CN105035361A - Satellite with ultrahigh pointing accuracy and ultrahigh stability under dynamic-static isolation and principal-subordinate cooperative control - Google Patents
Satellite with ultrahigh pointing accuracy and ultrahigh stability under dynamic-static isolation and principal-subordinate cooperative control Download PDFInfo
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- CN105035361A CN105035361A CN201510465939.XA CN201510465939A CN105035361A CN 105035361 A CN105035361 A CN 105035361A CN 201510465939 A CN201510465939 A CN 201510465939A CN 105035361 A CN105035361 A CN 105035361A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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Abstract
The invention provides a satellite with ultrahigh pointing accuracy and ultrahigh stability under dynamic-static isolation and principal-subordinate cooperative control, which comprises a non-contact magnetic-suspension mechanism disposed between a platform cabin and a load cabin, wherein the non-contact magnetic-suspension mechanism comprises a rotor and a stator which are matched; the rotor is installed in the platform cabin, and the stator is installed in the load cabin; and the dynamic-static isolation between the load cabin and the platform cabin is realized by the rotor and the stator. By adopting a brand-new idea and a brand-new method of the spatial dynamic-static isolation and the principal-subordinate cooperative control, applying a control idea based on a complete pose decoupling configuration and a slip form layer, and using the non-contact magnetic-suspension mechanism with high accuracy and high bandwidth, the satellite pose pointing accuracy is higher than 5*10-4 DEG/SEC, the pose stability is higher than the ultrahigh accuracy of 5*10-6DEG/SEC, a technical difficulty about the ''ultrahigh accuracy and ultrahigh stability'' is thoroughly solved, and a load pose can be completely measured and controlled.
Description
Technical field
The invention belongs to satellite fields, relate to the isolation of a kind of sound, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability (" two super ") satellite and method of designing thereof.This " two super " satellite can realize load pointing accuracy, degree of stability respectively up to 10
-4degree, 10
-6" two super " of degree/second controls, and can be applicable to the fields such as the remote sensing of height rail high score, distributed remote sensing, high precision formation, High-performance lasers communication, Space Attack and survey of deep space.
Background technology
Vanguard satellite to the requirement of load pointing accuracy, degree of stability respectively up to 10
-4degree, 10
-6degree/second-time, more than 2 magnitudes higher than current level.The traditionally method of designing that is connected of load and platform, load is pointed to and is relied on platform control system to realize with degree of stability, but because the micro-vibration of platform is inevitable, and control system product bandwidth, precision etc. are limited in one's ability, there is micro-vibration " difficult survey, difficult control " technical bottleneck in the method for designing that makes to be connected, is difficult to realize load " two super " index.
At present, vibration suppression is mainly contained and vibration source isolates two kinds of methods for Satellite Vibration interference.Vibration suppression for add vibration isolator between platform and vibration source, but this kind of method is contact vibration isolation, micro-vibration every and without cease, precision improvement is limited.Platform vibration source partition method exists cannot isolate all vibration sources, and bandwidth accuracy is limited.Therefore Traditional solutions is all difficult to significantly lifting load control accuracy.
Summary of the invention
For defect of the prior art, the object of this invention is to provide the isolation of a kind of sound, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability (" two super ") satellite and method of designing thereof.
According to a kind of sound isolation provided by the invention, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability satellite, comprise platform cabin, load cabin, also comprise the non-contact magnetically float means be arranged between platform cabin and load cabin;
Non-contact magnetically float means comprises the mover and stator that match; Mover is installed on platform cabin, and stator is installed on load cabin;
Realize sound by mover and stator between load cabin and platform cabin to isolate.
Preferably, described mover comprises coil, support, and described stator comprises magnet steel, yoke;
Wherein, coil is connected to platform cabin by support; Magnet steel and load cabin are connected; Without physical connection between support and yoke;
Be fixed on coil on support between magnet steel and yoke; Gap is left between magnet steel, yoke; Load cabin and magnet steel, yoke are connected.
