CN104176276A - Non-biased momentum single flywheel magnetizing control algorithm - Google Patents

Abstract

The invention discloses a non-biased momentum single flywheel magnetizing control algorithm. The non-biased momentum single flywheel magnetizing control algorithm comprises the following steps: step 1, a flywheel is mounted along a rolling axis (X axis); a wheel control mode and a magnetic density used for magnetic control are determined; step 2, the flywheel is mounted along a yaw axis ( Z axis ); a wheel control mode and a magnetic density used for magnetic control are determined; step 3, the flywheel is mounted in an inclined manner; a wheel control mode and a magnetic density used for magnetic control are determined; step 4, an integrated control is conducted on the triaxial (X axis, Y axis and Z axis) electrical current output and magnetic unloading of the flywheel on the Y axis; therefore, triaxial stable control of the non-biased momentum satellite is realized. The non-biased momentum single flywheel and magnetizing control algorithm is simple in the configuration requirements; all that is needed is to adopt a single flywheel and the magnetic control, so as to realize the triaxial stable control of the non-biased momentum satellite; the system reliability is improved; the non-biased momentum single flywheel and magnetizing control algorithm provided by the invention can be applied to flywheel fault control modes of micro satellites and medium and large-scale satellites; angular momentum exchange control and gyroscope torque control switch are conducted according to rolling and the yaw magnetic density; the calculation in the algorithm is simple, thereby being easy for engineering application.

Description

A kind of not offset momentum single flywheel adds magnetic control algorithm

Technical field

The present invention relates to satellite flywheel attitude control technology field, particularly a kind of not offset momentum single flywheel adds magnetic control algorithm.

Background technology

Existing satellite in-orbit long-term stable state is controlled zero momentum and the two kinds of modes of bias momentum of mainly containing, and these two kinds wheel prosecutor formulas all exist certain shortcoming: zero momentum is controlled and required to have at least 3 flywheels to use; Bias momentum is controlled the momentum wheel of installing along pitch axis will larger moment of momentum, and momentum wheel weight, volume and power consumption are generally larger.Microsatellite has larger restriction to flywheel quantity, weight, volume and power consumption, and not offset momentum single flywheel+magnetic control algorithm is applicable to microsatellite and controls, and is also applicable to medium-and-large-sized satellite flywheel Fault Control pattern simultaneously.

Summary of the invention

The object of this invention is to provide a kind of not offset momentum single flywheel and add magnetic control algorithm, the method system configuration requires simple, only relies on single flywheel and magnetic control can realize not offset momentum satellite three axis stabilization and controls.

In order to realize above object, the present invention is achieved by the following technical solutions:

Not offset momentum single flywheel adds a magnetic control algorithm, is characterized in, comprises following steps:

Step 1, flywheel are installed along the axis of rolling, determine wheel control pattern and for the magnetic-field intensity of magnetic control:

When rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, pitch axis magnetic torquer carry out magnetic control system 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 is controlled based on gyro torque, and flywheel adopts angular momentum exchange mode to control roll attitude;

Step 2, flywheel is installed along yaw axis, determines wheel control pattern and for the magnetic-field intensity of magnetic control:

When driftage magnetic-field intensity absolute value is greater than rolling magnetic-field intensity absolute value, pitch axis magnetic torquer carry out magnetic control system to roll attitude, and flywheel adopts angular momentum exchange mode to control yaw attitude; Or,

When driftage magnetic-field intensity absolute value is less than or equal to rolling magnetic-field intensity absolute value, roll attitude is controlled 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 for the magnetic-field intensity of magnetic control:

According to rolling and going off course, magnetic-field intensity carries out direct momentum exchange control to rolling or driftage:

When rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, yaw attitude is controlled based on gyro torque, and roll attitude is carried out to direct momentum exchange control; Or,

When rolling magnetic-field intensity absolute value is less than or equal to driftage magnetic-field intensity absolute value, roll attitude is controlled based on gyro torque, and yaw attitude is carried out to direct momentum exchange 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.

