CN106081167B - A kind of magnetic control of province's working medium and the united high-precision attitude control method of gas puff Z-pinch - Google Patents
A kind of magnetic control of province's working medium and the united high-precision attitude control method of gas puff Z-pinch Download PDFInfo
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- 230000006698 induction Effects 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims 1
- 230000005484 gravity Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000001141 propulsive effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012795 verification Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
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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
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
- B64G1/1021—Earth observation satellites
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
- B64G1/105—Space science
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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
- B64G1/245—Attitude control algorithms for spacecraft 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
- B64G1/32—Guiding or controlling apparatus, e.g. for attitude control using earth's magnetic field
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
Abstract
The present invention relates to a kind of magnetic control of province's working medium and the united high-precision attitude control method of gas puff Z-pinch, step is (1) according to three-axis attitude error and angular speed error, is restrained using PID control and calculates desired control torque；(2) base area magnetic flux density vector determines which axis posture implements magnetic control, which axis posture implements gas puff Z-pinch in the real-time distribution of satellite body coordinate system triaxial coordinate component；(3) three axis magnetic moments are calculated using microvariations magnetic moment allocation algorithm, sufficiently to meet magnetic control axis desired control torque, while reduces disturbance torque caused by magnetic control；(4) the jet pulsewidth of gas puff Z-pinch axis is calculated using jet phase plane algorithm.Attitude control accuracy of the invention is high, and working medium consumption is low, calculates simply, Project Realization is easy.
Description
Technical field
The present invention relates to a kind of magnetic controls of province's working medium and the united high-precision attitude control method of gas puff Z-pinch, are suitable for institute
There are the spacecraft combined using magnetic control with gas puff Z-pinch and realize high-precision three-axis attitude stabilization, such as gravity field measurement satellites and height
Scientific exploration satellite of quiet degree etc..This method apply also for it is other it is all have momenttum wheel or a CMG cooperation need magnetic control
Spacecraft or spacecraft specific operation mode.
Background technique
For Gravisat, the task of accelerometer is the influence for measuring nonconservative force to celestial body center of mass motion.
Its main feature is that sensitivity is very high, there is stringent want to high and low frequency vibration suffered in task, amplitude, the frequency of disturbance etc.
It asks.Based on this requirement, satellite control subsystem needs to reduce the disturbance to celestial body mass center acceleration as far as possible, it is to be ensured that by appearance
Celestial body mass center acceleration caused by state measurement and control does not influence the work of accelerometer or gravity gradiometer.Therefore, control point
System needs to be designed from the angle for reducing vibration and disturbance: that is, without using such as sensor with rotating mechanism and
Executing agency etc. can seriously affect platform payload work component, such as common momenttum wheel, solar array driving mechanism and
Scan-type earth sensor etc. realizes that very high attitude control accuracy index is wanted using only magnetic torquer and jet executing agency
It asks, propulsive working medium cannot be liquid, and the time that jet executing agency participates in control is as few as possible.
In order to meet payload --- the needs that high-precision accelerometer works normally, gravity field measurement satellites cannot match
It is equipped with sensor and the executing agency of movable member, therefore to generally use magnetic control united with gas puff Z-pinch for its attitude control system
Scheme guarantees attitude control accuracy by gas puff Z-pinch, saves propulsive working medium by magnetic control.In the world CHAMP, GRACE and
Three generations' gravity field measurement satellites such as GOCE are all made of this control program, but specific control algolithm has no that document discloses report.
For this purpose, carrying out the tackling problems in key technologies of China's gravity field measurement satellites and ground demonstration Qualify Phase, seminar holds magnetic control
This key link, successively attempted based on traditional magnetic moment distribute PID magnetic control method, the magnetic control method based on H ∞ theory and
The various controls algorithms such as the magnetic control method based on convex polyhedron theory, but result is not ideal enough, and propulsive working medium consumption is long-range
In the level of direct read out GRACE.Later, this patent declarer found document " the skin attitude of satellite based on pure magnetic control
Restore, journal of Zhejiang university (engineering version), 2013,47 (5): 843-852 " to use for reference its satellite yaw-position and do not control, control based on PD
System rule distributes the thought realized and rolled with the control of pitch attitude degree of precision by magnetic moment, according in an orbital period magnetic strength
Answer intensity situation of change in satellite orbit coordinate system, propose between three axis dynamically, dexterously distribute gas puff Z-pinch and magnetic
The thought for controlling and sufficiently excavating magnetic moment distribution potentiality forms the magnetic control and the united high-precision appearance of gas puff Z-pinch of a kind of province's working medium
State control method makes propulsive working medium consumption better than GRACE under the premise of three-axis attitude control precision fully meets index request
The level of satellite.
