CN105059568B - Decoupling control method of eight-rod six-degree-of-freedom satellite platform for ultra-precise ultra-stable satellites - Google Patents
Decoupling control method of eight-rod six-degree-of-freedom satellite platform for ultra-precise ultra-stable satellites Download PDFInfo
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- CN105059568B CN105059568B CN201510466133.2A CN201510466133A CN105059568B CN 105059568 B CN105059568 B CN 105059568B CN 201510466133 A CN201510466133 A CN 201510466133A CN 105059568 B CN105059568 B CN 105059568B
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Abstract
The invention discloses a decoupling control method of an eight-rod six-degree-of-freedom satellite platform for ultra-precise ultra-stable satellites. The eight-rod six-degree-of-freedom satellite platform for ultra-precise ultra-stable satellites comprises a load cabin, a platform cabin and a suspension device, wherein the suspension device is arranged between the load cabin and the platform cabin; the load cabin and the platform cabin are in non-contact arrangement through the suspension device. Besides, the invention further discloses a decoupling control method of the eight-rod six-degree-of-freedom satellite platform for ultra-precise ultra-stable satellites. The eight-rod six-degree-of-freedom satellite platform disclosed by the invention is simple to mount; only eight magnetic-suspension mechanisms need to be symmetrically mounted, so that the operation is simple and easy; the decoupling can be measured and controlled by reasonably allocating the number and the layout of the magnetic-suspension mechanisms and judging whether the distribution force is dynamically output or not in a real-time manner, and judging the size and the direction of the distribution force; the decoupling control method can be completely realized through algorithms; the redundant design of the eight magnetic-suspension mechanisms is high in reliability.
Description
Technical field
The present invention relates to satellite platform small movements control technology field, in particular it relates to a kind of double bars six of super satellite eight
Degree of freedom satellite platform and its decoupling control method
Background technology
According to the method for designing that traditional load and satellite platform are connected, load is pointed to degree of stability by satellite platform control
System realizes, but because satellite platform high frequency micro vibration is inevitable, and control system product bandwidth, precision etc. are limited in one's ability,
So that the technical bottleneck of micro-vibration " hardly possible is surveyed, hardly possible is controlled " is difficult to break through.For the double super satellite (" superfinishing is super steady " of this problem design
Satellite) realize that the sound in two cabins is isolated by non-contact magnetically float means, platform cabin high frequency micro vibration is physically directly eliminated to carrying
The adverse effect in lotus cabin.
The high accuracy active control of load cabin with the relative position control in two cabins is realized by magnetic floating mechanism, if
Attitude control power and relative position controling power influence each other and couple, and cannot just realize the super steady control of superfinishing of load cabin.Therefore it is necessary
Accomplish to make the active control torque of load cabin full decoupled with the relative position controling power in two cabins.Traditional method typically adopts six bars
Model, the uniform layout in the form of equilateral triangle, two magnetic floating mechanisms angle angle mount in 90 ° of same position, the model measurement,
Control decoupling and mechanism install all very complicated, irredundant, and poor reliability.
The content of the invention
For the above-mentioned problems in the prior art, the present invention proposes a kind of double super satellite eight for being symmetrically installed layout
Bar six degree of freedom satellite platform and its decoupling control method, the satellite platform and control method pass through reasonable disposition magnetic floating mechanism number
Amount and layout, and the output of Real-time and Dynamic distribution power whether there is, size and Orientation to be realizing six degree of freedom uneoupled control, the method
Can be realized by algorithm completely.
For achieving the above object, the present invention is achieved by the following technical solutions.
According to an aspect of the invention, there is provided a kind of double bar six degree of freedom satellite platforms of super satellite eight, including load
Cabin, platform cabin and levitation device, the levitation device is arranged between load cabin and platform cabin, and the load cabin is led to platform cabin
Cross levitation device noncontact setting.
Preferably, the levitation device includes multiple magnetic floating mechanisms, and each of which magnetic floating mechanism includes：Coil 31,
Magnet steel 32, yoke 33 and support 34, wherein, the coil 31 is connected to platform cabin, the magnet steel 32 and load by support 34
Lotus cabin is connected, not physically connected between the support 34 and yoke 33, it is achieved thereby that non-between load cabin and platform cabin connects
Touch and arrange.Arranged by noncontact, the vibration and interference in platform cabin 2 will not be transmitted to load cabin 1, reach the disorder of internal organs of payload 14
Take quiet, the effect that load cabin is isolated with platform cabin sound.
Preferably, the distance of the coil 31 to the radial direction of magnet steel 32 is equal everywhere, forms the equilbrium position of coil 31.
Preferably, the magnetic floating mechanism also includes relative position sensor 35, the relative position sensor and the floating machine of magnetic
Structure integrated design, relative position sensor (current vortex sensor) measures respectively the displacement of magnetic floating mechanism.
