CN106494643A - A kind of attitude of satellite abnormal restoring control method based on the earth's core Vector Message - Google Patents
A kind of attitude of satellite abnormal restoring control method based on the earth's core Vector Message Download PDFInfo
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Abstract
For avoid celestial body attitude exception and gyro to measure saturation and be difficult to by the problem of abnormal pose recovery to normal running status over the ground, and reduce system degree of dependence of the reliability to gyro in orbit, based on the earth's core vector measurement of infrared earth sensor, the present invention proposes the satellite speed damping under a kind of deficient attitude measurement and turns the control method of stable operation over the ground.The method is using angular momentum biasing technique means and measurement the earth's core vector in celestial body system orientation and its change information, the control law for taking into account celestial body rate damping and the thick absolute orientation of celestial body is devised, and biasing angular momentum control steady in a long-term is proceeded to for the satellite under gyro free angular velocity measurement and is provided condition.
Description
Technical Field
The invention belongs to the field of spacecraft attitude determination and control, and relates to a satellite attitude control method which is suitable for a spacecraft adopting offset momentum control and provided with an infrared earth sensor.
Background
A large number of small satellites in China all adopt a bias momentum control mode, gyro measurement information can not be adopted in the control mode under normal conditions, and a gyro configured by the system is only used for occasions such as initial normal attitude establishment, orbit control time satellite attitude control, abnormal attitude recovery and the like. When the satellite on-orbit attitude is abnormal and exceeds the gyro range, the satellite three-axis attitude angular velocity measurement cannot be realized, the abnormal attitude is difficult to recover to a normal stable operation state due to the fact that the speed of the satellite is too high, and therefore the gyro state is one of key factors for restricting the reliability and safety of all on-orbit satellite systems in China at present.
The existing method for recovering the abnormal attitude of the spacecraft to the normal operation not only utilizes an optical attitude sensor (such as an infrared earth sensor and sun sensor combination, a star sensor and the like) to obtain the three-axis attitude of a star body, but also often depends on the angular velocity information of a gyroscope to measure. Therefore, due to the limitation of the range of the gyroscope, the control method may not be capable of controlling the spacecraft from the abnormal posture to the normal posture, and is not beneficial to the on-orbit safe operation of the spacecraft.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method solves the problem that the reliability of the system is affected due to the fact that information of a plurality of measuring sensors including a gyroscope needs to be relied on simultaneously in the prior art, provides a satellite attitude anomaly recovery control method for obtaining earth center vector information only by means of measurement of a single earth sensor, provides conditions for controlling satellite switching-in stable bias angular motion under the condition of no gyroscope angular velocity measurement, solves the problem of attitude recovery control under the condition of satellite attitude anomaly under the condition of no gyroscope measurement, further reduces or even cancels the dependence of a satellite system on the gyroscope, and improves the safety of the on-orbit operation of a spacecraft.
The technical solution of the invention is as follows: a satellite attitude anomaly recovery control method based on geocentric vector information comprises the following steps:
(1) establishing offset angular momentum on a Y axis of a satellite body coordinate system through a momentum wheel;
(2) after the momentum wheel is normally biased and started and the output data of the infrared earth sensor is effective, the measurement information of the infrared earth sensor obtains the expression E of the current geocentric unit vector in the satellite body coordinate systemb,k＝[Ebx,kEby,kEbz,k]TAnd calculating the balance angle at that timeA balance angle vector and a satellite velocity, wherein:
wherein the earth center unit vector historical value Eb,k-1The value obtained when the infrared earth sensor is effective last time, N is the interval period of the current effective value and the previous effective historical value measured by the infrared earth sensor, and delta t is the attitude measurement period of the infrared earth sensor;
(3) carrying out speed damping and coarse ground pointing control, wherein the specific implementation control law is as follows:
whereinIs a constant number greater than zero and is,is a balance angleThe amount of the offset of (a) is,τCCthe moment control quantity provided for the actuating mechanism is calculated by the control law;
(4) determinationAndif yes, switching to bias angular momentum ground stable control, otherwise, returning to the step (3); wherein,and ωVLimRespectively a flat angle deviation amplitude threshold value and an angular velocity amplitude threshold value.