Described step 1 specifically comprises the steps:

Step 1.1, calculate wheel control voltage Vx:

Wherein, Kp is that proportional control parameter, Ki are that integration control parameter, Kd are that differential is controlled parameter; for axis of rolling attitude angle; for axis of rolling angular rate; Vpx is axis of rolling proportional control magnitude of voltage, Vsx _kfor axis of rolling integration control magnitude of voltage, Vsx _k-1for cycle integration control magnitude of voltage, Vdx on the axis of rolling are that axis of rolling differential is controlled magnitude of voltage;

The described control voltage Vx=Vpx+Vsx+Vdx that takes turns, wherein, Vsx is axis of rolling integration control magnitude of voltage, same Vsx _k;

Step 1.2, calculate 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;

Step 1.3, is identified for the magnetic-field intensity of magnetic control:

Now single flywheel is axis of rolling flywheel, and axis of rolling attitude is mainly controlled by 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; The attitude that simultaneously pitch axis magnetic torquer is taken into account the axis of rolling is controlled, and for the unloading of axis of rolling flywheel:

If axis of rolling magnetic-field intensity absolute value is less than yaw axis magnetic-field intensity absolute value:

Mag_X＝Bz

Mag_Z＝Bx

If axis of rolling magnetic-field intensity absolute value is more than or equal to yaw axis magnetic-field intensity absolute value:

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, calculate respectively axis of rolling magnetron current Iconx, yaw axis magnetron current Iconz:

$\mathrm{Iconx}=(\mathrm{ky}1*\mathrm{\θ}+\mathrm{ky}2*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_Z$

$\mathrm{Iconz}=-(\mathrm{ky}3*\mathrm{\θ}+\mathrm{ky}4*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_X$

Wherein, ky1 is that pitch axis attitude angle is calculated axis of rolling magnetron current parameter, ky2 is that pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 are that pitch axis attitude angle is calculated 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; Mag_X, Mag_Z is respectively for the axis of rolling of magnetic control and yaw axis magnetic-field intensity;

Step 1.5, calculate axis of rolling magnetoelectricity stream Ix, yaw axis magnetoelectricity stream Iz output:

Ix＝Iconx

Iz＝Iconz。

Described step 2 specifically comprises the steps:

Step 2.1, calculate wheel control voltage Vx:

Vpz＝Kp*ψ

Vsz _k＝Vsz _k-1+Ki*ψ

$\mathrm{Vdz}=\mathrm{Kd}*\stackrel{\·}{\mathrm{\ψ}}$

Wherein, Kp is that proportional control parameter, Ki are that integration control parameter, Kd are that differential is controlled parameter; ψ is yaw axis attitude angle; for yaw axis angular rate; Vpz is yaw axis proportional control magnitude of voltage, Vsz _kfor yaw axis integration control magnitude of voltage, Vsz _k-1for cycle integration control magnitude of voltage, Vdz on yaw axis are that yaw axis differential is controlled magnitude of voltage;

The described control voltage Vx=Vpz+Vsz+Vdz that takes turns, wherein, Vsz is yaw axis integration control magnitude of voltage, same Vsz _k;

Step 2.2, calculate 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;

Step 2.3, is identified for the magnetic-field intensity of magnetic control:

Now single flywheel is yaw axis flywheel, and yaw axis attitude is mainly controlled by 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; The attitude that simultaneously pitch axis magnetic torquer is taken into account yaw axis is controlled, and for the unloading of yaw axis flywheel:

If 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:

Mag_X＝Bz

Mag_Z＝4*Bx

If 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:

Mag_X＝Bx

Mag_Z＝-Bz

Wherein, Bx, Bz is respectively the axis of rolling and yaw axis 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, calculate axis of rolling magnetron current Iconx, yaw axis magnetron current Iconz:

$\mathrm{Iconx}=(\mathrm{ky}1*\mathrm{\θ}+\mathrm{ky}2*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_Z$