Preferably, the relative position sensor and magnetic floating mechanism are 8.
Preferably, the magnetic floating mechanism is eight, respectively magnetic floating mechanism A1, A2, A3, A4, B1, B2, B3, B4, eight
Magnetic floating mechanism A1, A2, A3, A4, B1, B2, B3, B4 symmetric configuration on platform cabin, wherein, magnetic floating mechanism A1, A2, A3, A4 positions
In four corner locations in platform cabin, and direction is along Z-direction；Magnetic floating mechanism B1, B2, B3, B4 are located at four sides of satellite platform
Point midway, wherein, along Y direction, magnetic floating mechanism B2, B4 directions are along X-direction in magnetic floating mechanism B1, B3 directions.
According to another aspect of the present invention, there is provided a kind of solution of above-mentioned double bar six degree of freedom satellite platforms of super satellite eight
Coupling control method, comprises the steps：
A () sets up load cabin attitude dynamic equations：
Wherein, FiFor the attitude control power that magnetic floating mechanism is produced, Td1For extraneous long periodic noise, can be by the work of magnetic floating mechanism
With elimination；IpFor the inertia matrix of load cabin,For load cabin angular acceleration, ωpFor load cabin angular velocity, liIt is floating for each magnetic
The arm of force of mechanism；
B () sets up platform cabin attitude dynamic equations：
In formula, IsFor platform cabin inertia matrix, ω is platform cabin angular velocity, Caf1Vibrate to defending for +Y direction solar array
The coefficient of coup battle array that star centrosome is rotated, Caf2The coefficient of coup battle array rotated to satellite hub body is vibrated for -Y direction solar array,
qf1For +Y direction solar array modal coordinate, qf2For -Y direction solar array modal coordinate, TcFor flywheel control moment, Td2For
Windsurfing rotates disturbance torque, ΛfFor solar array model frequency diagonal matrix, ζfFor solar array modal damping coefficient；It is flat
Platform cabin angular acceleration,For the second dervative of +Y direction solar array modal coordinate,For -Y direction solar array mode seat
Target second dervative,For the first derivative of +Y direction solar array modal coordinate,For -Y direction solar array mode seat
Target first derivative, l ' is the arm of force of each magnetic floating mechanism,Satellite hub body is rotated for the vibration of +Y direction solar array
Coefficient of coup battle array transposition,Turning for the coefficient of coup battle array rotated to satellite hub body is vibrated for -Y direction solar array
Put；
C () sets up load cabin position control equation：
In formula, MpFor load cabin quality, αpFor load cabin acceleration；
(d) load cabin in the x-direction translation when, magnetic floating mechanism B2, B4 produce relative position controling power be respectively Δ Fx；Edge
During y direction translationals, the relative position controling power that magnetic floating mechanism B1, B3 are produced is respectively Δ Fy；In the z-direction during translation, magnetic floats machine
The relative position controling power that structure A1, A2, A3, A4 are produced is respectively Δ Fz；In the same manner, magnetic floating mechanism A1, A2, A3, A4, B1, B2,
B3, B4 make the attitude control power that load is produced when rotating be respectively FA1, FA2, FA3, FA4, FB1, FB2, FB3, FB4；
Translation controling power F in the x-directionsxFor：
Fsx=FB2+ΔFx+FB4+ΔFx=FB2+FB4+2ΔFx；
At this point for translation controling power FsxConstraints be：By magnetic floating mechanism A1, A2, A3, A4 one is produced around y-axis
Torque, offsets by Δ FxThe torque of generation；
Translation controling power F in the y-directionsyFor：
Fsy=FB1+ΔFy+FB3+ΔFy=FB1+FB3+2ΔFy；
Now to translation controling power FsyConstraints be：One power around x-axis is produced by magnetic floating mechanism A1, A2, A3, A4
Square, offsets by Δ FyThe torque of generation；
Translation controling power F in the z-directionszFor：
Fsz=FA1+ΔFz+FA2+ΔFz+FA3+ΔFz+FA4+ΔFz=FA1+FA2+FA3+FA4+4ΔFz；
By making FB2=-FB4, FB1=-FB3, FA1+FA2+FA3+FA4=0, it is ensured that translation of the attitude control power to load cabin does not have
Any impact；
Around rotation controling power T in x directionsrxFor：
In formula, l1For the length of magnetic floating mechanism mounting surface；
Around rotation controling power T in y directionsryFor：
In formula, l3For the width of magnetic floating mechanism mounting surface；
Around rotation controling power T in z directionsrzFor：
By making FB2=-FB4, FB1=-FB3, FA1+FA2+FA3+FA4=0, make the attitude and load cabin and platform of load cabin
Cabin relative position controling power is full decoupled；Now the kinetics equation of load cabin is：
In formula：Ipx、Ipy、IpzRespectively load cabin around x, y, z axle rotary inertia,Respectively carry
Lotus cabin around x, y, z axle angular acceleration, ωpx、ωpy、ωpzRespectively load cabin around x, y, z axle angular velocity, L1、L3、L2Respectively
For the length and width of magnetic floating mechanism mounting surface, the distance of upper and lower mounting surface, Fx、Fy、FzRespectively single magnetic floating mechanism is in x, y, z direction
Active force,Respectively acceleration of the load cabin along x, y, z axle.
