CN106167104B - A kind of reaction thrust device modulator approach based on pulse width modulation, device - Google Patents
A kind of reaction thrust device modulator approach based on pulse width modulation, device Download PDFInfo
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- CN106167104B CN106167104B CN201610547089.2A CN201610547089A CN106167104B CN 106167104 B CN106167104 B CN 106167104B CN 201610547089 A CN201610547089 A CN 201610547089A CN 106167104 B CN106167104 B CN 106167104B
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- 238000006243 chemical reaction Methods 0.000 title claims abstract description 25
- 238000013459 approach Methods 0.000 title claims abstract description 12
- 238000005070 sampling Methods 0.000 claims abstract description 29
- 238000013461 design Methods 0.000 abstract description 31
- 238000000034 method Methods 0.000 abstract description 18
- 238000010586 diagram Methods 0.000 description 5
- 238000013507 mapping Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
-
- 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
Abstract
The reaction thrust device modulator approach that the invention discloses a kind of based on pulse width modulation, device, method include the following steps：RCS reaction thrust devices are opened, continuous torque is modulated into the control instruction of the RCS, to generate the discrete torque that there is equivalence with the continuous torque within the efficiently sampling period.The present invention uses PWM method, and the design of RCS gesture stabilities can be decoupled into two mutually independent design links：Attitude controller designs and PWM modulator design.Attitude controller is designed in continuous domain, it is assumed that RCS exports continuous torque, using ripe linear system design theory；The continuous torque that attitude controller exports is modulated into the switch order of RCS by PWM modulator, generates the discrete torque for having equivalence with continuous torque.And from the design of simplified RCS controllers, while reducing the consumption of RCS flows.
Description
Technical field
The present invention relates to reaction thrust device modulator approach, more particularly to a kind of reaction based on pulse width modulation pushes away
Power device pulse-width modulation method, device.
Background technology
Satellite, airship and Control System for Reusable Launch Vehicle generally use reaction thrust device (Reaction Control
System, RCS) carry out attitude regulation.Since RCS has discrete work characteristics, standard-sized sheet or closed state are can only operate in,
Continuous control moment can not be generated.Therefore in actual use, modulator approach need to be used so that RCS generate it is equivalent continuous
Torque.
The RCS modulator approaches generally used in engineering at present are Schmidt trigger mode, when attitude control error exceeds
When controlling thresholding, RCS is opened, and when attitude control error is less than control thresholding, RCS is closed.This mode is although easy to implement,
But since Schmidt trigger itself is a kind of nonlinear element, can not be analyzed using ripe linear control method
And design, it is necessary to non-linear tool is utilized, such as describing function method or phase plane method；In addition, Schmidt trigger based on control
Principle controls for bang-bang, higher to RCS flow demands.
Invention content
The technical problem to be solved by the present invention is to simplify the design of RCS controllers, while reducing the consumption of RCS flows, realize
The reaction thrust device of pulse width modulation is modulated.
Solve above-mentioned technical problem, the reaction thrust device modulation methods based on pulse width modulation that the present invention provides a kind of
Method includes the following steps：
RCS reaction thrust devices are opened, continuous torque are modulated into the control instruction of the RCS, in efficiently sampling
The discrete torque that there is equivalence with the continuous torque is generated in period.
Further, the efficiently sampling period refers to：In LINEAR CONTINUOUS domain.
Further, the control instruction is switch order.
Further, using duty ratio as the RCS control instructions.
Further, the duty ratioIt indicates the ratio between the RCS opening times and sampling period, takes
Value is ranging from [0 1].
Further, the continuous torque Mc=MrcsDR, MrcsFor jet pipe torque.
Further, the efficiently sampling periodWherein ωhHighest frequency component in system in order to control.
Further, the efficiently sampling periodωcEnd for attitude controller in RCS attitude control systems
Frequency.
Further, the RCS uses discrete or switching mode operating mode.
The present invention also provides a kind of reaction thrust device modulating device based on pulse width modulation, including gesture stability
Device and PWM modulator,
The attitude controller, to export continuous torque in RCS reaction thrust devices according to attitude error；
The PWM modulator, the continuous torque to be modulated into the control instruction of the RCS, effectively to adopt
The discrete torque that there is equivalence with the continuous torque is generated in the sample period.
Beneficial effects of the present invention：
1) one kind in the present invention is based on the RCS modulation of pulse width modulation (Pulse-Width Modulation, PWM)
Method；Using PWM method, the design of RCS gesture stabilities can be decoupled into two mutually independent design links：Posture control
Device design and PWM modulator design processed.Attitude controller is designed in continuous domain, it is assumed that RCS exports continuous torque, can profit
With ripe linear system design theory；The switch that the continuous torque that attitude controller exports is modulated into RCS by PWM modulator refers to
It enables, generates the discrete torque that there is equivalence with continuous torque.
2) use PWM method that the analysis of RCS attitude controllers and design is enable to utilize ripe linear system
Control theory reduces design difficulty.Simultaneously as can be optimized using linear control method, therefore, it is possible to the greatest extent
It may be decreased demand of the RCS attitude controllers to flow.