$\mathrm{Iconz}=-(\mathrm{ky}3*\mathrm{\θ}+\mathrm{ky}4*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_X$

Wherein, ky1 is that pitch axis attitude angle is calculated axis of rolling magnetron current parameter, ky2 is that pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 are that pitch axis attitude angle is calculated 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; Mag_X, Mag_Z is respectively for the axis of rolling of magnetic control and yaw axis magnetic-field intensity;

Step 2.5, calculate magnetoelectricity stream Ix, Iz output:

Ix＝Iconx

Iz＝Iconz。

Described pitch axis electric current is the integrated value of the magnetic dumping electric current of pitch axis magnetron current and pitch axis:

Iy＝Icony+I_magy

Wherein:

Icony＝Icony1+Icony2；

In formula, kx1 is that axis of rolling attitude angle is calculated 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 is calculated 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.

Described I_magy determines by flywheel installation shaft.

Described flywheel angle mount all has moment of momentum component to three axles.

In described step 1, pitch axis magnetic torquer applies disturbance torque according to yaw attitude to rolling, and flywheel absorbs and disturbs, and by gyro torque, controls yaw attitude.

In described described step 2, pitch axis magnetic torquer applies disturbance torque according to roll attitude to driftage, and flywheel absorbs and disturbs, and by gyro torque, controls rolling appearance.

The axis of angular momentum of described flywheel and the angle between the axis of rolling are 30 °.

Not offset momentum single flywheel provided by the invention adds magnetic control method, based on axis of rolling magnetic torquer and yaw axis magnetic torquer, realizes the continuous magnetic control system of pitch attitude; According to rolling in-orbit and go off course magnetic-field intensity feature, 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, on rolling and driftage has impact, is considered magnetic control efficiency, and flywheel the best is installed as approximately 30 ° of the axis of angular momentum and axis of rolling angles.

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 requires simply, only needs single flywheel and magnetic control to realize not offset momentum satellite three axis stabilization and controls, and has improved system reliability;

2, can be applied to microsatellite and medium-and-large-sized satellite flywheel Fault Control pattern;

3, according to the magnetic-field intensity that rolls and go off course, carry out angular momentum exchange control and control and switch with gyro torque, algorithm calculating simply, is easy to engineering application.

Accompanying drawing explanation

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.

The specific embodiment

Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.

As shown in Figures 1 to 3, a kind of not offset momentum single flywheel adds magnetic control algorithm, comprises following steps:

Step 1, flywheel are installed along the axis of rolling (X-axis), determine wheel control pattern and for the magnetic-field intensity of magnetic control:

When rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, pitch axis magnetic torquer carry out magnetic control system 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 is controlled 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 wheel control pattern and for the magnetic-field intensity of magnetic control:

When driftage magnetic-field intensity absolute value is greater than rolling magnetic-field intensity absolute value, pitch axis magnetic torquer carry out magnetic control system to roll attitude, and flywheel adopts angular momentum exchange mode to control yaw attitude; Or,

When driftage magnetic-field intensity absolute value is less than or equal to rolling magnetic-field intensity absolute value, roll attitude is controlled 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 for the magnetic-field intensity of magnetic control:

According to rolling and going off course, magnetic-field intensity carries out direct momentum exchange control to rolling or driftage;

When rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, yaw attitude is controlled based on gyro torque, and roll attitude is carried out to direct momentum exchange control; Or,

When rolling magnetic-field intensity absolute value is less than or equal to driftage magnetic-field intensity absolute value, roll attitude is controlled based on gyro torque, and yaw attitude is carried out to direct momentum exchange control;

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.