The present invention provide the bar six degree of freedom satellite platform of double super satellite eight and its decoupling control method, load cabin attitude by
Attitude control power is adjusted, and load cabin is put with platform freight space and adjusted by relative position controling power, by following principle：That is load cabin attitude
Controling power is equal in magnitude, in opposite direction, does not produce load cabin and platform cabin relative position controling power；Load cabin and platform cabin are relative
Position control power is equal in magnitude, and direction is identical, does not produce the gesture stability torque to load cabin, it is thereby achieved that load cabin appearance
State and load cabin and platform cabin relative position controling power it is full decoupled, that is, realize load cabin attitude with load cabin peace
The uneoupled control of platform cabin relative position, will not produce impact to load cabin " superfinishing is super steady " control；Meanwhile, eight degrees of freedom magnetic floats machine
Construction system is easily realized, redundancy, highly reliable.
Compared with prior art, the present invention has the advantages that：
1) install simple, eight magnetic floating mechanisms are symmetrically installed；
2) it is simple, have by the output of reasonable disposition magnetic floating mechanism quantity and layout, and Real-time and Dynamic distribution power
Nothing, size and Orientation achieve that measurement, control decoupling；
3) decoupling control method can be realized completely by algorithm；
4) Redundancy Design of eight magnetic floating mechanisms, highly reliable.
Description of the drawings
The detailed description by reading non-limiting example made with reference to the following drawings, the further feature of the present invention,
Objects and advantages will become more apparent upon：
Fig. 1 is sound isolation, the double super satellite platform composition schematic diagrams of principal and subordinate's Collaborative Control；
Fig. 2 is platform magnetic floating mechanism schematic layout pattern of the present invention；
Fig. 3 is magnetic floating mechanism element schematic.
Specific embodiment
Embodiments of the invention are elaborated below：The present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process.It should be pointed out that to one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the guarantor of the present invention
Shield scope.
Embodiment
Present embodiments provide a kind of double bar six degree of freedom satellite platform of super satellite eight, including load cabin, platform cabin and outstanding
Floating device, the levitation device is arranged between load cabin and platform cabin, and the load cabin is non-by levitation device with platform cabin
Contact is arranged.
Further, the levitation device includes multiple magnetic floating mechanisms, and each of which magnetic floating mechanism includes：Coil
31st, magnet steel 32, yoke 33 and support 34, wherein, the coil 31 is connected to platform cabin, the magnet steel 32 by support 34
It is connected with load cabin, it is not physically connected between the support 34 and yoke 33, it is achieved thereby that between load cabin and platform cabin
Noncontact is arranged.Arranged by noncontact, the vibration and interference in platform cabin 2 will not be transmitted to load cabin 1, reach payload 14
Disorder of internal organs takes quiet, the effect that load cabin is isolated with platform cabin sound.
Further, the distance of the coil 31 to the radial direction of magnet steel 32 is equal everywhere, forms the equilbrium position of coil 31.
Further, the magnetic floating mechanism also includes relative position sensor 35, and the relative position sensor is floated with magnetic
Mechanism is 8, and integrated design, and 8 relative position sensors (current vortex sensor) measure respectively 8 magnetic floating mechanisms
Displacement.
Further, the magnetic floating mechanism is eight, respectively magnetic floating mechanism A1, A2, A3, A4, B1, B2, B3, B4, eight
Individual magnetic floating mechanism A1, A2, A3, A4, B1, B2, B3, B4 symmetric configuration on platform cabin, wherein, magnetic floating mechanism A1, A2, A3, A4
Positioned at four corner locations in platform cabin, and direction is along Z-direction；Magnetic floating mechanism B1, B2, B3, B4 are located at the four of satellite platform
Side point midway, wherein, along Y direction, magnetic floating mechanism B2, B4 directions are along X-direction in magnetic floating mechanism B1, B3 directions.
