CN105644810B - A kind of opened loop control reaction wheel rotation speed change and discharging method - Google Patents
A kind of opened loop control reaction wheel rotation speed change and discharging method Download PDFInfo
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- CN105644810B CN105644810B CN201610081918.2A CN201610081918A CN105644810B CN 105644810 B CN105644810 B CN 105644810B CN 201610081918 A CN201610081918 A CN 201610081918A CN 105644810 B CN105644810 B CN 105644810B
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- 238000006243 chemical reaction Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 17
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- 238000007599 discharging Methods 0.000 title claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims abstract description 14
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 8
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 6
- 239000013256 coordination polymer Substances 0.000 claims description 5
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- 238000009825 accumulation Methods 0.000 description 1
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- 238000011217 control strategy Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
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- 230000006641 stabilisation Effects 0.000 description 1
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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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- 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
- B64G1/244—Spacecraft control systems
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- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
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- Magnetic Bearings And Hydrostatic Bearings (AREA)
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Abstract
The invention provides a kind of opened loop control reaction wheel (abbreviation flywheel) rotation speed change and discharging method, comprise the following steps that：Step one, it is controlled using four flywheels, and the reaction wheels control torque command size of the 4th flywheel is adjusted in the same size with theoretical nominal speed moment of friction；Step 2, controller output control is instructed into amplitude limit in maximum output torque, and match somebody with somebody the control moment of each flywheel of matrix allocation according to divided flywheel, by the maximum flywheel amplitude limit of output torque in maximum moment after distribution, and by the proportional scaling of control moment of other two flywheels；Step 3, calculates four flywheels synthesis angular momentums, and any shaft angle momentum is reached in unloading threshold range, and magnetic field intensity and during angular momentum angled relationships when meeting unloading, starts magnetic torquer unloading；Magnetic torquer work on step 4, the maximum direction of selection relieving capacity, using switch control mode, is unloaded to flywheel.
Description
Technical field
The present invention relates to technical field of aerospace control, more particularly to a kind of opened loop control reaction wheel rotation speed change and unloading
Method.
Background technology
Reaction wheel is that satellite often uses executing agency, due to attitude of satellite required precision more and more higher, lifetime of satellite requirement
Also more and more higher, therefore reaction wheel control to work near optimum operating speed when carrying out gesture stability, it is to avoid turn
Fast zero passage produces interference effect attitude accuracy, while improving the life-span.
Gesture stability is carried out using 4 flywheels, flywheel can be biased in nominal speed and be formed about whole star zero momentum, for
Torque control pattern counteraction flyback rotating speed in the presence of moment of friction can decline, when simultaneously four reaction wheel rotating speeds decline
When, it is also ensured that attitude stabilization and whole star zero momentum, i.e., Speed of Reaction Wheels can not be kept by way of posture closed loop feedback, because
This will keep flywheel to need to carry out friciton compensation to each flywheel near nominal speed, but due to the moment of friction of each flywheel
Difference, compensating torque causes flywheel nominal speed different, influences the gesture stability of flywheel.In addition, space environment disturbance torque meeting
Cause flywheel to deviate nominal speed, interference is generally offset by magnetic torquer unloading, it is ensured that flywheel is operated near nominal speed.
The content of the invention
In order to solve the above problems, unloaded the invention provides a kind of opened loop control reaction wheel rotation speed change and magnetic torquer
Support method, comprises the following steps：Step one, using including four of the first flywheel, the second flywheel, the 3rd flywheel and the 4th flywheel
Flywheel is controlled, and by the reaction wheels control torque command size of the 4th flywheel adjust to theoretical nominal speed frictional force
Square is in the same size；Step 2, amplitude limit is instructed in maximum output torque by controller output control, and according to the first flywheel, second
The divided flywheel that flywheel, the 3rd flywheel order are constituted matches somebody with somebody the control moment of each flywheel of matrix allocation, after distribution by output torque most
Big flywheel amplitude limit obtains three flywheel controls in maximum moment, and by the proportional scaling of control moment of other two flywheels
Torque；Step 3, calculates four reaction wheel synthesis angular momentums, any shaft angle momentum is reached in unloading threshold range, and is met
Magnetic field intensity and during angular momentum angled relationships during unloading, starts magnetic torquer unloading；Step 4, the maximum side of selection relieving capacity
Upward magnetic torquer work, using switch control mode, is unloaded to flywheel.