Described step 1 specifically comprises the steps:

Step 1.1, calculate wheel control voltage Vx:

Wherein, Kp is that proportional control parameter, Ki are that integration control parameter, Kd are that differential is controlled parameter; for axis of rolling attitude angle; for axis of rolling angular rate; Vpx is axis of rolling proportional control magnitude of voltage, Vsx _kfor axis of rolling integration control magnitude of voltage, Vsx _k-1for cycle integration control magnitude of voltage, Vdx on the axis of rolling are that axis of rolling differential is controlled magnitude of voltage;

The described control voltage Vx=Vpx+Vsx+Vdx that takes turns, wherein, Vsx is axis of rolling integration control magnitude of voltage, same Vsx _k;

Step 1.2, calculate 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 what therefore for axis of rolling flywheel, unload is mainly pitch axis magnetic torquer, and I_magz is approximately 0;

Step 1.3, is identified for the magnetic-field intensity of magnetic control:

Now single flywheel is axis of rolling flywheel, and axis of rolling attitude is mainly controlled by 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; The attitude that simultaneously pitch axis magnetic torquer is taken into account the axis of rolling is controlled, and for the unloading of axis of rolling flywheel:

If axis of rolling magnetic-field intensity absolute value is less than yaw axis magnetic-field intensity absolute value:

Mag_X＝Bz

Mag_Z＝Bx

If axis of rolling magnetic-field intensity absolute value is more than or equal to yaw axis magnetic-field intensity absolute value:

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, calculate respectively axis of rolling magnetron current Iconx, yaw axis magnetron current Iconz::

$\mathrm{Iconx}=(\mathrm{ky}1*\mathrm{\θ}+\mathrm{ky}2*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_Z$

$\mathrm{Iconz}=-(\mathrm{ky}3*\mathrm{\θ}+\mathrm{ky}4*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_X$

Wherein, ky1 is that pitch axis attitude angle is calculated axis of rolling magnetron current parameter, ky2 is that pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 are that pitch axis attitude angle is calculated 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; Mag_X, Mag_Z is respectively for the axis of rolling of magnetic control and yaw axis magnetic-field intensity;

Step 1.5, calculate axis of rolling magnetoelectricity stream Ix, yaw axis magnetoelectricity stream Iz output:

Ix＝Iconx

Iz＝Iconz。

Preferably, described step 2 specifically comprises the steps:

Step 2.1, calculate wheel control voltage Vx:

Vpz＝Kp*ψ

Vsz _k＝Vsz _k-1+Ki*ψ

$\mathrm{Vdz}=\mathrm{Kd}*\stackrel{\·}{\mathrm{\ψ}}$

Wherein, Kp is that proportional control parameter, Ki are that integration control parameter, Kd are that differential is controlled parameter; ψ is yaw axis attitude angle; for yaw axis angular rate; Vpz is yaw axis proportional control magnitude of voltage, Vsz _kfor yaw axis integration control magnitude of voltage, Vsz _k-1for cycle integration control magnitude of voltage, Vdz on yaw axis are that yaw axis differential is controlled magnitude of voltage;

The described control voltage Vx=Vpz+Vsz+Vdz that takes turns, wherein, Vsz is yaw axis integration control magnitude of voltage, same Vsz _k;

Step 2.2, calculate 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 what therefore for axis of rolling flywheel, unload is mainly pitch axis magnetic torquer, and I_magx is approximately 0;

Step 2.3, is identified for the magnetic-field intensity of magnetic control:

Now single flywheel is yaw axis flywheel, and yaw axis attitude is mainly controlled by 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; The attitude that simultaneously pitch axis magnetic torquer is taken into account yaw axis is controlled, and for the unloading of yaw axis flywheel:

If 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:

Mag_X＝Bz

Mag_Z＝4*Bx

If 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:

Mag_X＝Bx

Mag_Z＝-Bz

Wherein, Bx, Bz is respectively the axis of rolling and yaw axis 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, calculate axis of rolling magnetron current Iconx, yaw axis magnetron current Iconz:

$\mathrm{Iconx}=(\mathrm{ky}1*\mathrm{\θ}+\mathrm{ky}2*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_Z$

$\mathrm{Iconz}=-(\mathrm{ky}3*\mathrm{\θ}+\mathrm{ky}4*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_X$

Wherein, ky1 is that pitch axis attitude angle is calculated axis of rolling magnetron current parameter, ky2 is that pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 are that pitch axis attitude angle is calculated 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; 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 2.5, calculate magnetoelectricity stream Ix, Iz output:

Ix＝Iconx

Iz＝Iconz。

Described pitch axis electric current is the integrated value of the magnetic dumping electric current of pitch axis magnetron current and pitch axis:

Iy＝Icony+I_magy

Wherein:

Icony＝Icony1+Icony2；

in formula, kx1 is that axis of rolling attitude angle is calculated 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 is calculated 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.