Preferably, 8 non-contact magnetically float means are furnished with between platform cabin and load cabin, wherein, between described 8 non-contact magnetically float means and two cabins, the parallel or vertical interval successively of interface is arranged symmetrically with, line between the non-contact magnetically float means be arranged symmetrically with is perpendicular to two cabin barycenter lines, and the line mid point between the non-contact magnetically float means be arranged symmetrically with is positioned on two cabin barycenter lines;
Described 8 non-contact magnetically float means form eight degrees of freedom magnetic floating mechanism;
Two cabins refer to platform cabin, load cabin.
Preferably, described non-contact magnetically float means utilizes electromagnetic force or electrostatic force mode.
Preferably, the information transmission between platform cabin, load cabin and position sensing adopt wireless mode to realize, and wireless mode comprises undesirable mutual electromagnetic inductance or opto-electronic conversion; Energy Transfer employing between platform cabin, load cabin is wireless or flexible cable mode realizes
Preferably, adopt principal and subordinate's Collaborative Control between load cabin and platform cabin, wherein, described principal and subordinate's Collaborative Control, refers to:
Load cabin realizes gesture stability by attitude sensor and contactless magnetic floating mechanism, flywheel, thruster servo tracking load cabin attitude that platform cabin is installed with self according to relative position sensory information, and avoids bumping against with load cabin.
Preferably, described principal and subordinate's Collaborative Control comprises load cabin attitude ACTIVE CONTROL, the driven control in platform cabin, and wherein, the driven control in platform cabin comprises two cabin relative position controls, platform cabin gesture stability, platform cabin feed forward control three control loops; Two cabins refer to load cabin and platform cabin;
Described load cabin ACTIVE CONTROL, be specially: pointed to by sensor determination capacity weight, based on load cabin attitude comformed information, posture control unit produces action command, drive non-contact magnetically float means to produce control effort, make capacity weight reach pointing accuracy and the degree of stability control of expectation; Described sensor comprises star sensor, fiber optic gyro;
Described two cabin relative positions control, and are specially: the position feedback information that described two cabin relative positions control is resolved by relative position sensor metrical information and obtains, and actr is non-contact magnetically float means;
Described platform cabin gesture stability, be specially: the gesture feedback information of described platform cabin gesture stability is resolved by relative position sensor metrical information and obtained, based on platform cabin attitude comformed information, posture control unit produces action command, drive flywheel, thruster to produce control torque, make attitude servo tracking load cabin, platform cabin attitude.
Preferably, for the control in platform cabin:
When the coil of non-contact magnetically float means within setting regions or outside setting regions but coil moves to balance position direction time, do not start two cabin relative positions and control;
When the coil of non-contact magnetically float means is outside setting regions and when moving outside balance position, start two cabin relative positions and control;
Described setting regions, refers to: a threshold range in the gap between magnet steel, yoke, artificially sets according to control situation.
Preferably, described platform cabin feed forward control, for compensating the moment of reaction of non-contact magnetically float means, ensures that two cabin attitudes and two cabin relative positions change little as much as possible, for superfinishing super steady control in load cabin provides safeguard.
Preferably, it is by arranging eight degrees of freedom magnetic floating mechanism between two cabins that the appearance control power that non-contact magnetically float means exports and relative position control effort carry out decoupling zero, realized rotating load cabin by eight degrees of freedom magnetic floating mechanism and two cabin relative positions move the decoupling zero of six controlling quantitys totally, two cabins refer to load cabin and platform cabin.
Compared with current orthodox method, the present invention has following characteristics:
1, " two super " performance: two super satellite is with spatially sound isolation, the brand-new thought and method that in control, principal and subordinate works in coordination with, adopt complete pose decoupling zero configuration and sliding formwork layer control thought, utilize high precision, high bandwidth non-contact magnetically float means, realize satellite attitude pointing accuracy and be better than 5 × 10
-4degree, attitude stability are better than 5 × 10
-6the superhigh precision of degree/second, thoroughly solves " two super " technical bottleneck, achieves the completely measurable and controllable of load attitude.
