CN104062976B - A kind of is sinusoidal attitude of flight vehicle fast reserve method based on angular acceleration derivative - Google Patents

Abstract

The invention discloses a kind of is sinusoidal attitude of flight vehicle fast reserve method based on angular acceleration derivative, moment and angular momentum according to control system executing agency provide ability, devise experience accelerate, at the uniform velocity with slow down three processes attitude maneuver path, accelerating and in moderating process, the derivative all ensureing angular acceleration is standard sine curve, ensure that the moment output in whole mobile process is the most continuous, and first derivative is continuous, making the smooth change that whole mobile process moment exports, during attitude maneuver, the excitation to flexible mode is little.Attitude of flight vehicle is motor-driven put in place after, owing to flexible mode vibration amplitude is less, thus the attitude of aircraft can immediate stability, it is achieved thereby that fast reserve fast and stable control.This method is particularly well-suited to the flexible mode serious aircraft of coupling and carries out fast reserve control, it is possible to realize the demand for control of fast and stable.

Description

A kind of is sinusoidal attitude of flight vehicle fast reserve based on angular acceleration derivative Method

Technical field

The present invention relates to the fast reserve control method of a kind of Spacecraft, particularly relate to one and lead based on angular acceleration Number is sinusoidal attitude of flight vehicle fast reserve method, belongs to Spacecraft Attitude Control field,

Background technology

Modern spacecraft is generally with the flexible appendage of the lightweight constructions such as large-scale solar array, in the flight of Spacecraft During, it is often necessary to it is quickly carried out Large Angle Attitude Maneuver to meet mission requirements.Theory analysis shows, due to spacecraft Rigid Base dynamics and flexible appendage vibration between there is strong coupling, its attitude maneuver to wide-angle non-linear hour is dynamic Mechanical characteristic is the most notable, frequently results in flexible appendage and continues judder, and then have a strong impact on attitude motion, even directly prestige Coerce the safety of spacecraft structure.Flexible Spacecraft Large Angle Rapid Maneuvering pattern, to gesture stability and vibration suppression band Carry out the biggest challenge.

For Attitude Maneuvering of Flexible Spacecraft control and vibration suppression problem, there are some researches show, optimize motor-driven path It is the effective measures realizing Large Angle Rapid Maneuvering and fast and stable.Current representational motor-driven paths planning method includes base In the method for planning track of bang-bang with based on the sinusoidal planing method of angular acceleration.Wherein bang-bang track rule Draw method planning time short, but violent to the vibrational excitation of flexible mode, and the stabilization time after aircraft is motor-driven is long.Based on sine Flexible mode is excited little by the angular acceleration method for planning track of curve, but in view of flexible mode and spacecraft attitude angle speed The coupled relation of degree.Owing to planing method only considered the continuous of angular acceleration, the derivative of angular acceleration is at planning initial time With finish time all can saltus step, flexible mode is still suffered from certain excitation, stablizing after putting attitude maneuver in place is unfavorable.

Deficiency for current motor-driven method for planning track, it is considered to the derivative of angular acceleration carries out trajectory planning, finally The track of planning ensure that the flatness of angular acceleration.Use based on angle acceleration sinusoidal fast reserve trajectory planning When curve carries out fast reserve, flexible mode does not evokes after planned trajectory terminates, attitude of flight vehicle is motor-driven put in place after Stability is high.

Summary of the invention

The technology of the present invention solves problem: overcome the deficiencies in the prior art, it is provided that one based on angular acceleration derivative is Sinusoidal attitude of flight vehicle fast reserve method, the method can ensure that rapidity and the stationarity of attitude maneuver process.

The technical solution of the present invention is: a kind of is that sinusoidal attitude of flight vehicle is quick based on angular acceleration derivative Motor-driven method, it is characterised in that step is as follows:

(1) attitude of flight vehicle motor-driven maximum angular acceleration a is determined according to the executing agency configured on aircraft_m；

(2) executing agency's angular momentum envelope and sensor range according to being configured on aircraft determine attitude of flight vehicle machine Dynamic maximum angular rate

(3) when aircraft receives the attitude maneuver control instruction that ground sends, flight control system is according to reception The attitude maneuver angle, θ arrived_mWith fixed attitude maneuver maximum angular rateWith attitude maneuver maximum angular acceleration a_mCalculate Go out the feature turnover moment of attitude of flight vehicle maneuverable path；

(4) flight control system utilizes the feature turnover moment that step (3) is calculated, according to angular acceleration derivative for dividing Section sine curve calculate in real time attitude of flight vehicle motor-driven time targeted attitude angular acceleration a_r, targeted attitude angular speedAnd mesh Mark attitude angle, θ_r；

(5) flight control system is according to step (4) calculated attitude maneuver targeted attitude angular acceleration a_r, target Attitude angular velocityWith targeted attitude angle θ_rCarry out attitude of flight vehicle maneuver autopilot.