Description of the drawings
Fig. 1 is RCS gesture stability principle schematics.
Fig. 2 is the modulation principle schematic diagram of PWM.
Fig. 3 is continuous torque and duty ratio mapping relations figure.
Fig. 4 (a)-Fig. 4 (b) is the modulation equivalence schematic diagram of PWM.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
Fig. 1 is RCS gesture stability principle schematics.
It is expressed as complete RCS gesture stabilities principle in figure, is made of attitude controller and PWM modulator.In design appearance
When state controller, it is assumed that executing agency exports continuous torque, then carries out control law using conventional linear system design method
Design and analysis.
Fig. 2 is the modulation principle schematic diagram of PWM.
A kind of reaction thrust device modulator approach based on pulse width modulation in the present embodiment, includes the following steps：
RCS reaction thrust devices are opened, continuous torque are modulated into the control instruction of the RCS, to be produced within the efficiently sampling period
The raw and continuous torque has the discrete torque of equivalence.
As preferred in the present embodiment, the efficiently sampling period refers to：In LINEAR CONTINUOUS domain.
As preferred in the present embodiment, the control instruction is switch order.
As preferred in the present embodiment, using duty ratio as the RCS control instructions.
As preferred in the present embodiment, the duty ratioIndicate the RCS opening times and sampling period
Between ratio, value range be [0 1].
As preferred in the present embodiment, the continuous torque Mc=MrcsDR, MrcsFor jet pipe torque.
As preferred in the present embodiment, the efficiently sampling periodWherein ωhMost high frequency in system in order to control
Rate component.
As preferred in the present embodiment, the efficiently sampling periodωcFor appearance in RCS attitude control systems
State controller cutoff frequency.
As preferred in the present embodiment, the RCS uses discrete or switching mode operating mode.
The RCS that one kind in the present embodiment being based on pulse width modulation (Pulse-Width Modulation, PWM) is modulated
Method；Using PWM method, the design of RCS gesture stabilities can be decoupled into two mutually independent design links：Posture control
Device design and PWM modulator design processed.Attitude controller is designed in continuous domain, it is assumed that RCS exports continuous torque, can profit
With ripe linear system design theory；The switch that the continuous torque that attitude controller exports is modulated into RCS by PWM modulator refers to
It enables, generates the discrete torque that there is equivalence with continuous torque.
The invention also discloses a kind of reaction thrust device modulating device based on pulse width modulation, including：Posture control
Device and PWM modulator processed, the attitude controller, to export continuous force in RCS reaction thrust devices according to attitude error
Square；The PWM modulator, the continuous torque to be modulated into the control instruction of the RCS, in the efficiently sampling period
Interior generation and the continuous torque have the discrete torque of equivalence.
By the way that the design process of RCS gesture stabilities is decoupled into two mutually independent design links in the present embodiment：Appearance
State controller design and PWM modulator design.Attitude controller design carries out in continuous domain, it is assumed that and RCS exports continuous torque,
And using ripe lineary system theory；The continuous torque that attitude controller exports is modulated into the switch of RCS by PWM modulator
Instruction, to generate the discrete torque that there is equivalence with continuous torque.PWM method makes the analysis of RCS attitude controllers
Ripe linear system control theory can be utilized with design, reduces design difficulty.Simultaneously as Linear Control can be used
Method optimizes, therefore, it is possible to reduce demand of the RCS attitude controllers to flow as far as possible.
The principle of the present invention：
Attitude control law design is premised on RCS exports continuous torque, and actually RCS can only use discrete, switch
The operating mode of type.PWM modulation indeed achieves " bridge joint " of continuous torque and discrete torque, by controlling the switch of RCS,
RCS is set to generate and the equivalent discrete torque of continuous torque.
In order to meet " the continuous torque " of attitude controller it is assumed that PWM modulator need to meet following two conditions：
1) equivalence：The discrete torque and continuous torque that RCS is generated must have equivalence, i.e., " impulse equivalency "；
2) effective：RCS allows for generating equivalent torque within the time that controller allows, to meet control need
It asks.
For " equivalence " and " timeliness " requirement of PWM modulator, the invention discloses the design sides of PWM modulator
Method includes the selection of its modulation principle and sampling period.It is " equivalent that its modulation principle so that discrete torque and continuous torque have
Property ", select the suitable sampling period so that discrete torque has " timeliness ".
1, PWM modulation principle
The core concept of PWM modulation is impulse equivalency principle, such as formula (1).
Mrcs·ton=Mc·T (1)
Wherein MrcsFor jet pipe torque, McFor continuous torque, T is sampling period, tonFor the RCS opening times.Formula (1) can be with
It is described as：RCS passes through tonThe unlatching of period carrys out the continuous torque M in an equivalent sampling period T timecDemand.
In order to realize the Linear Mapping of continuous torque and RCS control instructions.The concept for introducing duty ratio, such as formula (2).
Ratios of the duty ratio DR between RCS opening times and sampling period, value range are [0 1].Then jet pipe torque
Mrcs, continuous torque McThere is relationship shown in formula (3) between duty ratio DR.