It is an advantage of the current invention that only carrying out friciton compensation to a flywheel using open loop approach, the flywheel is not involved in appearance
State is controlled, and other three flywheels carry out gesture stability, and due to the conservation of angular momentum, whole flywheels are held near nominal speed.
This method control is simple, and the size of moment of friction is compensated by adjusting can also control flywheel work nominal speed, using flexible
It is convenient.
Space environment disturbance torque, which produces angular momentum accumulation, causes Speed of Reaction Wheels to deviate nominal value, is unloaded by magnetic torquer
Disturbance torque influence can be offset.The present invention is using reference magnetic field of the internal field as magnetic dumping, without installing magnetometer, simplifies
The hardware configuration of satellite；The threshold value of design unloading controller ensures unloading on the basis of inside and outside source is fully analyzed simultaneously
The correctness of control；In addition using switch control mode control magnetic torquer work, setting for drive control circuit enormously simplify
Meter.
Brief description of the drawings
Accompanying drawing 1 is the decision logic figure of the unloading Rule of judgment of flywheel in the specific embodiment of the invention；
Accompanying drawing 2 is that the scheme of the specific embodiment of the invention unloads policy calculation magnetic in the Application Example of high rail satellite
Torquer control instruction flow chart；
Accompanying drawing 3 is Application Example Satellite in-orbit reaction of the scheme in high rail satellite of the specific embodiment of the invention
Wheel speed curve map；
Accompanying drawing 4 is Application Example Satellite posture curve of the scheme in high rail satellite of the specific embodiment of the invention
Figure.
Embodiment
The embodiment of the method provided below in conjunction with the accompanying drawings the present invention elaborates.
Step one, controlled using four flywheels including the first flywheel, the second flywheel, the 3rd flywheel and the 4th flywheel
System, and the control moment instruction size of the 4th flywheel is adjusted in the same size with theoretical nominal speed moment of friction.
In this step, moment of friction T is obtained according to the 4th flywheel nominal speedf4, friction torque compensation is carried out to it, obtained
Reaction wheels control instructs Twc4：
Twc4=-Tf4
And reaction wheel Torque Control voltage：
Uwc4=Twc4/ki4
Wherein, ki4For the 4th flywheel moment coefficient.
It can be changed when in-orbit according to the 4th Speed of Reaction Wheels and increase or reduce moment of friction, adjust the nominal speed model of flywheel
Enclose.
Step 2, amplitude limit is instructed in maximum output torque by controller output control, and is flown according to the first flywheel, second
The divided flywheel that wheel, the 3rd flywheel order are constituted matches somebody with somebody the control moment of each flywheel of matrix allocation, after distribution that output torque is maximum
Flywheel amplitude limit in maximum moment, and by the proportional scaling of control moment of other two flywheels, obtain three flywheel controling powers
Square.
In step 2, the first flywheel, the second flywheel, the 3rd flywheel install Matrix Cu, by the installation Matrix C of reaction wheeluAsk
It is inverse, it can obtain corresponding reaction wheel allocation matrix CP。
Firstly generate reaction wheels control instruction Twc.By reaction wheels control device control instruction Tc, amplitude limit is in ± 0.075Nm
In (flywheel maximum output torque).
The allocation matrix C tried to achieve by upper stepP, the control distribution instruction of 3 flywheels for instructing distribution can be obtained.