The bar six degree of freedom satellite platform of double super satellite eight that the present embodiment is provided, its decoupling control method, including following step
Suddenly：
A () sets up load cabin attitude dynamic equations：
Wherein, FiFor the attitude control power that magnetic floating mechanism is produced, Td1For extraneous long periodic noise, can be by the work of magnetic floating mechanism
With elimination；IpFor the inertia matrix of load cabin,For load cabin angular acceleration, ωpFor load cabin angular velocity, liIt is floating for each magnetic
The arm of force of mechanism；
B () sets up platform cabin attitude dynamic equations：
In formula, IsFor platform cabin inertia matrix, ω is platform cabin angular velocity, Caf1Vibrate to defending for +Y direction solar array
The coefficient of coup battle array that star centrosome is rotated, Caf2The coefficient of coup battle array rotated to satellite hub body is vibrated for -Y direction solar array,
qf1For +Y direction solar array modal coordinate, qf2For -Y direction solar array modal coordinate, TcFor flywheel control moment, Td2For
Windsurfing rotates disturbance torque, ΛfFor solar array model frequency diagonal matrix, ζfFor solar array modal damping coefficient；For platform
Cabin angular acceleration,For the second dervative of +Y direction solar array modal coordinate,For -Y direction solar array modal coordinate
Second dervative,For the first derivative of +Y direction solar array modal coordinate,For -Y direction solar array modal coordinate
First derivative, l ' for each magnetic floating mechanism the arm of force,Vibrate what satellite hub body was rotated for +Y direction solar array
The transposition of coefficient of coup battle array,For the transposition that -Y direction solar array vibrates the coefficient of coup battle array rotated to satellite hub body；
C () sets up load cabin position control equation：
In formula, MpFor load cabin quality, αpFor load cabin acceleration；
(d) load cabin in the x-direction translation when, magnetic floating mechanism B2, B4 produce relative position controling power be respectively Δ Fx；Edge
During y direction translationals, the relative position controling power that magnetic floating mechanism B1, B3 are produced is respectively Δ Fy；In the z-direction during translation, magnetic floats machine
The relative position controling power that structure A1, A2, A3, A4 are produced is respectively Δ Fz；In the same manner, magnetic floating mechanism A1, A2, A3, A4, B1, B2,
B3, B4 make the attitude control power that load is produced when rotating be respectively FA1, FA2, FA3, FA4, FB1, FB2, FB3, FB4；
Translation controling power F in the x-directionsxFor：
Fsx=FB2+ΔFx+FB4+ΔFx=FB2+FB4+2ΔFx；
At this point for translation controling power FsxConstraints be：By magnetic floating mechanism A1, A2, A3, A4 one is produced around y-axis
Torque, offsets by Δ FxThe torque of generation；
Translation controling power F in the y-directionsyFor：
Fsy=FB1+ΔFy+FB3+ΔFy=FB1+FB3+2ΔFy；
Now to translation controling power FsyConstraints be：One power around x-axis is produced by magnetic floating mechanism A1, A2, A3, A4
Square, offsets by Δ FyThe torque of generation；
Translation controling power F in the z-directionszFor：
Fsz=FA1+ΔFz+FA2+ΔFz+FA3+ΔFz+FA4+ΔFz=FA1+FA2+FA3+FA4+4ΔFz；
By making FB2=-FB4, FB1=-FB3, FA1+FA2+FA3+FA4=0, it is ensured that translation of the attitude control power to load cabin does not have
Any impact；
Around rotation controling power T in x directionsrxFor：
In formula, l1For the length of magnetic floating mechanism mounting surface；
Around rotation controling power T in y directionsryFor：
In formula, l3For the width of magnetic floating mechanism mounting surface；
Around rotation controling power T in z directionsrzFor：
By making FB2=-FB4, FB1=-FB3, FA1+FA2+FA3+FA4=0, make the attitude and load cabin and platform of load cabin
Cabin relative position controling power is full decoupled；Now the kinetics equation of load cabin is：
In formula：Ipx、Ipy、IpzRespectively load cabin around x, y, z axle rotary inertia,Respectively carry
Lotus cabin around x, y, z axle angular acceleration, ωpx、ωpy、ωpzRespectively load cabin around x, y, z axle angular velocity, L1、L3、L2Respectively
For the length and width of magnetic floating mechanism mounting surface, the distance of upper and lower mounting surface, Fx、Fy、FzRespectively single magnetic floating mechanism is in x, y, z direction
Active force,Respectively acceleration of the load cabin along x, y, z axle.
The present embodiment is further described below in conjunction with the accompanying drawings.
As shown in figure 1, the bar six degree of freedom satellite platform of double super satellite eight and its decoupling control method of the present embodiment offer,
Mainly for sound isolation, the double super satellite platforms of principal and subordinate's Collaborative Control.The platform is by load cabin 1, platform cabin 2 and non-contacting magnetic
Float means 3 are constituted.Load cabin 1 includes but is not limited to payload 14, attitude sensor such as star sensor 12, optical fibre gyro 11 etc.
