CN105539884B - A kind of satellite driftage control guidance method - Google Patents
A kind of satellite driftage control guidance method Download PDFInfo
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- CN105539884B CN105539884B CN201610081901.7A CN201610081901A CN105539884B CN 105539884 B CN105539884 B CN 105539884B CN 201610081901 A CN201610081901 A CN 201610081901A CN 105539884 B CN105539884 B CN 105539884B
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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
- B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
- B64G1/363—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors using sun sensors
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a kind of satellite driftage control guidance method, this method comprises the following steps：Step 1: calculating solar vector under track solar angle (abbreviation β angles) and track system, Step 2: when β angles are more than or equal to given threshold value, Off-course Target angle is calculated according to current orbit system solar vector, when β angles are less than given threshold value, according to the dynamical mean sun Vector operation Off-course Target angle that β angles are specified angle；Step 3: when β angles zero passage, while meeting target yaw angle after low-angle condition, to switch the computational methods at Off-course Target angle.
Description
Technical field
The invention belongs to technical field of spacecraft attitude control, it is related to a kind of satellite leading when carrying out yaw attitude control
Draw rule design method.
Background technology
Inclined plane satellite is very big due to β angles excursion, to meet energy demand, and one-dimensional turn is generally installed on satellite
Dynamic solar array, causes the normal of windsurfing to point to the sun, it is ensured that the satellite energy by controlling satellite yaw-position and windsurfing to rotate.
Satellite generally carries out gesture stability in long-term steady-state running using reaction wheel, by controlling yaw-position
By solar vector control in the XOZ faces of celestial body and make satellite+X-axis point to the sun.But when β angles are smaller (sun,
Ball and satellite are close on one wire), target carriage change maximum angular rate reaches 10 °/more than s.It is different beta as shown in Figure 1
Change schematic diagram of the Satellite Targets yaw-position angle in a rail in the case of angle, is that β angles are closed with celestial body yaw rate shown in Fig. 2
It is schematic diagram.It can be seen that, β angles are smaller, and angular speed change is bigger, and required reaction force is bigger, when solar angle is intended to 0 °, can surpass
Go out reaction wheels control ability.Reaction wheel needs to export with maximum moment, could by the even longer time hundreds of second time
By attitude stabilization.During attitude stabilization, windsurfing can not meet requirement to day precision.
Traditional method that solves the above problems is, when β angles are more than 5 °, driftage control to be carried out, according to Fig. 1 object attitude angles
Adjust the attitude of satellite；When β angles be less than or equal to 5 ° when, without yaw steering, the axle of satellite three is stablized over the ground, by windsurfing 0~
360 ° rotate the tracking sun, but now the sun changes in satellite XOZ faces, and satellite ± X faces and ± Z faces are shone in turn, are unfavorable for
Whole star thermal control, influence ground determines rail precision, and satellite needs to switch attitude control mode.
A kind of new guidance method of design is needed, when the sun, the earth and satellite are close to straight line, planning guiding in advance
Rule, it is ensured that the change of Satellite Targets posture is in the controlled range of reaction wheel, while ensureing windsurfing to day precision.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of driftage applied to inclined plane satellite and control guidance law
Design method.This method comprises the following steps：Step 1: calculating solar vector under β angles and track system；Step 2: when β angles are more than
During equal to given threshold value, Off-course Target angle is calculated according to current orbit system solar vector, when β angles are less than given threshold value, according to β
Angle is the dynamical mean sun Vector operation Off-course Target angle of specified angle；Step 3: when β angles zero passage, while meeting target yaw
After angle is low-angle condition, the computational methods at switching Off-course Target angle.The threshold range is 2~4 °, and preferably 3 °.
Optionally, in step 2, the step of being tracked according to solar angle for 3 ° of dynamical mean sun is the absolute value at β angles
During less than 3 °, if β angles are more than zero, ψm=a tan 2 (0.05236, Sox), if β angles are less than or equal to zero, ψm=a tan 2
(-0.05236,Sox).Wherein, ψmFor target yaw angle, SoFor the solar vector under track system, component is Sox、Soy、Soz。
Optionally, in step 2, the step of calculating Off-course Target angle according to actual solar vector is：In the absolute of β angles
When value is more than or equal to 3 °, ψm(the S of=a tan 2oy,Sox)。
Optionally, in step 3, if calculate the β angles that are used of target angle with previous cycle symbol on the contrary, if only work as
The target angle of calculating just carries out target angle switching within a default threshold range, to avoid β angles from becoming negative from positive, or from negative
Become timing, Off-course Target posture is undergone mutation.The threshold range is preferably 5 °.