2, Whole frequency band vibration isolation: two super satellite two cabin is connected by magnetic floating mechanism noncontact, realize sound isolation, movable and the flexible part in direct partition platform cabin is to micro-vibration passing in load cabin, the super steady mode of operation of superfinishing of effective guarantee load, thus reach the effect of Whole frequency band vibration isolation, greatly reduce the bandwidth demand to control system product.
3, isolation platform thermal deformation: compare tradition and to be connected design, " two super " space, satellite two cabin isolation, effectively prevent the impact that platform thermal deformation points to load.In addition, " two super " satellite also has the advantages such as simple, safe and reliable, redundancy is high, quality low power consumption is low.
4, the present invention is by non-contact magnetically float means, physically directly eliminate platform cabin high frequency micro vibration to the adverse effect in load cabin, greatly reduce the bandwidth demand to control system product, realize the completely measurable and controllable of load cabin attitude, the master & slave control relation that in control, change two cabin is traditional, it is main for adopting load cabin to control, platform cabin control for from " principal and subordinate work in coordination with " control thinking, and ingenious " backlash nonlinearity " of isolated area and the collaborative uneoupled control in two cabins of utilizing, " two super " that realize load cabin attitude controls, and the control effects in follower force cabin, platform cabin.
5, the object of the driven control in the cabin of platform described in the present invention is to ensure that two cabins are not collided, therefore relatively low to the requirement of platform cabin control accuracy, sliding formwork control thought can be utilized: when the coil of non-contact magnetically float means within setting regions or outside setting regions but coil moves to balance position direction time, do not start two cabin relative positions and control; When the coil of non-contact magnetically float means is outside setting regions and when moving outside balance position, start two cabin relative positions and control, thus reduce the frequency of two cabin relative positions controls, make magnetic floating mechanism be absorbed in adjustment load cabin attitude.
6, in the present invention, dynamic control of the high precision " master " in load cabin controls to be all realized by magnetic floating mechanism with the relative position in two cabins, therefore needs to carry out decoupling zero to the appearance control power of magnetic floating mechanism output and relative position control effort.Decoupling zero is by arranging eight degrees of freedom magnetic floating mechanism between two cabins, is realized rotating load cabin and two cabin relative positions move the decoupling zero of six controlling quantitys totally by eight degrees of freedom magnetic floating mechanism, and system is easy to realize, and redundancy, highly reliable.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is " two super " isolated configuration schematic diagram of satellite sound.
Fig. 2 is non-contact magnetically float means structural representation.
Fig. 3 is non-contact magnetically float means schematic layout pattern between two cabins.
Fig. 4 is " two super " satellite principal and subordinate Collaborative Control schematic diagram.
Fig. 5 is synovial membrane control policy schematic diagram.
Label 26 in figure represents tank, and label 23 represents windsurfing driver train
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some changes and improvements can also be made.These all belong to protection scope of the present invention.
The present invention proposes and realize solution based on the isolated superelevation pointing accuracy of sound of electromagnetic suspension technology, ultrastability satellite, realized the sound isolation in two cabins by non-contact magnetically float means, physically directly eliminate the micro-vibration of platform cabin full frequency band to the adverse effect in load cabin.Totally different with traditional design thinking, control system adopts " it is main that load cabin controls, platform cabin control for from " master & slave control thinking, and ingenious " backlash nonlinearity " of isolated area and the collaborative uneoupled control in two cabins of utilizing, realizes load pointing accuracy and reaches 5 × 10
-4degree, attitude stability reaches 5 × 10
-6the control effects of degree/second, fundamentally solves the bottleneck problem that load pointing accuracy and degree of stability are difficult to significantly promote.