Quiet part.Platform cabin 2 is made up of general satellite modules, and including but not limited to windsurfing drive mechanism 23, momenttum wheel 22 etc. are each
Plant flexible appendage and the relative Attitude Control for Spacecraft units 25 such as movable part, solar battery array 24.Magnetic floating mechanism 3 mainly includes coil
31st, magnet steel 32, yoke 33, support 34 and relative position sensor 35 etc., the equilbrium position for defining coil 31 is that coil 31 arrives magnetic
The distance of the radial direction of steel 32 is equal everywhere.Coil 31 is connected to platform cabin 2 by support 34, and magnet steel 32 is connected with load cabin 1, support
Not physically connected between 34 and yoke 33, it is achieved thereby that the noncontact in two cabins, platform cabin 2 vibrates and disturbs will not transmit to load
Lotus cabin 1, reaches the disorder of internal organs of payload 14 and takes quiet, the effect of two cabin sound isolation.
As shown in Fig. 2 eight magnetic floating mechanisms A1, A2, A3, A4, B1, B2, B3, B4 are arranged symmetrically.By this eight degrees of freedom magnetic
Float means complete the motion of load cabin six-freedom degree, and the direction of its power is assumed as shown by the arrows in Figure 2.
The power and torque of eight magnetic floating mechanism generations is respectively：
Each power
| Magnetic floating mechanism | X-direction | Y directions | Z directions |
| A1 | 0 | 0 | FA1 |
| A2 | 0 | 0 | FA2 |
| A3 | 0 | 0 | FA3 |
| A4 | 0 | 0 | FA4 |
| B1 | 0 | FB1 | 0 |
| B2 | FB2 | 0 | 0 |
| B3 | 0 | FB3 | 0 |
| B4 | FB4 | 0 | 0 |
Each moment
| Magnetic floating mechanism | X-direction | Y directions | Z directions |
| A1 | FA1L1/2 | -FA1L3/2 | 0 |
| A2 | FA2L1/2 | FA2L3/2 | 0 |
| A3 | -FA3L1/2 | FA3L3/2 | 0 |
| A4 | -FA4L1/2 | -FA4L3/2 | 0 |
| B1 | FB1L | 0 | FB1L3/2 |
| B2 | 0 | -FB2L | -FB2L1/2 |
| B3 | FB3L | 0 | -FB3L3/2 |
| B4 | 0 | -FB4L | FB4L1/2 |
In formula, L is load cabin barycenter to magnetic floating mechanism symmetrical centre OADistance.
Being write as matrix form is：
Can be by [F according to above formulax Fy Fz Tx Ty Tz]TSituation it is unique, determine calculate each magnetic floating mechanism
Controling power [FA1 FA2 FA3 FA4 FB1 FB2 FB3 FB4]T, there is no singularity.Realize load cabin attitude and two cabin phases in system
Full decoupled control to position, load cabin attitude is adjusted by attitude control power, and two cabin relative positions are adjusted by relative position controling power.
And the decoupling of satellite platform controling power is easy, control is simple.
As for redundant reliability energy, as can be seen from Figure 3：
The load cabin is set to be along the magnetic floating mechanism that three coordinate axess move along a straight line：
Translation in the x-direction：B2、B4、A1、A2、A3、A4
Translation in the y-direction：B1、B3、A1、A2、A3、A4
Translation in the z-direction：A1、A2、A3、A4
The load cabin is set to be around the magnetic floating mechanism of three coordinate axess rotary motions：
Around the rotation in x directions：A1、A2、A3、A4
Around the rotation in y directions：A1、A2、A3、A4
Around the rotation in z directions：B1、B2、B3、B4
The situation of a magnetic floating mechanism failure and any two magnetic floating mechanism failure is considered individually below：(wherein "×" table
Show failure, " √ " represents normal)
| A1 | A2 | A3 | A4 | B1 | B2 | B3 | B4 | Fx | Fy | Fz | Tx | Ty | Tz |
| √ | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ |
| × | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | × | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | × | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | √ | × | √ | √ | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | √ | √ | × | √ | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | √ | √ | √ | × | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | √ | √ | √ | √ | × | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | √ | √ | √ | √ | √ | × | √ | √ | √ | √ | √ | √ |
| × | × | √ | √ | √ | √ | √ | √ | √ | × | × | × | √ | √ |
| × | √ | × | √ | √ | √ | √ | √ | × | × | √ | × | × | √ |
| × | √ | √ | × | √ | √ | √ | √ | × | √ | × | √ | × | √ |
| × | √ | √ | √ | × | √ | √ | √ | √ | √ | √ | √ | √ | √ |
| × | √ | √ | √ | √ | × | √ | √ | √ | √ | √ | √ | √ | √ |
| × | √ | √ | √ | √ | √ | × | √ | √ | √ | √ | √ | √ | √ |
| × | √ | √ | √ | √ | √ | √ | × | √ | √ | √ | √ | √ | √ |
| √ | × | × | √ | √ | √ | √ | √ | × | √ | × | √ | × | √ |
| √ | × | √ | × | √ | √ | √ | √ | × | × | √ | × | × | √ |
| √ | × | √ | √ | × | √ | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | × | √ | √ | √ | × | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | × | √ | √ | √ | √ | × | √ | √ | √ | √ | √ | √ | √ |
| √ | × | √ | √ | √ | √ | √ | × | √ | √ | √ | √ | √ | √ |
| √ | √ | × | × | √ | √ | √ | √ | √ | × | × | × | √ | √ |