It is an advantage of the current invention that a kind of Yaw steering method is proposed, when β angles are when within predetermined angular range, according to β
The fictitious sun that angle changes at a predetermined angle is tracked, it is ensured that the sun in satellite+X faces, is conducive to thermal control to implement, meets sail all the time
Plate is to day required precision, while ensureing target carriage change within the control ability scope of reaction wheel, satellite need not switching
Attitude control mode.
Brief description of the drawings
It is the change in target yaw attitude angle one rail of the invention for corresponding to different beta cornerdown's star in the prior art shown in Fig. 1
Schematic diagram.
It is present invention β angles and the relation schematic diagram of celestial body maximum yaw angular speed in the prior art shown in Fig. 2.
It is the Yaw steering strategy schematic diagram that specific embodiment of the invention Satellite is used shown in Fig. 3.
It is β angles change curve in the specific embodiment of the invention shown in Fig. 4.
It is the in-orbit Off-course Target posture of specific embodiment of the invention Satellite and attitude of satellite change curve shown in Fig. 5.
It is specific embodiment of the invention Satellite attitude angular velocity change curve shown in Fig. 6.
It is the distribution of specific embodiment of the invention Satellite yaw axis reaction wheel torque command shown in Fig. 7.
It is specific embodiment of the invention Satellite windsurfing rotation curve shown in Fig. 8.
Embodiment
Below using certain high rail inclined plane satellite as representative instance, a kind of satellite that the present invention is provided is gone off course with reference to accompanying drawing
The embodiment of control guidance method elaborates.
The satellite is tilts geo-synchronous orbit satellite, and orbit inclination angle is 55 °, and satellite one-dimensional rotation windsurfing is arranged on satellite
± Y faces, are rotated by yaw-position adjustment and windsurfing and cause windsurfing normal to point to the sun, to day precision within 3 °.
Satellite is as shown in Figure 3 using Yaw steering strategy.Using the strategy, the in-orbit Off-course Target posture obtained and defend
Star attitudes vibration curve is as shown in figure 4, the distribution of reaction wheel torque command is as shown in figure 5, windsurfing rotates angle changing curve such as
Shown in Fig. 6.
The present embodiment has been successfully applied to model satellite, and in-orbit as shown by data can using the guiding strategy reaction wheel
Attitude of satellite real-time tracking targeted attitude is controlled, and is not reaching to the maximum control ability of reaction wheel, Attitude Tracking precision exists
Within 0.03 °, windsurfing tracks sun precision within 3 °.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (1)
1. a kind of satellite driftage control guidance method, it is characterised in that this method comprises the following steps：
Step 1: calculating solar vector under β angles and track system；
Step 2: when the absolute value at β angles is more than or equal to given threshold value, Off-course Target is calculated according to current orbit system solar vector
Angle, calculation formula is ψm=atan2 (Soy,Sox)；It is specified angle according to β angles when the absolute value at β angles is less than given threshold value
Dynamical mean sun Vector operation Off-course Target angle, wherein, the specified angle is 3 °, if β angles are more than zero, calculation formula is ψm=
atan2(0.05236,S0x), if β angles are less than or equal to zero, calculation formula is ψm=atan2 (- 0.05236, S0x), the ψmFor
Target yaw angle, the S0xAnd SoyFor the component in vector of the sun under track system, the given threshold value is 3 °；
Step 3: when β angles zero passage, while meeting target yaw angle after low-angle condition, to switch the calculating at Off-course Target angle
Method, β angles zero passage refers to this cycle β angle with previous cycle β angles symbol on the contrary, when β angles symbol is from being just changed into negative, by institute
State computational methods and switch to ψm=atan2 (0.05236, S0x), when β angles symbol from negative is changed into timing, the computational methods are cut
It is changed to ψm=atan2 (- 0.05236, S0x), during avoiding Off-course Target from switching, satellite carries out the yawing maneuvering of wide-angle, wherein
Target yaw angle be low-angle condition be target yaw angle in default threshold range, the default threshold value be 5 °.