The method in described calculating feature turnover moment is: sets attitude of flight vehicle maneuverable path and is divided into accelerating sections, at the uniform velocity Section and braking section three sections, wherein the time of acceleration section is [0 t_m1], the at the uniform velocity time of section is [t_m1 t_m2], the time of braking section For [t_m2 t_m3], t_m1、t_m2、t_m3Feature for maneuverable path is transferred the moment, all initiates with attitude of flight vehicle maneuvering flight Moment is starting point timing；Obtaining the method in feature turnover moment is:

(a) when ${\mathrm{\θ}}_m>\frac{2\×{\stackrel{\·}{\mathrm{\θ}}}_m^2}{a_m}$ Time, $t_{m1}=\frac{2\×{\stackrel{\·}{\mathrm{\θ}}}_m}{a_m}{t}_{m1}=\frac{2\·{\stackrel{\·}{\mathrm{\θ}}}_m}{a_m},t_{m2}=\frac{2\·{\mathrm{\θ}}_m}{a_m\·t_{m1}},$ t_m3=t_m1+t_m2；

(b) when ${\mathrm{\θ}}_m\≤\frac{2\×{\stackrel{\·}{\mathrm{\θ}}}_m^2}{a_m}{\mathrm{\θ}}_m\≤\frac{2\·{\stackrel{\·}{\mathrm{\θ}}}_m^2}{a_m}$ Time, $t_{m1}=\sqrt{\frac{2\·{\mathrm{\θ}}_m}{a_m}},$ t_m2=t_m1, t_m3=t_m1+t_m2。

Target angular acceleration a during described step (4) calculating aircraft attitude maneuver in real time_r, target angular velocityAnd mesh Mark angle, θ_rMethod be:

(1) the sinusoidal angular frequency of angular acceleration derivative is asked for

(2) accelerating sections targeted attitude angular acceleration a during attitude maneuver_r=0.5 a_m(1-cos (f t)), target Attitude angular velocityTargeted attitude angle θ_r=0.5 a_m·(0.5·t²- 1/f+cos(f·t)/f²), wherein t is the time kept in reserve；

(3) at the uniform velocity section targeted attitude angular acceleration a during attitude maneuver_r=0, targeted attitude angular speed ${\stackrel{\·}{\mathrm{\θ}}}_r=0.5\·a_m\·t_{m1},$ Targeted attitude angle ${\mathrm{\θ}}_r=0.5\·a_m\·(t_{m1}\·t-0.5\·t_{m1}^2);$

(4) braking section targeted attitude angular acceleration a during attitude maneuver_r=-0.5 a_m·(1-cos(f(t- t_m2))), targeted attitude angular speed ${\stackrel{\·}{\mathrm{\θ}}}_r=-0.5\·a_m\·(t-t_{m3}-\sin \left(f(t-t_{m2})\right)/f),$ Target appearance State angle ${\mathrm{\θ}}_r=-0.5a_m(0.5t^2-t_{m3}\·t+\frac{\cos \left(f(t-t_{m2})\right)}{f^2})-\frac{1}{f^2}+t_{m1}^2+0.5t_{m3}(t_{m2}-t_{m1}).$

Present invention advantage compared with prior art is: tradition attitude of flight vehicle based on Bang-Bang trajectory planning The fast reserve that control method is not suitable for flexible aircraft due to the saltus step of moment by exciting flexible mode significantly to vibrate is fast Speed stability contorting.The present invention provides ability according to the moment of control system executing agency and angular momentum, devise experience accelerate, even Speed and the attitude maneuver path of three processes of slowing down, accelerating and in moderating process, all ensureing that the derivative of angular acceleration is standard Sine curve, it is ensured that the moment output in whole mobile process is not only continuous, and first derivative is continuous so that whole motor-driven mistake The smooth change of journey moment output, during attitude maneuver, the excitation to flexible mode is little.Arrive attitude of flight vehicle is motor-driven After Wei, owing to flexible mode vibration amplitude is less, thus the attitude of aircraft can immediate stability, it is achieved thereby that fast reserve Fast and stable controls.This method is particularly well-suited to the flexible mode serious aircraft of coupling and carries out fast reserve control, it is possible to real The demand for control of existing fast and stable.It addition, the present invention and aircraft manufacturing technology side based on the planning of angular acceleration sinusoidal trajectory Method is compared, less to the incentive action of aircraft flexible mode, and in the occasion higher to stability requirement, this method has significantly Advantage.