| √ | √ | × | √ | × | √ | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | × | √ | √ | × | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | × | √ | √ | √ | × | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | × | √ | √ | √ | √ | × | √ | √ | √ | √ | √ | √ |
| √ | √ | √ | × | × | √ | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | √ | × | √ | × | √ | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | √ | × | √ | √ | × | √ | √ | √ | √ | √ | √ | √ |
| √ | √ | √ | × | √ | √ | √ | × | √ | √ | √ | √ | √ | √ |
| √ | √ | √ | √ | × | × | √ | √ | × | × | √ | √ | √ | × |
| √ | √ | √ | √ | × | √ | × | √ | √ | × | √ | √ | √ | √ |
| √ | √ | √ | √ | × | √ | √ | × | × | × | √ | √ | √ | × |
| √ | √ | √ | √ | √ | × | × | √ | × | × | √ | √ | √ | × |
| √ | √ | √ | √ | √ | × | √ | × | × | √ | √ | √ | √ | √ |
| √ | √ | √ | √ | √ | √ | × | × | × | × | √ | √ | √ | × |
Upper table illustrated when an only magnetic floating mechanism failure, has no effect on the motion of load cabin six-freedom degree, two
Magnetic floating mechanism failure has 28 kinds of modes, wherein 16 kinds of modes do not affect the motion of load cabin six-freedom degree, it can be seen that eight
Bar magnetic floating mechanism configuration realizes the redundancy backup of magnetic floating mechanism, substantially increases reliability.
The present embodiment has the advantages that：
The decoupling control method of the bar six degree of freedom satellite platform of double super satellites eight, be suitable for and be not limited to superfinishing it is super it is steady want
The isolated double super satellite platforms of sound asked, by reasonable disposition magnetic floating mechanism quantity and layout, and Real-time and Dynamic power is distributed
Output whether there is, size and Orientation to be realizing six degree of freedom uneoupled control, it is characterised in that：Load cabin attitude is adjusted by attitude control power
Section, two freight spaces are put and are adjusted by relative position controling power, and load cabin gesture stability power is equal in magnitude, in opposite direction, does not produce two cabins
Relative position controling power；Two cabin relative position controling powers are equal in magnitude, and direction is identical, do not produce the gesture stability power to load cabin
Square.
Eight magnetic floating mechanism symmetric configurations, A1, A2, A3, A4 are located at four corner locations, and direction is along Z-direction；B1、B2、
B3, B4 are located at four side point midways, and wherein, along Y direction, B2, B4 are along X-direction for B1, B3.
The present embodiment installs simple, and eight magnetic floating mechanisms are symmetrically installed；It is simple, by the floating machine of reasonable disposition magnetic
Structure quantity and layout, and the output of Real-time and Dynamic distribution power whether there is, size and Orientation achieves that measurement, control decoupling.
The present embodiment easily can exactly write out load cabin along x, y, z direction translational and around x, and y, z direction rotates
Power prosecutor journey.
The decoupling control method of the present embodiment can be realized completely by algorithm, even if load cabin gesture stability power size phase
Deng in opposite direction；Two cabin relative position controling powers are equal in magnitude, and direction is identical.
The attitude control power and relative position controling power of the present embodiment will not influence each other, and interfere.
By [Fx Fy Fz Tx Ty Tz]TSituation, can uniquely, the controling power for calculating each magnetic floating mechanism that determines
[FA1 FA2 FA3 FA4 FB1 FB2 FB3 FB4]T, there is no singularity.
During an only magnetic floating mechanism failure, whether which in eight, does not affect load cabin six-freedom degree
Motion.
Two magnetic floating mechanism failures have 28 kinds of modes, wherein 16 kinds of modes do not affect the fortune of load cabin six-freedom degree
Dynamic, i.e., eight bar magnetic floating mechanism configurations realize the redundancy backup of magnetic floating mechanism, substantially increase reliability.
Levitation device is constituted by necessarily regularly arranged by one or more groups of magnetic floating mechanisms, every group of magnetic floating mechanism main body is by gap
The mast of cooperation and sleeve are constituted, and the mast of every group of magnetic floating mechanism is affixed on a flanged plate, and sleeve is affixed to another method
On blue plate.
Levitation device is located between load cabin and platform cabin, and thereon flanged plate and load cabin are connected, lower flange plate and platform
Cabin is connected.
Levitation device is provided with up and down several pin-cellular type guide and limit structures to mechanical engagement between flanged plate, be used for
Limit load cabin and the relative position relation in platform cabin.