Summary of the invention
Technology of the invention solves the problems, such as: in place of overcome the deficiencies in the prior art, provide the magnetic control of province's working medium a kind of with
The united high-precision attitude control method of gas puff Z-pinch, this method can obtain high attitude control accuracy, while working medium consumes
It is low, it calculates simply, Project Realization is easy.
The technical solution of the invention is as follows: a kind of magnetic control of province's working medium and the united high-precision attitude of gas puff Z-pinch control
Method, it is characterized in that steps are as follows:
(1) according to three-axis attitude error and angular speed error, three axis desired control power are calculated using PID control rule
Square, the foundation calculated as magnetic control below；
(2) magnetic control axis/gas puff Z-pinch axis distributes logic: base area magnetic flux density vector is in three axis of satellite body coordinate system
The real-time distribution of coordinate components determines which axis posture implements magnetic control calculating, which axis posture implements gas puff Z-pinch calculating, respectively
Referred to as magnetic control axis, gas puff Z-pinch axis；
(3) for the magnetic control axis determined in step (2), according to the corresponding axis direction desired control power provided in step (1)
Three axis magnetic moments are calculated using microvariations magnetic moment allocation algorithm as a result, with sufficiently full in square and earth induction strength vector information
Sufficient magnetic control axis desired control torque, while reducing disturbance torque caused by magnetic control, the three axis magnetic moment calculated result is as output；
(4) for the gas puff Z-pinch axis determined in step (2), gas puff Z-pinch axis is calculated using jet phase plane algorithm
Jet pulsewidth as a result, the jet pulsewidth calculated result as output.
It is as follows using three axis desired control torques of PID control rule calculating in the step (1):
If along three axis of body coordinate system, be followed successively by rolling, pitching, yaw axis attitude error be [φc θc ψc], angle speed
Spending error isThe PID coefficient of three axis is respectively Proportional coefficient Kpx,Kpy,Kpz, differential coefficient Kdx,Kdy,Kdz,
Integral coefficient Kix,Kiy,Kiz, then the desired control torque of three axis calculates as follows:
The magnetic control axis of the step (2)/gas puff Z-pinch axis distributes logic, is the track Distribution of Magnetic Field feelings according to locating for satellite
Condition determines which axis is magnetic control axis in track different location, which axis is gas puff Z-pinch axis.Specific distribution logic is as follows:
If along three axis of body coordinate system, be followed successively by rolling, pitching, yaw axis earth induction intensity be [Bx By Bz], when
If preceding | Bx|>|Bz|, then Y-axis i.e. pitch axis is set, and Z axis, that is, yaw axis is magnetic control axis, and X-axis, that is, axis of rolling is gas puff Z-pinch axis；It is no
X-axis is then set and Y-axis is magnetic control axis, Z axis is gas puff Z-pinch axis.
Microvariations magnetic moment allocation algorithm in the step (3) is using three axis magnetic moments, to reduce the disturbance of magnetic moment bring
Torque is top-priority allocation algorithm, and specific allocation algorithm is as follows:
(31) if being magnetic control axis according to current Y-axis, that is, pitch axis and Z axis, that is, yaw axis:
Two alternative magnetic moment value M are calculated firstx1=-Tcy/Bz, Mx2=Tcz/By, wherein Tcy、TczRespectively pitch axis, partially
Boat axis desired control moment values, By、BzRespectively earth induction intensity in body coordinate system pitch axis, the component value of yaw axis, if
Mx1With Mx2Jack per line, then axis of rolling magnetic moment MxCalculation formula are as follows: Mx=sgn (Mx1)min(Mx1,Mx2)；Otherwise M is enabledx=0；
Then yaw axis magnetic moment M is calculatedz=(Tcy+MxBz)/Bx, pitch axis magnetic moment My=(MxBy-Tcz)/Bx, wherein BxFor
Component value of the earth induction intensity in the body coordinate system axis of rolling.