Accompanying drawing explanation

Fig. 1 is the FB(flow block) of the inventive method；

Fig. 2 is the motor-driven path using the inventive method to obtain；

Attitude of flight vehicle angle error curve when Fig. 3 is to use this method to control；

Attitude of flight vehicle angular speed error curve when Fig. 4 is to use this method to control；

Fig. 5 is the aircraft windsurfing flexible mode coordinate displacement using the inventive method to obtain；

Fig. 6 is aircraft windsurfing flexible mode coordinate displacement under sinusoidal motor-driven path；

Fig. 7 is aircraft windsurfing flexible mode coordinate displacement under the motor-driven path of bang-bang.

Detailed description of the invention

In order to improve service efficiency in-orbit, the ability of Large Angle Rapid Maneuvering fast and stable increasingly focused on by aircraft, as The aircraft requirements controllable velocity using high-torque control-moment gyro to carry out gesture stability is the conventional wheel motor-driven speed of control aircraft More than 10 times of degree.Generally individually needing due to aircraft to carry large-scale flexible solar energy sailboard, the fundamental frequency of windsurfing is low so that flight Device easily causes the vibration of flexible mode to affect the attitude stability of aircraft body during fast reserve, it is impossible to meet The operating environment requirements of load, the controllable velocity of therefore practical attitude maneuver control method aircraft to be ensured is fast, also Ensure attitude fast and stable after motor-driven putting in place.For flexible aircraft, it is achieved one of approach of fast and stable is ensuring that Do not excite flexible mode to vibrate in mobile process as far as possible.The inventive method is then from this thinking, by optimizing reserve road Footpath, it is ensured that during whole fast reserve, attitude maneuver angle track, angular speed track and angular acceleration track the most steadily become Change, not only there is no the saltus step of moment, it is ensured that the first derivative of moment is continuous, excites hardly in the most whole mobile process Flexible mode vibrates, it is achieved that fast and stable attitude maneuver controls.

As it is shown in figure 1, be the flow chart of the inventive method.In the present invention, carry out attitude fast reserve fast and stable and control Time, first cook up a motor-driven track, motor-driven track includes that the attitude angle of motor-driven overall process, attitude angular velocity and angle are accelerated Degree, then builds corresponding control law and controls the aircraft track operation according to planning, thus complete attitude maneuver control.Entering Comprising two steps during the planning in the motor-driven path of row, one is that attitude maneuver capacity calculation according to aircraft goes out motor-driven before motor-driven The crucial turning point t of track_m1、t_m2、t_m3；Two is in mobile process, the angular acceleration of each control cycle real-time mobile process a_r, target angular velocityTarget angle θ_r.Specifically comprise the following steps that

(1) attitude of flight vehicle motor-driven maximum angular acceleration a is determined according to the executing agency configured on aircraft_m；

(2) executing agency's angular momentum envelope and sensor range according to being configured on aircraft determine attitude of flight vehicle machine Dynamic maximum angular rate

(3) when aircraft receives the attitude maneuver control instruction that ground sends, flight control system is according to reception The attitude maneuver angle, θ arrived_mWith fixed attitude maneuver maximum angular rateWith attitude maneuver maximum angular acceleration a_mCalculate Go out the feature turnover moment of attitude of flight vehicle maneuverable path；

(4) flight control system utilizes the feature turnover moment that step (3) is calculated, according to angular acceleration derivative for dividing Section sine curve calculate in real time attitude of flight vehicle motor-driven time targeted attitude angular acceleration a_r, targeted attitude angular speedAnd mesh Mark attitude angle, θ_r；

(5) flight control system is according to step (4) calculated attitude maneuver targeted attitude angular acceleration a_r, target Attitude angular velocityWith targeted attitude angle θ_rCarry out attitude of flight vehicle maneuver autopilot.

Motor-driven track is generally divided into 3 processes, is accelerating sections, at the uniform velocity section and braking section respectively, but at the uniform velocity section is not each Mobile process all comprises, and only has accelerating sections and braking section for the attitude maneuver less to motor-driven angle.