Twc3=CPTc
By the control instruction T of reaction wheelwcIn take maximum to be limited within ± 0.075Nm,
Each flywheel moment control instruction is calculated according still further to proportional zoom, i.e.,：
Twci=Twci*Twcmax/Twci(max)
Reaction wheel Torque Control voltage：
Uwci=Twci/kii
Wherein, kiiFor counteraction flyback moment coefficient.
Step 3, calculates four reaction wheel synthesis angular momentums, any shaft angle momentum is reached in unloading threshold range, and is accorded with
Magnetic field intensity and during angular momentum angled relationships when closing unloading, starts magnetic torquer unloading.
In this step, calculate after four counteraction flyback synthesis angular momentums, judge whether that needs are unloaded according to angular momentum size
Carry, Rule of judgment, by taking a wherein axle as an example：hxX-axis angular momentum is synthesized for flywheel, unloading Rule of judgment is as shown in Figure 1.
A. condition：|hi-Hi|≥k1
Record：IsDumpi=on
B. condition：IsDumpi=on and k1＞ | hi-Hi|≥k2
Record：IsDumpi=on
C. condition：IsDimpi=off and k1＞ | hi-Hi|≥k2
Record：IsDimpi=off
D. condition：|hi-Hi| ＜ k2
Record：IsDimpi=off
Wherein, the nominal angular momentum H of counteraction flybacki, whole star zero momentum flywheel synthesis nominal angular momentum is 0Nms, k1Fly
Wheel unloading angular momentum opens threshold value, k2Flywheel unloading angular momentum closes threshold value, IsDumpi, i=X, Y, Z flywheel unloaded states.
Also, in this step, under high rail weak magnetic environment, the magnetic field intensity of internal field has decayed to 100 nT or so,
Approached with the magnetic field intensity of external field.It is affected by environment big because external source field model is complicated, therefore use internal field calculating magnetic field
Intensity, in order to avoid the influence of external field, causes unloading torque reversely,WithAngle is more than 45 ° and is less than 135 °, wherein
WithFor Δ H and body series geomagnetic field intensity BbUnit vector, uninstall direction：
Otherwise, Mc=0, without unloading.
Magnetic torquer work on step 4, the maximum direction of selection relieving capacity, using switch control mode, to others
Flywheel is unloaded.
In this step, satellite each magnetic torquer in three directions installation magnetic torquers, uninstall process, which can be produced, to be unloaded
Torque is carried, but three axle its effects are different, its main function accounts for more than 60%, and minimum accounts for 10% or so, from rising mainly
Act on two magnetic torquers.The torque T that magnetic torquer is producedmiProjection produces torque Δ T on Δ Hmi
If | Tmi|≠0
Otherwise, Δ Tmi=0
Select the magnetic torquer work of maximum two axles of unloading effect in three axles
By comparing | Δ Tm1|, | Δ Tm2|, | Δ Tm3|, Δ TmiMaximum 2 axle unloading controller control instructions are Mci, its
His axle control instruction is 0.
Embodiment of the such scheme on certain high rail satellite is given below.
On satellite use three orthogonal angle mount counteraction flybacks, flywheel maximum angular momentum be 45Nms, the range of speeds ±
6000rpm, maximum output torque 0.075Nm, control voltage ± 10V.Four counteraction flybacks install matrix：
The first step：Angle mount reaction wheel 4 is controlled near nominal speed, other orthogonal reaction wheels control postures, root
According to conservation of angular momentum principle, under the effect of angle mount wheel, four flywheels are all operated near nominal speed.