As shown in Figure 1, two super satellite provided by the invention is primarily of load cabin and platform cabin composition, the quiet parts such as capacity weight 14, fiber optic gyro 11, star sensor 12, magnetic floating mechanism stator can be installed in load cabin, and the movable part such as solar array 24 and driver train, flywheel 22, thruster 21, tank 25, magnetic floating mechanism mover can be installed in platform cabin.
Sound isolation is realized by non-contact magnetically float means between load cabin and this two cabin, platform cabin.Non-contact magnetically float means structural representation as shown in Figure 2.Mainly comprise mover (coil 31, support 34) and stator (magnet steel 32, yoke 33).Coil 31 is connected to platform cabin 304 by support 34, and magnet steel 32 and load cabin 104 are connected, and without physical connection between support 34 and yoke 33, thus achieve the noncontact in two cabins.Because magnetic floating mechanism power output depends primarily on electric current, substantially irrelevant with fixed and moving sub-relative position, therefore platform cabin 304 vibration and interference can not transfer to load cabin 104, thus reach capacity weight 14 dynamic in get quiet, the effect of two cabin sound isolation, also naturally avoids the impact of platform cabin 304 thermal deformation simultaneously.As shown in Figure 3, the magnetic floating mechanism 103 of eight degrees of freedom and two cabin interfaces are parallel or vertical interval is successively arranged symmetrically with, line middle point vertical between the magnetic floating mechanism 103 be arranged symmetrically with, by two cabin barycenter lines, realizes load cabin gesture stability by eight degrees of freedom magnetic floating mechanism and two cabin relative positions control.
Organically combined by the mode such as information, Energy Transfer between two cabins.As shown in Figure 1, between two cabins, Signal transmissions is realized by radio communication device 42, and position sensing is realized by non-touch position sensor 41, by the energy resource supply of flexible cable 43 implementation platform cabin to load cabin.
" two super " satellite adopts based on load cabin, platform cabin is from " principal and subordinate works in coordination with " control policy in motion tracking load cabin, as shown in Figure 4, load cabin gesture stability, platform cabin gesture stability, two cabin relative positions control and platform cabin feed forward control four control loops are comprised altogether.
Gesture stability loop, load cabin 100 comprises command generator 201, load cabin attitude controller 101, the magnetic floating mechanism 103 of eight degrees of freedom, the module such as load cabin 104 and load attitude sensor 105.Load cabin utilizes the star sensor of existing bandwidth and fiber optic gyro to determine attitude angle and the attitude angular velocity of capacity weight, the information that gesture stability computing machine is determined according to attitude, control high precision, high bandwidth eight degrees of freedom magnetic floating mechanism produce corresponding control effort, make capacity weight reach " two super " and control.
The object of the driven control in platform cabin provides safeguard for load cabin and avoids two cabins to bump against, and mainly through platform cabin gesture stability, two cabin relative positions control and platform cabin feed forward control realizes.
Gesture stability loop, platform cabin 300 mainly comprises the modules such as command generator 201, relative Attitude Control for Spacecraft device 301, platform cabin actuating unit 303, platform cabin 304 and relative position sensor 305.Acquisition is resolved after the attitude information in platform cabin 304 measures known load cabin attitude by relative position sensor, platform cabin gesture stability computing machine obtains platform cabin attitude information according to resolving, control the actuating unit such as thruster, flywheel and regulate platform cabin attitude, make it follow the tracks of load cabin attitude.
Two cabin relative position control loops 200 comprise the modules such as command generator 201, relative position controller 202, eight degrees of freedom magnetic floating mechanism 103, load cabin 104, platform cabin 304 and relative position sensor 305, the feedback information that two cabin relative positions control is resolved by relative position sensor observed reading and obtains, and regulates the relative position in two cabins by eight degrees of freedom magnetic floating mechanism.
The effect of the distribution device 102 of power is: control the power effect that corresponding magnetic floating mechanism start realizes needing.
The effect of Torque distribution device 103 is: control corresponding magnetic floating mechanism start and realize corresponding moment effect.