(1) maximum motor-driven angular acceleration a_mDetermination method: set the maximum that aircraft can be provided by certain direction of body Moment is T_mi, the rotary inertia at correspondence direction aircraft is I_Si, then the maximum angular rate that can be provided by direction aircraftDifferent motor-driven directions can be calculated respectively the maximum angular acceleration of correspondence direction, final a_mIt is taken as a_m< min{a_mi, i is to all possible motor-driven direction；

(2) maximum motor-driven angular speedDetermination method: with determine maximum angular acceleration a_mDetermination method be similar to, point Ji Suan the maximum angular momentum H that can be provided by of motor-driven direction_mi, the maximum angular rate of the directionFinally It is taken asI is to all possible motor-driven direction.

(3) when determining maximum motor-driven angular acceleration a_mAngular speed motor-driven with maximumAfter, the maneuverability of aircraft is It is sized.When aircraft receives maneuvering command, accelerating motor-driven angular speed is θ_m, just can carry out trajectory planning.During trajectory planning First time turning point is calculated.Aircraft maneuverable path is divided into three sections, is called accelerating sections, at the uniform velocity section and braking section, Wherein the time of acceleration section is [0 t_m1], at the uniform velocity section section is [t_m1 t_m2], braking section is [t_m2 t_m3]。t_m1、t_m2、t_m3All with Motor-driven initial time is starting point timing, the feature turnover moment in the most motor-driven path.Obtaining the method in feature turnover moment is:

(11) whenTime, now the motor-driven angle of aircraft is relatively big, and aircraft comprises when carrying out attitude maneuver At the uniform velocity section,t_m3=t_m1+t_m2。

(12) whenTime, now the motor-driven angle of aircraft is less, and aircraft only accelerates and slows down two Process, wherein acceleration timeOwing to there is not at the uniform velocity section, so t_m2=t_m1, braking section and accelerating sections pair Claim, t_m3=t_m1+t_m2。

(4) when maneuver autopilot, each control cycle all in accordance with planning motor-driven track, according to motor-driven moment and motor-driven rail The material time turning point of mark judges to be currently at the motor-driven concrete stage, and calculates concrete angle according to method for planning track Acceleration, angular speed and motor-driven angle.

(41) the sinusoidal angular frequency of angular acceleration derivative is calculated:Visible, the angular speed of motor-driven accelerating sections Derivative is the sine curve of a complete cycle, and angular acceleration is then this sinusoidal integration.

(42) as time kept in reserve t≤t_m1Time, mobile process is in accelerating sections.Target angular acceleration a_r=0.5a_m(1-cos (f t)), target angular velocityTarget angle θ_r=0.5a_m(0.5t²-1/f+cos (f·t)/f²), wherein t is the time kept in reserve.From a_rExpression formula understand, ${\stackrel{\&CenterDot;}{a}}_r\left(0\right)=0,{\stackrel{\&CenterDot;}{a}}_r\left(t_{m1}\right)=0,$ I.e. angle is accelerated The derivative of degree is continuous.

(43) as time kept in reserve t_m1<t≤t_m2Time, mobile process is at the uniform velocity section, targeted attitude angular acceleration a_r=0, targeted attitude Angular speedCorresponding maximum motor-driven angular speed, object attitude angle ${\mathrm{\&theta;}}_r=0.5\&CenterDot;a_m\&CenterDot;(t_{m1}\&CenterDot;t-0.5\&CenterDot;t_{m1}^2);$

(44) as time kept in reserve t_m2<t≤t_m3Time, mobile process is in braking section, targeted attitude angular acceleration a_r=- 0.5a_m(1-cos(f(t-t_m2))), targeted attitude angular speed ${\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_r=-0.5a_m(t-$ $t_{m3}-\sin \left(f(t-t_{m2})\right)/f),$ Object attitude angle ${\mathrm{\&theta;}}_r=-0.5a_m(0.5t^2-t_{m3}\&CenterDot;t+\frac{\cos \left(f(t-t_{m2})\right)}{f^2})-\frac{1}{f^2}+t_{m1}^2+0.5t_{m3}(t_{m2}-t_{m1}).$ Motor-driven braking section has skew-symmetry, so braking section has angular acceleration derivative continuous print equally with the angular acceleration of accelerating sections Feature.

The inventive method also can be applied in the attitude maneuver of the aircraft such as aircraft, guided missile.