(32) if according to currently X-axis, the i.e. axis of rolling and Y-axis, i.e., pitch axis is magnetic control axis, then:
Two alternative magnetic moment value M are calculated firstz1=-Tcx/By, Mz2=Tcy/Bx, wherein Tcx、TcyRespectively the axis of rolling, bow
Face upward axis desired control moment values, Bx、ByRespectively earth induction intensity in the body coordinate system axis of rolling, the component value of pitch axis, if
Mz1With Mz2Jack per line, then yaw axis magnetic moment MzCalculation formula is Mz=sgn (Mz1)min(Mz1,Mz2)；Otherwise M is enabledz=0；
Then pitch axis magnetic moment M is calculatedy=(Tcx+MzBy)/Bz, axis of rolling magnetic moment Mx=(MzBx-Tcy)/Bz, wherein BzFor
Component value of the earth induction intensity in body coordinate system yaw axis；
(33) magnetic moment clipping
If the maximum magnetic moment M of magnetic torquermax, to the above calculated result Mx,My,MzCarry out amplitude limiting processing Mx=mlf (Mx,
Mmax), My=mlf (My,Mmax), Mz=mlf (Mz,Mmax)。
The advantages of the present invention over the prior art are that:
(1) magnetic control jointly controls with jet, has both made full use of magnetic control ability to save jet working medium, has in turn avoided magnetic control posture
Control the not high disadvantage of precision.
(2) base area magnetic flux density vector determines magnetic control axis/gas puff Z-pinch in the component feature of satellite body coordinate system
Axis distribution, makes magnetic control moment loading in the highest direction of efficiency, can give full play to magnetic control ability, while avoiding magnetic control torque pair
Other axis generate larger interference.
(3) microvariations magnetic moment allocation algorithm comprehensively considers desired torque and earth induction strength vector is distributed, and sufficiently excavates
Three axis magnetic moment potentiality reduce interference of the magnetic control to other axis to the greatest extent under the premise of sufficiently meeting magnetic control axis expectation torque requirement
Torque.
In short, the present invention is in certain Gravisat demonstration and verification project through verification experimental verification, method is feasible, engineering
Technology is easily realized, therefore has practicability.
Detailed description of the invention
Fig. 1 is that magnetic control of the present invention combines high-precision attitude control flow chart with gas puff Z-pinch.
Specific embodiment
Embodiment 1:
By taking a kind of low orbit satellite of orbit inclination angle near 90 degree as an example, as shown in Figure 1, specific steps of the invention are such as
Under:
(1) it according to three-axis attitude error and angular speed error, is restrained using PID control and calculates desired control torque；If along this
The attitude error of three axis of body coordinate system (being followed successively by rolling, pitching, yaw axis, all same below) is [φc θ cψc], angular speed misses
Difference isThe PID coefficient of three axis is respectively Proportional coefficient Kpx,Kpy,Kpz, differential coefficient Kdx,Kdy,Kdz, integral
COEFFICIENT Kix,Kiy,Kiz, then the desired control torque of three axis calculates as follows:
(2) which axis appearance base area magnetic flux density vector determines in the size of satellite body coordinate system triaxial coordinate component
State implements magnetic control, which axis posture implements gas puff Z-pinch；Magnetic control axis/gas puff Z-pinch axis distribution logic is as follows:
If the earth induction intensity along three axis of body coordinate system (being followed successively by rolling, pitching, yaw axis) is [Bx By Bz],
If current | Bx|>|Bz|, then Y-axis (i.e. pitch axis) is set and Z axis (i.e. yaw axis) is magnetic control axis, X-axis (i.e. the axis of rolling) is jet
Control shaft；Otherwise X-axis is set and Y-axis is magnetic control axis, Z axis is gas puff Z-pinch axis.