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| CN201610081901.7A CN105539884B (en) | 2016-02-05 | 2016-02-05 | A kind of satellite driftage control guidance method |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155074B (en) * | 2016-08-15 | 2018-10-23 | 上海航天控制技术研究所 | A kind of three axis Direct to the sun control method of satellite ensureing satellite-ground link |
| CN106570614A (en) * | 2016-10-14 | 2017-04-19 | 上海微小卫星工程中心 | Onboard autonomous distributed task scheduling method |
| CN108657467B (en) * | 2018-05-16 | 2019-05-21 | 清华大学 | A kind of spacecraft yawing maneuvering control method and system using virtual solar vector |
| CN109032158B (en) * | 2018-07-24 | 2021-07-09 | 北京控制工程研究所 | Head-to-day-tail-to-day alternating continuous yaw attitude control method for linear programming |
| CN111176313B (en) * | 2020-01-08 | 2023-04-28 | 中国人民解放军国防科技大学 | Solar orientation control method for inclined orbit satellite single-degree-of-freedom solar sailboard |
| CN111319797B (en) * | 2020-02-28 | 2021-11-16 | 上海航天控制技术研究所 | Autonomous control method suitable for Mars detection of solar wing position safety |
| CN111680426B (en) * | 2020-06-12 | 2024-02-23 | 孙宏宇 | Variable coefficient proportional guide parameter design method |
| CN111717415B (en) * | 2020-06-22 | 2022-05-17 | 中国科学院微小卫星创新研究院 | Solar cell array sun tracking method for constellation satellite |
| CN112650260B (en) * | 2020-11-27 | 2023-02-03 | 上海航天控制技术研究所 | Solar sailboard variable-speed driving method under inclined orbit satellite yaw guidance |
| CN112905155B (en) * | 2021-01-19 | 2022-03-15 | 中国科学院微小卫星创新研究院 | Design method of autonomous attitude control software of navigation satellite |
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| US5458300A (en) * | 1992-12-17 | 1995-10-17 | Aerospatiale Societe Nationale Industrielle | Method for controlling the attitude of a satellite aimed towards a celestial object and a satellite suitable for implementing it |
| US5697582A (en) * | 1991-05-07 | 1997-12-16 | Deutsche Aerospace Ag | Method of adjusting the position of satellites by means of solar pressure torques |
| CN102880059A (en) * | 2012-10-15 | 2013-01-16 | 北京控制工程研究所 | Yawing maneuvering control method based on sinusoidal yawing guidance principle |
| CN104090612A (en) * | 2014-07-08 | 2014-10-08 | 上海新跃仪表厂 | Inclined orbit spacecraft energy obtaining method based on yaw steering |
| CN104267735A (en) * | 2014-09-02 | 2015-01-07 | 上海新跃仪表厂 | Inclined orbit satellite yaw maneuvering opportunity judgment method |
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- 2016-02-05 CN CN201610081901.7A patent/CN105539884B/en not_active Expired - Fee Related
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|---|---|---|---|---|
| US5697582A (en) * | 1991-05-07 | 1997-12-16 | Deutsche Aerospace Ag | Method of adjusting the position of satellites by means of solar pressure torques |
| US5458300A (en) * | 1992-12-17 | 1995-10-17 | Aerospatiale Societe Nationale Industrielle | Method for controlling the attitude of a satellite aimed towards a celestial object and a satellite suitable for implementing it |
| CN102880059A (en) * | 2012-10-15 | 2013-01-16 | 北京控制工程研究所 | Yawing maneuvering control method based on sinusoidal yawing guidance principle |
| CN104090612A (en) * | 2014-07-08 | 2014-10-08 | 上海新跃仪表厂 | Inclined orbit spacecraft energy obtaining method based on yaw steering |
| CN104267735A (en) * | 2014-09-02 | 2015-01-07 | 上海新跃仪表厂 | Inclined orbit satellite yaw maneuvering opportunity judgment method |
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Inventor after: Bai Tao Inventor after: Xiong Shujie Inventor after: Zhang Rui Inventor after: Lin Baojun Inventor after: Wang Haoguang Inventor after: Liu Wei Inventor after: Li Xiaoyue Inventor before: Bai Tao Inventor before: Xiong Shujie Inventor before: Zhang Rui Inventor before: Wang Haoguang Inventor before: Liu Wei Inventor before: Li Xiaoyue |
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