Embodiment: as a example by the motor-driven 25 ° of processes of certain typical flex Vehicle Roll axle, it is assumed that aircraft rotary inertia 3000kg.m², flexible windsurfing fundamental frequency 0.8Hz, the control cycle is 0.125s.Assume the maximum that aircraft executing agency can be provided by Moment is 55Nm, and maximum angular momentum envelope is 210Nms.First flight is determined according to maximum output torque and angular momentum envelope The motor-driven maximum angular acceleration of device is a_m=1.0 °/s, maximum motor-driven angular speed isThen calculate key to turn Sub-time point, obtains t_m1=7.071s, t_m2=7.071s, t_m3=14.142s, thus obtained the machine using this method to obtain Dynamic geometric locus, as shown in Figure 2.Fig. 3, Fig. 4 are respectively attitude of flight vehicle angle error when using this method to control and angular speed Error curve.Understanding through statistics, it is 28.375s that aircraft realizes the time of 0.001 °/s (3 σ) stability.Analyzing further can Know, use Spacecraft Attitude Control based on the planning of angular acceleration sinusoidal trajectory to realize 0.001 °/s (3 σ) stability Time is 31.250s, control method based on Bang-Bang trajectory planning in 50s the attitude stability of aircraft still greater than 0.001 °/s, show that attitude of flight vehicle is the most stable.Fig. 5 show the modal coordinate displacement of flexible windsurfing when using this method Curve, Fig. 6 show and uses modal coordinate based on flexible windsurfing during angular acceleration sinusoidal trajectory planning attitude control method Displacement curve, Fig. 7 show the modal coordinate displacement of flexible windsurfing when using Bang-Bang trajectory planning attitude control method Curve, by comparison diagram 5, Fig. 6 and Fig. 7, when using this method to carry out attitude maneuver, motor-driven put in place after the shaking of flexible mode Dynamic displacement is the least, and when using the control method of Bang-Bang track, modal vibration is violent, uses the planning of angular acceleration sinusoidal trajectory Modal vibration amplitude during control method is positioned between the two.Visible, this method can be effectively improved attitude maneuver to flexible mold The incentive action of state, motor-driven to shortest time stably used, thus improves the mobility of aircraft.

The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.

Claims (2)

1. one kind is sinusoidal attitude of flight vehicle fast reserve method based on angular acceleration derivative, it is characterised in that step is such as Under:

(1) attitude of flight vehicle motor-driven maximum angular acceleration a is determined according to the executing agency configured on aircraft_m；

(2) determine that attitude of flight vehicle is motor-driven according to the executing agency's angular momentum envelope configured on aircraft and sensor range Big angular speed

(3) when aircraft receives the attitude maneuver control instruction that ground sends, flight control system is according to receiving Attitude maneuver angle, θ_mWith fixed attitude maneuver maximum angular rateWith attitude maneuver maximum angular acceleration a_mCalculate and fly The feature turnover moment of row device attitude maneuver flight path；

(4) flight control system utilizes the feature turnover moment that step (3) calculated, according to angular acceleration derivative be segmentation just Chord curve calculate in real time attitude of flight vehicle motor-driven time targeted attitude angular acceleration a_r, targeted attitude angular speedWith target appearance State angle, θ_r；

(5) flight control system is according to step (4) calculated attitude maneuver targeted attitude angular acceleration a_r, targeted attitude Angular speedWith targeted attitude angle θ_rCarry out attitude of flight vehicle maneuver autopilot；

Described calculating feature turnover the moment method be: set attitude of flight vehicle maneuverable path be divided into accelerating sections, at the uniform velocity section and Braking section three sections, wherein the time of accelerating sections is [0, t_m1], the at the uniform velocity time of section is [t_m1,t_m2], the time of braking section is [t_m2, t_m3], t_m1、t_m2、t_m3Feature for maneuverable path is transferred the moment, all with attitude of flight vehicle maneuvering flight initial time for rising Point timing；Obtaining the method in feature turnover moment is:

(a) whenTime,t_m3=t_m1+t_m2；

(b) whenTime,t_m2=t_m1, t_m3=t_m1+t_m2。

One the most according to claim 1 is sinusoidal attitude of flight vehicle fast reserve side based on angular acceleration derivative Method, it is characterised in that: target angular acceleration a during described step (4) calculating aircraft attitude maneuver in real time_r, target angular velocityWith angle on target θ_rMethod be:

(1) the sinusoidal angular frequency of angular acceleration derivative is asked for

(2) accelerating sections targeted attitude angular acceleration a during attitude maneuver_r=0.5 a_m(1-cos (f t)), targeted attitude Angular speedTargeted attitude angle θ_r=0.5 a_m·(0.5·t²-1/f+ cos(f·t)/f²), wherein t is the time kept in reserve；

(3) at the uniform velocity section targeted attitude angular acceleration a during attitude maneuver_r=0, targeted attitude angular speedTargeted attitude angle

(4) braking section targeted attitude angular acceleration a during attitude maneuver_r=-0.5 a_m·(1-cos(f(t-t_m2))), target Attitude angular velocityTargeted attitude angle