Magnetic floating mechanism is utilized but is not limited to electromagnetic force or electrostatic force mode, and mast and set are adjusted by control electric current change
Gap between cylinder, prevents both from colliding.
Magnetic floating mechanism is also integrated with position sensor in addition to the mast and sleeve that cooperate, in real time measurement mast and set
Relative position relation between cylinder.
The present embodiment by reasonable disposition magnetic floating mechanism quantity and layout, and the output of Real-time and Dynamic distribution power whether there is,
Size and Orientation is realizing six degree of freedom uneoupled control, and the method can be realized completely by algorithm.Load cabin attitude is by attitude control
Power is adjusted, and two freight spaces are put and adjusted by relative position controling power, and load cabin gesture stability power is equal in magnitude, in opposite direction, does not produce
Two cabin relative position controling powers；Two cabin relative position controling powers are equal in magnitude, and direction is identical, do not produce the attitude control to load cabin
Torque processed, reasonably configures magnetic floating mechanism and its produces the size of power, the relative position control between load cabin attitude and two cabins
Power is decoupling, will not produce impact to load cabin " superfinishing is super steady " control.Meanwhile, eight degrees of freedom magnetic floating mechanism system is easily real
It is existing, redundancy, highly reliable.The invention can apply to following high score remote sensing, in high precision formation, High-performance lasers communication are attacked with space
Anti- grade has in the satellite platform control of high pointing accuracy, the requirement of degree of stability to load.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can within the scope of the claims make various modifications or modification, this not shadow
Ring the flesh and blood of the present invention.
Claims (4)
1. a kind of decoupling control method of double bar six degree of freedom satellite platform of super satellite eight, it is characterised in that comprise the steps：
A () sets up load cabin attitude dynamic equations：
Wherein, FiFor the attitude control power that magnetic floating mechanism is produced, Td1For extraneous long periodic noise, can be disappeared by the effect of magnetic floating mechanism
Remove；IpFor the inertia matrix of load cabin,For load cabin angular acceleration, ωpFor load cabin angular velocity, liFor each magnetic floating mechanism
The arm of force；
B () sets up platform cabin attitude dynamic equations：
In formula, IsFor platform cabin inertia matrix, ω is platform cabin angular velocity, Caf1Vibrate to satellite hub for +Y direction solar array
The coefficient of coup battle array that body is rotated, Caf2The coefficient of coup battle array rotated to satellite hub body, q are vibrated for -Y direction solar arrayf1For+Y
Direction solar array modal coordinate, qf2For -Y direction solar array modal coordinate, TcFor flywheel control moment, Td2For windsurfing rotation
Disturbance torque, ΛfFor solar array model frequency diagonal matrix, ζfFor solar array modal damping coefficient；For the acceleration of platform cabin angle
Degree,For the second dervative of +Y direction solar array modal coordinate,Second order for -Y direction solar array modal coordinate is led
Number,For the first derivative of +Y direction solar array modal coordinate,Single order for -Y direction solar array modal coordinate is led
Number, l 'iFor the arm of force of each magnetic floating mechanism,The coefficient of coup rotated to satellite hub body is vibrated for +Y direction solar array
The transposition of battle array,For the transposition that -Y direction solar array vibrates the coefficient of coup battle array rotated to satellite hub body；
C () sets up load cabin position control equation：
In formula, MpFor load cabin quality, apFor load cabin acceleration；
(d) load cabin in the x-direction translation when, magnetic floating mechanism B2, B4 produce relative position controling power be respectively Δ Fx；Along Y side
When translation, the relative position controling power that magnetic floating mechanism B1, B3 are produced is respectively Δ Fy；In the z-direction during translation, magnetic floating mechanism
The relative position controling power that A1, A2, A3, A4 are produced is respectively Δ Fz；In the same manner, magnetic floating mechanism A1, A2, A3, A4, B1, B2, B3,
B4 makes the attitude control power that load cabin is produced when rotating be respectively FA1, FA2, FA3, FA4, FB1, FB2, FB3, FB4；
Translation controling power F in the x-directionsxFor：
Fsx=FB2+ΔFx+FB4+ΔFx=FB2+FB4+2ΔFx；
At this point for translation controling power FsxConstraints be：One power around y-axis is produced by magnetic floating mechanism A1, A2, A3, A4
Square, offsets by Δ FxThe torque of generation；
Along translation controling power F of Y-directionsyFor：
Fsy=FB1+ΔFy+FB3+ΔFy=FB1+FB3+2ΔFy；
Now to translation controling power FsyConstraints be：One torque around x-axis is produced by magnetic floating mechanism A1, A2, A3, A4,
Offset by Δ FyThe torque of generation；
