithm and process, reduce
The complexity of controller design.
Claims (2)
1. satellite executing mechanism on-line reorganization control method it is characterised in that：Using following satellite executing mechanism on-line reorganization
Semi physical platform obtain attitude of satellite reconfigurable control scheme,
The semi physical platform of satellite executing mechanism on-line reorganization, including：
Remote control computer, sends target control signal to spaceborne control computer by switch；
Model emulation computer, the tach signal of collection actuator, calculate the control moment acting on satellite body, so
Afterwards the theoretical value of attitude of satellite angle and angular velocity is drawn according to the dynamical model set up, kinematics model, then by root
It is sent to spaceborne control computer according to the sensor attitude measured value that attitude transducer model obtains；
Spaceborne control computer, equipped with vxworks operating system, determines attitude of satellite angle and angular velocity according to attitude measurement value,
Control law is resolved according to control targe and obtains target control signal, then resolve the actual control letter that distributive law obtains actuator
Number, actuator produces gesture stability moment in the presence of actual control signal, and attitude of satellite angle and angular velocity pass through to hand over
Change planes and transmit to remote measurement computer；
Remote measurement computer, for the actual control signal of Real time dynamic display attitude of satellite angle, angular velocity and actuator；
Control method specifically includes following steps：
Step A, in flywheel normal work, using Assimilated PD control rate u=KPα+KDω+ω × J ω draws the actual control of flywheel
Signal u, wherein, α, ω are attitude angle and the angular speed of satellite, KPAnd KDFor ratio and differential coefficient, J is satellite rotary inertia；
Step B, when satellite a certain axle flywheel breaks down and has same axle backup flywheel, switching backup flywheel substitutes fault and flies
Wheel, using Assimilated PD control rate u*=KPα+KDω+ω × J ω draws backup actual control signal u of flywheel*；
Step C, breaks down in satellite a certain axle flywheel, when coaxially not backing up flywheel but having the flywheel of redundant configuration, resolves
Control law, distributive law obtain the actual control signal of each flywheel under fault：
Step C-1, uses Assimilated PD control to restrain ν according to control targe1=KPα+KDω+ω × J ω obtains fault feelings described in step C
Target control signal ν under shape1, ν1For control moment,
Step C-2, installs Matrix C by flywheel and obtains the target control signal ν under failure situations described in step C1Control letter with actual
Number u1Relational expression：ν1=Cu1Obtain actual control signal u under failure situations described in step C1,
Step C-3, by flywheel fails matrix E, determines control efficiency Matrix Cf：Cf=CE, in conjunction with failure situations described in step C
Target control signal ν1With actual control signal u1Relational expression it is considered to energetic optimum using pseudoinverse technique be controlled distribute, obtain
To distributive law expression formula：ufFor the actual controlled quentity controlled variable of flywheel in failure situations described in step C
Under pseudo- inverse form；
Step C-4 is it is considered to flywheel actual output torque restricted problem, using the distribution amendment scheme based on kernel method, right
The original allocation result that pseudoinverse technique obtains is modified, and obtains actual control signal；
Step D, breaks down in satellite a certain axle flywheel, does not coaxially back up flywheel but equipped with magnetic on three principal axis of inertia of satellite
During torquer, resolving control law, distributive law obtain the actual control signal of other effectively flywheels and magnetic torquers：
Step D-1, uses Assimilated PD control to restrain ν according to control targe2=KPα+KDω+ω × J ω obtains fault feelings described in step D
Target control signal ν under shape2,
Step D-2, according to actuator failure situation, by the target control signal ν under failure situations described in step D2It has been decomposed into
Controlled quentity controlled variable M that effect flywheel providesWControlled quentity controlled variable M providing with magnetic torquerM：ν2=MW+MM；
Step D-3, obtains controlled quentity controlled variable M of magnetic torquer offer according to magnetic torquer operation principle and Geomagnetic Field ModelM, then by step
The expression formula of rapid D-2 determines controlled quentity controlled variable M that effective actuator providesW.
2. satellite executing mechanism on-line reorganization according to claim 1 control method it is characterised in that：Using Visual
Studio software design remote control computer interface, using Visual Studio software and Satellite Tool Kit software connection
Close design remote measurement computer interface.
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