(3) three axis magnetic moments are calculated using microvariations magnetic moment allocation algorithm, sufficiently to meet magnetic control axis desired control torque, together
When reduce magnetic control caused by disturbance torque；Microvariations magnetic moment allocation algorithm is as follows:
If a. Y-axis and Z axis are magnetic control axis:
Two alternative magnetic moment value M are calculated firstx1=-Tcy/Bz, Mx2=Tcz/By, wherein Tcy、TczRespectively in step (1)
The pitch axis of calculating, yaw axis desired control moment values, By、BzRespectively earth induction intensity body coordinate system pitch axis, partially
The component value of boat axis, if Mx1With Mx2Jack per line, then axis of rolling magnetic moment MxCalculation formula are as follows: Mx=sgn (Mx1)min(Mx1,Mx2)；It is no
Then enable Mx=0；
Then yaw axis magnetic moment M is calculatedz=(Tcy+MxBz)/Bx, pitch axis magnetic moment My=(MxBy-Tcz)/Bx, wherein BxFor
Component value of the earth induction intensity in the body coordinate system axis of rolling.
If b. X-axis and Y-axis are magnetic control axis:
Two alternative magnetic moment value M are calculated firstz1=-Tcx/By, Mz2=Tcy/Bx, wherein Tcx、TcyRespectively in step (1)
The axis of rolling of calculating, pitch axis desired control moment values, Bx、ByRespectively earth induction intensity in the body coordinate system axis of rolling, bow
The component value of axis is faced upward, if Mz1With Mz2Jack per line, then yaw axis magnetic moment MzCalculation formula is Mz=sgn (Mz1)min(Mz1,Mz2)；Otherwise
Enable Mz=0；
Then pitch axis magnetic moment M is calculatedy=(Tcx+MzBy)/Bz, axis of rolling magnetic moment Mx=(MzBx-Tcy)/Bz, wherein BzFor
Component value of the earth induction intensity in body coordinate system yaw axis.
C. magnetic moment clipping:
If the maximum magnetic moment M of magnetic torquermax, to the above calculated result Mx,My,MzCarry out amplitude limiting processing Mx=mlf (Mx,
Mmax), My=mlf (My,Mmax), Mz=mlf (Mz,Mmax)。
(4) the jet pulsewidth of gas puff Z-pinch axis, algorithm design reference Tu Shancheng academician are calculated using jet phase plane algorithm
" Satellite Attitude Dynamics and control " (Yuhang Publishing House, 2001) of chief editor page 442；
(5) in satellite whole work process, repeat magnetic control shown in FIG. 1 and combine gesture stability stream with gas puff Z-pinch
Journey guarantees that safety satellite effectively completes scientific exploration task to realize province's working medium and high-precision gesture stability.
Claims (1)
1. a kind of magnetic control of province's working medium and the united high-precision attitude control method of gas puff Z-pinch, it is characterised in that including following step
It is rapid:
(1) according to three-axis attitude error and angular speed error, three axis desired control torques is calculated using PID control rule, make
The foundation calculated for magnetic control below；Wherein, as follows using three axis desired control torques of PID control rule calculating:
If along three axis of body coordinate system, be followed successively by rolling, pitching, yaw axis attitude error be [φc θc ψc], angular speed misses
Difference isThe PID coefficient of three axis is respectively Proportional coefficient Kpx,Kpy,Kpz, differential coefficient Kdx,Kdy,Kdz, integral
COEFFICIENT Kix,Kiy,Kiz, then the desired control torque of three axis calculates as follows:
(2) magnetic control axis/gas puff Z-pinch axis distributes logic: base area magnetic flux density vector is in satellite body coordinate system triaxial coordinate
The real-time distribution of component determines which axis posture implements magnetic control calculating, which axis posture implements gas puff Z-pinch calculating, is referred to as respectively
For magnetic control axis, gas puff Z-pinch axis；
(3) for the magnetic control axis determined in step (2), according to the corresponding axis direction desired control torque provided in step (1), and
Three axis magnetic moments are calculated as a result, sufficiently to meet magnetic using microvariations magnetic moment allocation algorithm in earth induction strength vector information
Axis desired control torque is controlled, while reducing disturbance torque caused by magnetic control, the three axis magnetic moment calculated result is as output；Its