Reaction wheel operation on orbit optimum speed sets 4 flywheel (code name X, Y, Z, S1) nominal angles in 2000rpm or so
Momentum is respectively 12Nms, 12Nms, 12Nms, 20.784Nms, corresponds to rotating speed 1596rpm, 1596rpm, 1596rpm,
2764rpm, angle mount counteraction flyback S1 according near 2764rpm moment of friction correspondence control voltage control flywheel S1 work,
If reaction wheel S1 rotating speeds are less than 2764rpm, control voltage is improved, otherwise reduces control voltage, counteraction flyback S2 is marked
Claim rotating speed control near 1800rpm~3000rpm.Other three reactions change into control according to controller output control torque
Voltage control reaction wheel X, Y, Z work processed, circular：
By the installation Matrix C of 3 reaction wheels of orthogonal installationuInvert, can obtain corresponding reaction wheel allocation matrix
CP。
By reaction wheels control device control instruction Tc, amplitude limit is in ± 0.075Nm.
The allocation matrix C tried to achieve by upper stepP, the control distribution instruction of 3 flywheels for instructing distribution can be obtained.
Twc=CPTc
By reaction wheel X/Y/Z control instruction TwcIn take maximum to be limited within ± 0.075Nm,
Each flywheel moment control instruction is calculated again, i.e.,：Twci=Twci*Twcmax/Twci(max)
By reaction wheel X/Y/Z control instructions TwcBe converted to torque command form Uwc, for driving counteraction flyback work
Make：
Uwc=Twc/0.0075
Second step：Counteraction flyback synthesis angular momentum is calculated, according to unloading policy calculation magnetic torquer control instruction such as Fig. 2
It is shown, driving magnetic torquer work.
According to such scheme, the in-orbit reaction wheel speed curves of satellite are as shown in figure 3, reaction wheel is operated in nominal speed
Within ± 500rpm, attitude of satellite curve is as shown in figure 4, attitude control accuracy is in 0.03 degree, a month to date discharge time
29477s, under the control program, whole star keeps zero momentum, and under high rail space environment, disturbance torque is small, in unloading effect
Under can keep Speed of Reaction Wheels very well.
The present embodiment has been successfully applied to model satellite, in-orbit as shown by data, using the flywheel control strategy and unloading side
Method is easy and effective, can guarantee that counteraction flyback is operated near nominal speed, and attitude control accuracy is high, and relieving capacity is enough,
And the influence of external field can be avoided.
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 (7)
1. a kind of opened loop control reaction wheel rotation speed change and discharging method, it is characterised in that this method comprises the following steps：
Step one, it is controlled using four flywheels including the first flywheel, the second flywheel, the 3rd flywheel and the 4th flywheel, and
The flywheel moment control instruction size of 4th flywheel is adjusted consistent to moment of friction corresponding with theoretical nominal speed, wherein,
Flywheel is reaction wheel；
Step 2, amplitude limit is instructed in maximum output torque by controller output control, and according to the first flywheel, the second flywheel, the
The divided flywheel that three flywheels order is constituted matches somebody with somebody the control moment of each flywheel of matrix allocation, by the flywheel of output torque maximum after distribution
Amplitude limit obtains three flywheel control moments in maximum output torque, and by the proportional scaling of control moment of other two flywheels；
Step 3, calculates four flywheel synthesis angular momentums, and any shaft angle momentum is reached in unloading threshold range, and when meeting unloading
When magnetic field intensity and angular momentum angled relationships, start magnetic torquer unloading；
Magnetic torquer work on step 4, the maximum direction of selection relieving capacity, using switch control mode, is carried out to flywheel
Unloading.
2. opened loop control reaction wheel rotation speed change according to claim 1 and discharging method, it is characterised in that：
In step one, moment of friction T is obtained according to the 4th flywheel nominal speedf4, friction torque compensation is carried out to it, flywheel is obtained
Torque Control instructs Twc4
Twc4=-Tf4
With flywheel moment control voltage：
Uwc4=Twc4/ki4
Wherein, ki4For the 4th flywheel moment coefficient.
3. opened loop control reaction wheel rotation speed change according to claim 1 and discharging method, it is characterised in that：Step 2
In, the installation Matrix C of the first flywheel, the second flywheel and the 3rd flywheelu, inverted and can obtain corresponding flywheel allocation matrix
CP。
4. opened loop control reaction wheel rotation speed change according to claim 1 and discharging method, it is characterised in that step 3
In, calculate after four flywheel synthesis angular momentums, judged whether to need unloading according to angular momentum size.