Control accuracy due to load cabin no longer relies on platform cabin to ensure, therefore require looser to two cabin relative positions controls and platform cabin gesture stability, sliding formwork control thought can be utilized, effectively utilize " backlash nonlinearity " of isolated area, significantly reduce by two cabin relative positions and control the frequency, be beneficial to the super steady control of superfinishing in load cabin.As shown in Figure 5, sliding formwork control thought is utilized to consider following several situation:
2. coil is positioned at region, does not start two cabin relative positions and controls or platform cabin gesture stability;
1. coil is positioned at region, and coil 31 relative to magnet steel 32, starts two cabin relative positions and controls or platform cabin gesture stability under A, D mode of motion;
1. coil is positioned at region, and coil 31 relative to magnet steel 32, does not start two cabin relative positions and controls or platform cabin gesture stability under B, C mode of motion.
Wherein, 1. region refers to the control area of magnetic floating mechanism, and 2. region refers to the Fei Kong district of magnetic floating mechanism;
A, B, C, D mode of motion refers to respectively: in region, 1. A, D mode of motion is near controlling threshold value, and B, C mode of motion is away from control threshold value.
According to above control logic, the frequency of two cabin relative positions controls and platform cabin gesture stability can be reduced greatly, thus alleviate magnetic floating mechanism 103 pressure, make it be absorbed in the super steady control of load cabin 104 superfinishing.
Platform cabin feed forward control is the moment of reaction in order to better compensate magnetic floating mechanism, ensures that two cabin attitudes and two cabin relative positions change little as much as possible.Its control loop is contained in platform cabin gesture stability and two cabin relative position control loops.
The dynamic control of the high precision " master " in load cabin controls to be all realized by magnetic floating mechanism with the relative position in two cabins, therefore needs to carry out decoupling zero to the appearance control power of magnetic floating mechanism output and relative position control effort.Realize rotating load cabin by the eight degrees of freedom magnetic floating mechanism arranged between two cabins and the decoupling zero of two cabin relative positions motions totally six controlling quantitys, system is easy to realize, and redundancy, highly reliable.According to installation site and the layout of magnetic floating mechanism, can obtain magnetic floating mechanism power output decoupling zero equation as shown in the formula:
F in formula
x, F
y, F
zbeing respectively two cabin relative positions controls at the control effort of X, Y, Z tri-needed for axle, T
x, T
y, T
zfor load cabin gesture stability is at the control effort of X, Y, Z tri-needed for axle, F
a1~ F
a8for the power that magnetic floating mechanism A1 ~ A8 produces, as shown by arrows in FIG., wherein, the power that A1, A5 produce is along+y the direction in platform cabin, and the power that A2, A4, A6, A8 produce is along+z the direction in platform cabin, and the power that A3, A7 produce is along+x the direction in platform cabin in direction; In formula, L is the distance of load cabin barycenter to non-contact magnetically float means center of symmetry, and L1, L2 are respectively along the distance in x, y direction between magnetic floating mechanism.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or revise, and this does not affect flesh and blood of the present invention.
Claims (10)
1. sound isolation, principal and subordinate's Collaborative Control superelevation pointing accuracy, a ultrastability satellite, comprise platform cabin, load cabin, it is characterized in that, also comprise the non-contact magnetically float means be arranged between platform cabin and load cabin;
Non-contact magnetically float means comprises the mover and stator that match; Mover is installed on platform cabin, and stator is installed on load cabin;
Realize sound by mover and stator between load cabin and platform cabin to isolate.
2. sound isolation according to claim 1, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability satellite, it is characterized in that, described mover comprises coil, support, and described stator comprises magnet steel, yoke;
Wherein, coil is connected to platform cabin by support; Magnet steel and load cabin are connected; Without physical connection between support and yoke;
Be fixed on coil on support between magnet steel and yoke; Gap is left between magnet steel, yoke; Load cabin and magnet steel, yoke are connected.