Translation controling power F in the z-directionszFor：
Fsz=FA1+ΔFz+FA2+ΔFz+FA3+ΔFz+FA4+ΔFz=FA1+FA2+FA3+FA4+4ΔFz；
By making FB2=-FB4, FB1=-FB3, FA1+FA2+FA3+FA4=0, it is ensured that translation of the attitude control power to load cabin does not have any shadow
Ring；
Around rotation controling power T in x directionsrxFor：
In formula, l1For the length of magnetic floating mechanism mounting surface；
Around rotation controling power T in y directionsryFor：
In formula, l3For the width of magnetic floating mechanism mounting surface；
Around rotation controling power T in z directionsrzFor：
By making FB2=-FB4, FB1=-FB3, FA1+FA2+FA3+FA4=0, make the attitude of load cabin relative with load cabin and platform cabin
Position control power is full decoupled；Now the kinetics equation of load cabin is：
In formula：Ipx、Ipy、IpzRespectively load cabin around x, y, z axle rotary inertia,Respectively load cabin around
The angular acceleration of x, y, z axle, ωpx、ωpy、ωpzRespectively load cabin around x, y, z axle angular velocity, l1、l3、l2Respectively magnetic is floated
The distance of the length and width of mechanism mounting surfaces, upper and lower mounting surface, Fx、Fy、FzEffect of the respectively single magnetic floating mechanism in x, y, z direction
Power,Respectively acceleration of the load cabin along x, y, z axle；
Double bar six degree of freedom satellite platforms of super satellite eight, including load cabin, platform cabin and levitation device, the levitation device
It is arranged between load cabin and platform cabin, the load cabin is arranged with platform cabin by levitation device noncontact；
The levitation device includes eight magnetic floating mechanisms, respectively magnetic floating mechanism A1, A2, A3, A4, B1, B2, B3, B4, eight magnetic
Float means A1, A2, A3, A4, B1, B2, B3, B4 symmetric configuration on platform cabin, wherein, magnetic floating mechanism A1, A2, A3, A4 are located at
Four corner locations in platform cabin, and direction is along Z-direction；Magnetic floating mechanism B1, B2, B3, B4 are located at satellite platform platform cabin
Four side point midways, wherein, along Y direction, magnetic floating mechanism B2, B4 directions are along X-direction in magnetic floating mechanism B1, B3 directions.
2. the decoupling control method of double bar six degree of freedom satellite platform of super satellite eight according to claim 1, its feature exists
In each magnetic floating mechanism includes：Coil, magnet steel, yoke and support, wherein, the coil is connected to flat by support
Platform cabin, the magnet steel is connected with load cabin, not physically connected between the support and yoke, it is achieved thereby that load cabin and platform
Noncontact between cabin is arranged.
3. the decoupling control method of double bar six degree of freedom satellite platform of super satellite eight according to claim 2, its feature exists
In the distance of the coil to magnet steel radial direction is equal everywhere, forms the equilbrium position of coil.
4. the decoupling control method of double bar six degree of freedom satellite platform of super satellite eight according to claim 2, its feature exists
In the magnetic floating mechanism also includes relative position sensor, the relative position sensor and magnetic floating mechanism integrated design, phase
The displacement of magnetic floating mechanism is measured respectively to position sensor.
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| CN106249749B (en) * | 2016-09-08 | 2019-01-18 | 上海卫星工程研究所 | The non-contact double super satellite platform Moving Variable inertia attitude control systems of principal and subordinate |
| CN106402263A (en) * | 2016-11-29 | 2017-02-15 | 哈尔滨工业大学 | Electromagnetic force relaxation type static platform |
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| CN106742070A (en) * | 2016-11-30 | 2017-05-31 | 上海卫星工程研究所 | Possesses the satellite platform of dynamic middle imaging capability |
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| CN109388906B (en) * | 2018-10-30 | 2022-09-13 | 哈尔滨工业大学 | Modeling method of flexible spacecraft dynamics model based on magnetic suspension bearing |
| CN109857086B (en) * | 2019-01-30 | 2020-05-29 | 上海卫星工程研究所 | Method for distinguishing and compensating single magnetic suspension mechanism fault of double-super satellite platform |
| CN110045711A (en) * | 2019-02-14 | 2019-07-23 | 上海卫星工程研究所 | Double super multiple magnetic floating mechanism fault distinguishing methods of platform based on rank of matrix |
| CN110513576B (en) * | 2019-07-11 | 2021-02-19 | 南京航空航天大学 | Space six-degree-of-freedom non-contact vibration isolation platform for spaceflight |
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| CN111086657A (en) * | 2019-12-16 | 2020-05-01 | 上海卫星工程研究所 | Method, system and medium for connection between small satellite cabins |
| CN111252268A (en) * | 2020-01-19 | 2020-06-09 | 上海卫星工程研究所 | High-pointing-precision and high-stability satellite platform based on electric floating control |
| CN112607055A (en) * | 2020-12-07 | 2021-04-06 | 上海卫星工程研究所 | Multistage double-super no-drag control method and system in gravitational wave detection displacement mode |
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