5. opened loop control reaction wheel rotation speed change according to claim 1 and discharging method, it is characterised in that step 3
Middle use internal field calculating magnetic field intensity.
6. opened loop control reaction wheel rotation speed change according to claim 1 and discharging method, it is characterised in that step 4
It is middle to carry out unloaded operation from the magnetic torquer played a major role.
7. opened loop control reaction wheel rotation speed change according to claim 1 and discharging method, it is characterised in that first flies
Wheel, the second flywheel and the 3rd flywheel are the flywheel of orthogonal installation, and the 4th flywheel is angle mount flywheel.
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106218922B (en) * | 2016-07-27 | 2018-06-15 | 中国科学院长春光学精密机械与物理研究所 | The joint actuating mechanism controls method of flexible agility satellite |
| CN106542120B (en) * | 2016-09-30 | 2018-11-02 | 上海航天控制技术研究所 | In conjunction with the satellite three-axis attitude control method of magnetic torquer when flywheel drive lacking |
| CN106542118B (en) * | 2016-10-08 | 2018-08-28 | 上海航天控制技术研究所 | A method of normal attitude being restored to from magnet-wheel joint control state control using flywheel |
| CN106742071B (en) * | 2017-01-20 | 2019-01-25 | 上海航天控制技术研究所 | A method of zero passage is avoided using the control of orthogonal installation flywheel |
| CN107600463B (en) * | 2017-08-22 | 2019-05-24 | 长光卫星技术有限公司 | A kind of agility small satellite attitude fast reserve control method |
| CN108528765B (en) * | 2018-04-08 | 2019-07-05 | 上海微小卫星工程中心 | A kind of low orbit satellite unloading Threshold based on recombination mechanism |
| CN108983637A (en) * | 2018-09-04 | 2018-12-11 | 上海微小卫星工程中心 | A kind of satellite control system semi-physical simulation method using reaction wheel |
| CN109080856B (en) * | 2018-10-10 | 2020-03-17 | 上海微小卫星工程中心 | Method for maintaining rotation speed of reaction wheel |
| CN109649690B (en) * | 2018-12-27 | 2021-07-09 | 上海航天控制技术研究所 | High-precision hierarchical saturation attitude control method and system for satellite based on flywheel configuration |
| CN110127088B (en) * | 2019-05-05 | 2020-11-20 | 北京控制工程研究所 | Double hysteresis method for unloading satellite synthetic angular momentum by using magnetic torquer |
| CN111897355B (en) * | 2020-08-06 | 2022-09-13 | 中国科学院微小卫星创新研究院 | Satellite attitude maneuver trajectory planning method |
| CN113501144B (en) * | 2021-07-27 | 2022-05-03 | 北京微纳星空科技有限公司 | Flywheel rotating speed control method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5201833A (en) * | 1991-07-19 | 1993-04-13 | General Electric Company | Attitude control system with reaction wheel friction compensation |
| JP3281061B2 (en) * | 1992-10-14 | 2002-05-13 | 株式会社東芝 | Spacecraft unloading device |
| US7198232B1 (en) * | 2004-08-26 | 2007-04-03 | Lockheed Martin Corporation | Optimal speed management for reaction wheel control system and method |
| CN100439204C (en) * | 2007-07-03 | 2008-12-03 | 北京控制工程研究所 | Estimating and compensating method for reducing influence of attitude controlling jetting on the orbit |
| CN102343985B (en) * | 2011-07-08 | 2013-07-24 | 北京航空航天大学 | Satellite time optimal posture maneuvering method with reaction flywheel |
| CN102616386B (en) * | 2012-03-29 | 2014-04-02 | 哈尔滨工业大学 | Uniaxial quick maneuverable spacecraft flywheel configuration and optimization method thereof |
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