3. sound isolation according to claim 1, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability satellite, it is characterized in that, 8 non-contact magnetically float means are furnished with between platform cabin and load cabin, wherein, between described 8 non-contact magnetically float means and two cabins, the parallel or vertical interval successively of interface is arranged symmetrically with, line between the non-contact magnetically float means be arranged symmetrically with is perpendicular to two cabin barycenter lines, and the line mid point between the non-contact magnetically float means be arranged symmetrically with is positioned on two cabin barycenter lines;
Described 8 non-contact magnetically float means form eight degrees of freedom magnetic floating mechanism;
Two cabins refer to platform cabin, load cabin.
4. sound isolation according to claim 1, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability satellite, it is characterized in that, described non-contact magnetically float means utilizes electromagnetic force or electrostatic force mode.
5. sound isolation according to claim 1, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability satellite, it is characterized in that, information transmission between platform cabin, load cabin and position sensing adopt wireless mode to realize, and wireless mode comprises undesirable mutual electromagnetic inductance or opto-electronic conversion; Energy Transfer employing between platform cabin, load cabin is wireless or flexible cable mode realizes.
6. sound isolation according to claim 1, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability satellite, it is characterized in that, adopt principal and subordinate's Collaborative Control between load cabin and platform cabin, wherein, described principal and subordinate's Collaborative Control, refers to:
Load cabin realizes gesture stability by attitude sensor and contactless magnetic floating mechanism, flywheel, thruster servo tracking load cabin attitude that platform cabin is installed with self according to relative position sensory information, and avoids bumping against with load cabin.
7. sound isolation according to claim 6, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability satellite, it is characterized in that, described principal and subordinate's Collaborative Control comprises load cabin attitude ACTIVE CONTROL, the driven control in platform cabin, wherein, the driven control in platform cabin comprises two cabin relative position controls, platform cabin gesture stability, platform cabin feed forward control three control loops; Two cabins refer to load cabin and platform cabin;
Described load cabin ACTIVE CONTROL, be specially: pointed to by sensor determination capacity weight, based on load cabin attitude comformed information, posture control unit produces action command, drive non-contact magnetically float means to produce control effort, make capacity weight reach pointing accuracy and the degree of stability control of expectation; Described sensor comprises star sensor, fiber optic gyro;
Described two cabin relative positions control, and are specially: the position feedback information that described two cabin relative positions control is resolved by relative position sensor metrical information and obtains, and actr is non-contact magnetically float means;
Described platform cabin gesture stability, be specially: the gesture feedback information of described platform cabin gesture stability is resolved by relative position sensor metrical information and obtained, based on platform cabin attitude comformed information, posture control unit produces action command, drive flywheel, thruster to produce control torque, make attitude servo tracking load cabin, platform cabin attitude.
8. sound isolation according to claim 7, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability satellite, is characterized in that, the control for platform cabin:
When the coil of non-contact magnetically float means within setting regions or outside setting regions but coil moves to balance position direction time, do not start two cabin relative positions and control;
When the coil of non-contact magnetically float means is outside setting regions and when moving outside balance position, start two cabin relative positions and control;
Described setting regions, refers to: a threshold range in the gap between magnet steel, yoke, artificially sets according to control situation.
9. sound isolation according to claim 7, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability satellite, it is characterized in that, described platform cabin feed forward control, for compensating the moment of reaction of non-contact magnetically float means, ensure that two cabin attitudes and two cabin relative positions change little as much as possible, for superfinishing super steady control in load cabin provides safeguard.
10. sound isolation according to claim 3, principal and subordinate's Collaborative Control superelevation pointing accuracy, ultrastability satellite, it is characterized in that, it is by arranging eight degrees of freedom magnetic floating mechanism between two cabins that the appearance control power that non-contact magnetically float means exports and relative position control effort carry out decoupling zero, realized rotating load cabin by eight degrees of freedom magnetic floating mechanism and two cabin relative positions move the decoupling zero of six controlling quantitys totally, two cabins refer to load cabin and platform cabin.
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2015
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