Mc=Mrcs·DR (3)
By formula (3) it is found that continuous is linear relationship between torque and duty ratio, as shown in figure 3, being continuous torque and duty
Compare mapping relations figure.
It can be seen that can make to meet between continuous torque and the discrete torques of RCS as RCS control instructions using duty DR ratios
" equivalence ".It is the modulation equivalence schematic diagram PWM modulation equivalence schematic diagram of PWM as described in Fig. 4 (a)-Fig. 4 (b).
2, the sampling period selects
According to impulse equivalency principle, introduces duty ratio and be used as RCS control instructions, make continuous torque and RCS discrete forces
Have between square " equivalence ", but PWM modulation must also meet " timeliness " requirement of control system.Actual effect is presented as
RCS exports the time interval of an equivalent moment, i.e. sampling period.
Sampling period is closely related with the bandwidth of control system, and control system bandwidth is bigger, and the sampling period then needs
It is smaller.Shannon's sampling theorem defines the relationship between sample frequency, such as formula (4).
Wherein ωhHighest frequency component in control system.Due to actual control system and limited bandwidth conditions are unsatisfactory for, work
ω is generally taken in journeyh=5 ωcTo carry out approximation.Then system sampling frequency and control system cutoff frequency ωcBetween relationship be：
For RCS attitude control systems, ωcFor attitude controller cutoff frequency.
Those of ordinary skills in the art should understand that：More than, described is only specific embodiments of the present invention, and
It is not used in the limitation present invention, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done,
It should be included within protection scope of the present invention.
Claims (5)
1. a kind of reaction thrust device modulator approach based on pulse width modulation, which is characterized in that include the following steps：
RCS reaction thrust devices are opened, continuous torque are modulated into the control instruction of the RCS, in the efficiently sampling period
Interior generation and the continuous torque have the discrete torque of equivalence,
The efficiently sampling periodWherein ωhHighest frequency component in system in order to control,
The efficiently sampling periodωcFor attitude controller cutoff frequency in RCS attitude control systems,
Using duty ratio as the RCS control instructions, the duty ratioIndicate the RCS opening times and sampling
Ratio between period, value range are [0 1], the continuous torque Mc=MrcsDR, MrcsFor jet pipe torque.
2. reaction thrust device modulator approach according to claim 1, which is characterized in that the efficiently sampling period is
Refer to：In LINEAR CONTINUOUS domain.
3. reaction thrust device modulator approach according to claim 1, which is characterized in that the control instruction is that switch refers to
It enables.
4. reaction thrust device modulator approach according to claim 1, which is characterized in that the RCS using discrete or
The operating mode of switching mode.
5. a kind of reaction thrust device modulating device based on pulse width modulation, which is characterized in that using such as claim 1 institute
The reaction thrust device modulator approach stated, described device include：Attitude controller and PWM modulator,
The attitude controller, to export continuous torque in RCS reaction thrust devices according to attitude error；
The PWM modulator, the continuous torque to be modulated into the control instruction of the RCS, in efficiently sampling week
The discrete torque that there is equivalence with the continuous torque is generated in phase.
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Citations (4)
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|---|---|---|---|---|
| US6471161B1 (en) * | 1999-12-27 | 2002-10-29 | Lockheed Martin Corporation | Satellite attitude control system |
| CN102400879A (en) * | 2011-11-18 | 2012-04-04 | 北京理工大学 | Propellant spraying device for liquid pulse plasma thruster |
| CN104868551A (en) * | 2015-05-29 | 2015-08-26 | 西北工业大学 | FPGA-based small satellite MPPT control system |
| CN105059572A (en) * | 2015-07-27 | 2015-11-18 | 哈尔滨工业大学 | Translation control method of air floating platform based on PWM |
-
2016
- 2016-07-12 CN CN201610547089.2A patent/CN106167104B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6471161B1 (en) * | 1999-12-27 | 2002-10-29 | Lockheed Martin Corporation | Satellite attitude control system |
| CN102400879A (en) * | 2011-11-18 | 2012-04-04 | 北京理工大学 | Propellant spraying device for liquid pulse plasma thruster |
| CN104868551A (en) * | 2015-05-29 | 2015-08-26 | 西北工业大学 | FPGA-based small satellite MPPT control system |
| CN105059572A (en) * | 2015-07-27 | 2015-11-18 | 哈尔滨工业大学 | Translation control method of air floating platform based on PWM |
Non-Patent Citations (1)
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| 基于脉宽调制的反作用控制系统技术;周宇等;《信息与电子工程》;20120831;第10卷(第4期);pp446-pp450 * |
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Effective date of registration: 20220119 Address after: 211100 No.1 Dongji Avenue, Jiangning Development Zone, Nanjing, Jiangsu Province Patentee after: Nanjing tuogong Intelligent Technology Co.,Ltd. Address before: Room C1935, 24 Building No. 2, Nicheng Road, Pudong New Area, Shanghai Patentee before: SHANGHAI TOPXGUN ROBOTICS Co.,Ltd. |