Described I_magy determines by flywheel installation shaft.

Described flywheel angle mount all has moment of momentum component to three axles.

In described step 1, pitch axis magnetic torquer applies disturbance torque according to yaw attitude to rolling, and flywheel absorbs and disturbs, and by gyro torque, controls yaw attitude.

In described described step 2, pitch axis magnetic torquer applies disturbance torque according to roll attitude to driftage, and flywheel absorbs and disturbs, and by gyro torque, controls rolling appearance.

The axis of angular momentum of described flywheel and the angle between the axis of rolling are 30 °.

Be specially:

Method concrete steps of the present invention are as shown in Figure 3:

A. calculate wheel control rotating speed

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 _k＝Vsz _k-1+Ki*ψ

$\mathrm{Vdz}=\mathrm{Kd}*\stackrel{\·}{\mathrm{\ψ}}$

Wherein: kp, ki, kd are wheel control parameter;

ψ, ---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. calculate magnetic dumping electric current

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 what therefore for X-axis flywheel, unload is mainly Y-axis magnetic torquer, and 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.

What for Z axis flywheel, unload equally is mainly Y-axis magnetic torquer, and I_magx is approximately 0.。

C. be identified for the magnetic-field intensity of magnetic control

1) if X-axis flywheel

If single flywheel is X-axis flywheel, X-axis attitude is mainly controlled by 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; The attitude that simultaneously Y-axis magnetic torquer is taken into account X-axis is controlled, 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:

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:

Mag_X＝Bx

Mag_Z＝-Bz

2) if Z axis flywheel

If single flywheel is Z axis flywheel, Z axis attitude is mainly controlled by 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; The attitude that simultaneously Y-axis magnetic torquer is taken into account Z axis is controlled, 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:

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:

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. calculate magnetron current

1) X-axis magnetron current: $\mathrm{Iconx}=(\mathrm{ky}1*\mathrm{\θ}+\mathrm{ky}2*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_z$

2) Z axis magnetron current: $\mathrm{Iconz}=(\mathrm{ky}1*\mathrm{\θ}+\mathrm{ky}1*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_x$

3) Y-axis magnetron current:

Control X-axis:

Control Z axis: $\mathrm{Icony}2=(\mathrm{kz}1*\mathrm{\ψ}+\mathrm{kz}2*\stackrel{\·}{\mathrm{\ψ}})*\mathrm{Mag}\_x$

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 that 1000, ky2 is that 100000, kx1, kz1 are that 20, kx2, kz2 are 20000.

E. calculate the output of magnetoelectricity stream

No matter be X-axis flywheel or Z axis flywheel, for flywheel unloading be mainly Y-axis magnetic torquer, 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 determines that pitch axis magnetic torquer carry out magnetic control system to rolling/yaw attitude, along the formal dress flywheel that rolls or go off course, according to the magnetic-field intensity that rolls and go off course, carrying out angular momentum exchange controls and gyro torque control, angle mount flywheel adopts direct momentum exchange to control, and applies magnetic flywheel is unloaded; According to rolling in-orbit and go off course magnetic-field intensity feature design flywheel optimum embedding angle.

The present embodiment system configuration requires simple, only needs single flywheel and magnetic control to realize not offset momentum satellite three axis stabilization and controls, and has improved system reliability; Can be applied to microsatellite flywheel controls and medium-and-large-sized satellite flywheel Fault Control pattern; According to the magnetic-field intensity that rolls and go off course, carry out angular momentum exchange and control and gyro torque control, algorithm calculates simply, is easy to engineering application.

Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.Those skilled in the art, read after foregoing, for multiple modification of the present invention with to substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.

Claims (9)

1. not offset momentum single flywheel adds a magnetic control algorithm, it is characterized in that, comprises following steps:

Step 1, flywheel are installed along the axis of rolling, determine wheel control pattern and for the magnetic-field intensity of magnetic control:

When rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, pitch axis magnetic torquer carry out magnetic control system 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 is controlled based on gyro torque, and flywheel adopts angular momentum exchange mode to control roll attitude;

Step 2, flywheel is installed along yaw axis, determines wheel control pattern and for the magnetic-field intensity of magnetic control:

When driftage magnetic-field intensity absolute value is greater than rolling magnetic-field intensity absolute value, pitch axis magnetic torquer carry out magnetic control system to roll attitude, and flywheel adopts angular momentum exchange mode to control yaw attitude; Or,

When driftage magnetic-field intensity absolute value is less than or equal to rolling magnetic-field intensity absolute value, roll attitude is controlled 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 for the magnetic-field intensity of magnetic control:

According to rolling and going off course, magnetic-field intensity carries out direct momentum exchange control to rolling or driftage;

When rolling magnetic-field intensity absolute value is greater than driftage magnetic-field intensity absolute value, yaw attitude is controlled based on gyro torque, and roll attitude is carried out to direct momentum exchange control; Or,

When rolling magnetic-field intensity absolute value is less than or equal to driftage magnetic-field intensity absolute value, roll attitude is controlled based on gyro torque, and yaw attitude is carried out to direct momentum exchange 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.

2. not offset momentum single flywheel as claimed in claim 1 adds magnetic control algorithm, it is characterized in that, described step 1 specifically comprises the steps:

Step 1.1, calculate wheel control voltage Vx:

Wherein, Kp is that proportional control parameter, Ki are that integration control parameter, Kd are that differential is controlled parameter; for axis of rolling attitude angle; for axis of rolling angular rate; Vpx is axis of rolling proportional control magnitude of voltage, Vsx _kfor axis of rolling integration control magnitude of voltage, Vsx _k-1for cycle integration control magnitude of voltage, Vdx on the axis of rolling are that axis of rolling differential is controlled magnitude of voltage;

The described control voltage Vx=Vpx+Vsx+Vdx that takes turns, wherein, Vsx is axis of rolling integration control magnitude of voltage, same Vsx _k; ;

Step 1.2, calculate 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;

Step 1.3, is identified for the magnetic-field intensity of magnetic control:

Now single flywheel is axis of rolling flywheel, and axis of rolling attitude is mainly controlled by 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; The attitude that simultaneously pitch axis magnetic torquer is taken into account the axis of rolling is controlled, and for the unloading of axis of rolling flywheel:

If axis of rolling magnetic-field intensity absolute value is less than yaw axis magnetic-field intensity absolute value:

Mag_X＝Bz

Mag_Z＝Bx

If axis of rolling magnetic-field intensity absolute value is more than or equal to yaw axis magnetic-field intensity absolute value:

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, calculate respectively axis of rolling magnetron current Iconx, yaw axis magnetron current Iconz:

$\mathrm{Iconx}=(\mathrm{ky}1*\mathrm{\θ}+\mathrm{ky}2*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_Z$

$\mathrm{Iconz}=-(\mathrm{ky}3*\mathrm{\θ}+\mathrm{ky}4*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_X$

Wherein, ky1 is that pitch axis attitude angle is calculated axis of rolling magnetron current parameter, ky2 is that pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 are that pitch axis attitude angle is calculated 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; Mag_X, Mag_Z is respectively for the axis of rolling of magnetic control and yaw axis magnetic-field intensity;

Step 1.5, calculate axis of rolling magnetoelectricity stream Ix, yaw axis magnetoelectricity stream Iz output:

Ix＝Iconx

Iz＝Iconz。

3. not offset momentum single flywheel as claimed in claim 1 adds magnetic control algorithm, it is characterized in that, described step 2 specifically comprises the steps:

Step 2.1, calculate wheel control voltage Vx:

Vpz＝Kp*ψ

Vsz _k＝Vsz _k-1+Ki*ψ

$\mathrm{Vdz}=\mathrm{Kd}*\stackrel{\·}{\mathrm{\ψ}}$

Wherein, Kp is that proportional control parameter, Ki are that integration control parameter, Kd are that differential is controlled parameter; ψ is yaw axis attitude angle; for yaw axis angular rate; Vpz is yaw axis proportional control magnitude of voltage, Vsz _kfor yaw axis integration control magnitude of voltage, Vsz _k-1for cycle integration control magnitude of voltage, Vdz on yaw axis are that yaw axis differential is controlled magnitude of voltage;

The described control voltage Vx=Vpz+Vsz+Vdz that takes turns, wherein, Vsz is yaw axis integration control magnitude of voltage, same Vsz _k;

Step 2.2, calculate 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;

Step 2.3, is identified for the magnetic-field intensity of magnetic control:

Now, single flywheel is yaw axis flywheel, and yaw axis attitude is mainly controlled by 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; The attitude that simultaneously pitch axis magnetic torquer is taken into account yaw axis is controlled, and for the unloading of yaw axis flywheel:

If 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:

Mag_X＝Bz

Mag_Z＝4*Bx

If 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:

Mag_X＝Bx

Mag_Z＝-Bz

Wherein, Bx, Bz is respectively the axis of rolling and yaw axis 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, calculate axis of rolling magnetron current Iconx, yaw axis magnetron current Iconz:

$\mathrm{Iconx}=(\mathrm{ky}1*\mathrm{\θ}+\mathrm{ky}2*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_Z$

$\mathrm{Iconz}=-(\mathrm{ky}3*\mathrm{\θ}+\mathrm{ky}4*\stackrel{\·}{\mathrm{\θ}})*\mathrm{Mag}\_X$

Wherein, ky1 is that pitch axis attitude angle is calculated axis of rolling magnetron current parameter, ky2 is that pitch axis angular speed calculation axis of rolling magnetron current parameter, ky3 are that pitch axis attitude angle is calculated 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; Mag_X, Mag_Z is respectively for the axis of rolling of magnetic control and yaw axis magnetic-field intensity;

Step 2.5, calculate magnetoelectricity stream Ix, Iz output:

Ix＝Iconx

Iz＝Iconz。

4. not offset momentum single flywheel adds magnetic control algorithm as claimed in claim 2 or claim 3, it is characterized in that, described pitch axis electric current is the integrated value of the magnetic dumping electric current of pitch axis magnetron current and pitch axis:

Iy＝Icony+I_magy

Wherein:

Icony＝Icony1+Icony2；

in formula, kx1 is that axis of rolling attitude angle is calculated 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 is calculated 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 as claimed in claim 4 adds magnetic control algorithm, it is characterized in that, described I_magy determines by flywheel installation shaft.

6. not offset momentum single flywheel as claimed in claim 1 adds magnetic control algorithm, it is characterized in that, described flywheel angle mount all has moment of momentum component to three axles.

7. not offset momentum single flywheel as claimed in claim 1 or 2 adds magnetic control algorithm, it is characterized in that, in described step 1, pitch axis magnetic torquer applies disturbance torque according to yaw attitude to rolling, and flywheel absorbs and disturbs, and by gyro torque, controls yaw attitude.

8. the not offset momentum single flywheel as described in claim 1 or 3 adds magnetic control algorithm, it is characterized in that, in described described step 2, pitch axis magnetic torquer applies disturbance torque according to roll attitude to driftage, flywheel absorbs and disturbs, and by gyro torque, controls rolling appearance.

9. not offset momentum single flywheel as claimed in claim 1 adds magnetic control algorithm, it is characterized in that, the axis of angular momentum of described flywheel and the angle between the axis of rolling are 30 °.