In, microvariations magnetic moment allocation algorithm is using three axis magnetic moments, to reduce magnetic moment bring disturbing moment as top-priority distribution
Algorithm, specific allocation algorithm are as follows:
(31) if being magnetic control axis according to current Y-axis, that is, pitch axis and Z axis, that is, yaw axis:
Two alternative magnetic moment value M are calculated firstx1=-Tcy/Bz, Mx2=Tcz/By, wherein Tcy、TczRespectively pitch axis, yaw axis
Desired control moment values, By、BzRespectively earth induction intensity is in body coordinate system pitch axis, the component value of yaw axis, if Mx1
With Mx2Jack per line, then axis of rolling magnetic moment MxCalculation formula are as follows: Mx=sgn (Mx1)min(Mx1,Mx2)；Otherwise M is enabledx=0；
Then yaw axis magnetic moment M is calculatedz=(Tcy+MxBz)/Bx, pitch axis magnetic moment My=(MxBy-Tcz)/Bx, wherein BxFor ground magnetic strength
Answer intensity in the component value of the body coordinate system axis of rolling；
(32) if according to currently X-axis, the i.e. axis of rolling and Y-axis, i.e., pitch axis is magnetic control axis, then:
Two alternative magnetic moment value M are calculated firstz1=-Tcx/By, Mz2=Tcy/Bx, wherein Tcx、TcyThe respectively axis of rolling, pitch axis
Desired control moment values, Bx、ByRespectively earth induction intensity is in the body coordinate system axis of rolling, the component value of pitch axis, if Mz1
With Mz2Jack per line, then yaw axis magnetic moment MzCalculation formula is Mz=sgn (Mz1)min(Mz1,Mz2)；Otherwise M is enabledz=0；
Then pitch axis magnetic moment M is calculatedy=(Tcx+MzBy)/Bz, axis of rolling magnetic moment Mx=(MzBx-Tcy)/Bz, wherein BzFor ground magnetic strength
Answer intensity in the component value of body coordinate system yaw axis；
(33) magnetic moment clipping
If the maximum magnetic moment M of magnetic torquermax, to the above calculated result Mx,My,MzCarry out amplitude limiting processing Mx=mlf (Mx,Mmax),
My=mlf (My,Mmax), Mz=mlf (Mz,Mmax)；
(4) for the gas puff Z-pinch axis determined in step (2), the spray of gas puff Z-pinch axis is calculated using jet phase plane algorithm
Gaseous pulse is wide as a result, the jet pulsewidth calculated result is as output；
Wherein, the magnetic control axis of the step (2)/gas puff Z-pinch axis distributes logic, is the track Distribution of Magnetic Field according to locating for satellite
Situation determines which axis is magnetic control axis in track different location, which axis is gas puff Z-pinch axis, and specific distribution logic is as follows:
If along three axis of body coordinate system, be followed successively by rolling, pitching, yaw axis earth induction intensity be [Bx By Bz], if current
|Bx|>|Bz|, then Y-axis i.e. pitch axis is set, and Z axis, that is, yaw axis is magnetic control axis, and X-axis, that is, axis of rolling is gas puff Z-pinch axis；Otherwise it sets
It sets X-axis and Y-axis is magnetic control axis, Z axis is gas puff Z-pinch axis.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2319646C1 (en) * | 2006-08-24 | 2008-03-20 | Федеральное государственное унитарное предприятие "Научно-производственное объединение прикладной механики им. академика М.Ф. Решетнева" | Spacecraft instrumentation module |
| CN103072702A (en) * | 2013-01-30 | 2013-05-01 | 北京控制工程研究所 | Control method for orbit and attitude of satellite |
| CN104590588A (en) * | 2014-12-04 | 2015-05-06 | 哈尔滨工业大学 | Flexible satellite attitude orbit coupling control method based on isolation allowance method and pulse width fusion strategy |
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| WO1993014973A2 (en) * | 1992-01-17 | 1993-08-05 | Dangbo Akouete Vincent | Space vessel shaped like a flying saucer |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2319646C1 (en) * | 2006-08-24 | 2008-03-20 | Федеральное государственное унитарное предприятие "Научно-производственное объединение прикладной механики им. академика М.Ф. Решетнева" | Spacecraft instrumentation module |
| CN103072702A (en) * | 2013-01-30 | 2013-05-01 | 北京控制工程研究所 | Control method for orbit and attitude of satellite |
| CN104590588A (en) * | 2014-12-04 | 2015-05-06 | 哈尔滨工业大学 | Flexible satellite attitude orbit coupling control method based on isolation allowance method and pulse width fusion strategy |
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