And N is less than or equal to 5. SaidHas a value range ofSaidHas a value range ofSaidThe value is between 10 and 30 degrees. The angle deviation amplitude threshold value of the balanceHas a value range ofThe angular velocity amplitude threshold value omegaVLimIs in the range of 0 DEG<ωVLim≤0.2°。
The control rate of the bias angular momentum to the ground stable control in the step (4) is as follows:
τBC,z＝-αψτBC,x，
wherein tau isBC,x、τBC,y、τBC,zRespectively the three-axis control moment of the star body,Kθ、Kωx、Kωyis a constant larger than zero and has a value range of0<Kθ<10，0<Kωx<100、0<Kωy<100，αψIs a non-negative constant, 0 is not less than αψ≤1。
Compared with the prior art, the invention has the advantages that:
(1) according to the method, through balance angle offset control, the yaw angular velocity information can be reflected in the change motion of the geocentric vector, and the angular velocity information is obtained to effectively implement rate damping, necessary conditions are provided for satellite damping and attitude rough-to-ground stable operation control, and the problem of insufficient attitude measurement that the existing attitude measurement method cannot obtain the satellite yaw angular velocity information only by means of an infrared earth sensor during rate damping is solved;
(2) the method of the invention controls a multi-balance state complex system of a balance angle offset control system through star-Y axis angular momentum offset, namely, a balance point is a geocentric vector and a Z axis and a half cone angle around an orbital systemAll postures when any generatrix on the conical surface is superposed are transformed into a simple system with an isolated balance state, the balance point of the new system obtained by transformation is only the star body posture when the geocentric vector is superposed on two generatrixes vertical to the Y axis of the track system, namely the yaw posture and the yaw angular speed of the star body are not measurable but the actual values are theoretically zero, so that the problem that the star body cannot be shifted into a normal ground running state only through the measurement of an infrared earth sensor when the geocentric vector of the star body falls into any position of the conical surface and the yaw initial posture is unknown is avoided, and the control design and engineering technology realization problems of the original complex system with the multi-balance point nonlinear characteristic are solved;
(3) the method can solve the problem of spacecraft attitude recovery control under attitude anomaly when no gyroscope is used for measurement, effectively solves the problem that no angular velocity feedback and no information can be used when the attitude anomaly angular velocity of the spacecraft is too high in the prior art, and can further reduce or even cancel the dependence of a system on the gyroscope.
Compared with the prior full-attitude capturing technology, the method of the invention generally needs different three-axis attitude measurement information, based on the concept of the balance angle, adopts the whole-star angular momentum bias strategy and the balance angle control method, realizes the three-axis damping and attitude-to-ground pointing control of the star under the condition of only under-measurement of the attitude of the infrared earth sensor, effectively avoids the risk that the satellite cannot be shifted to normal and stable operation to the ground due to the fact that the attitude sensor is invalid under the large angular velocity of the star, improves the reliability of the satellite system, and reduces the dependence of the abnormal handling of the long-life periodic satellite system on a gyro component.
Drawings
FIG. 1 is a block flow diagram of the method of the present invention;
FIG. 2 is a graph of the three-axis attitude angle (a) and angular velocity (b) of a satellite according to the present invention;
FIG. 3 is a schematic view showing the change of the angle of the balance according to the present invention;
FIG. 4 is a schematic diagram of an included angle between a Y-axis of a satellite body coordinate system and a Y-axis of an orbit system according to the present invention;
FIG. 5 is a diagram of sub-mode flags for each phase of the present invention.
Detailed Description
As shown in fig. 1, a flow chart of a method for controlling recovery of abnormal satellite attitude based on geocentric vector information according to the present invention includes the following specific steps:
(1) for the stable earth orientation satellite to keep three-axis stability on the orbit and control the earth orientation (namely keeping the body coordinate system of the satellite to be coincident with the orbit system), an angular momentum management device (such as a momentum wheel and a control moment gyro) is adopted to establish offset angular momentum in the negative Y-axis (-Y-axis) direction of the satellite body.
The definition of the orbital coordinate system is: the origin point is the center of mass of the satellite, the Z axis points to the geocentric, the X axis is perpendicular to the Z axis and points to the speed direction of the satellite in the orbit plane, and the Y axis, the X axis and the Z axis form a right-hand rectangular coordinate system and are parallel to the normal direction of the orbit plane.
The satellite body coordinate system is defined as: the origin is the center of mass of the satellite, and for the directional satellite, when the attitude of the satellite body is zero (namely when the satellite body coordinate system is coincident with the reference system orbit coordinate system), the Z axis points to the center of earth, the X axis points to the flight direction of the satellite, and the Y axis, the X axis and the Z axis form a right-hand rectangular coordinate system.
When the offset momentum is along the negative direction of the pitch axis (namely-Y axis), the stability of the satellite rolling-yawing channel can be improved, and the specific analysis process can be seen in the following steps: satellite orbit attitude dynamics and control, Beijing: beijing university of aerospace publishers, 1998: 172-175.
(2) Acquiring geocentric vectors and processing data:
under the condition that the output data of the infrared earth sensor is effective through effectiveness judgment (such as wild rejection, whether the output data is influenced by sun and moon and the like), the infrared earth sensor measures and outputs a geocentric unit vector, and the balance angle and the star speed information are calculated. The method specifically comprises the following steps:
when the measurement output of the infrared earth sensor is effective, the coordinate E of the current geocentric unit vector under the satellite body coordinate system is obtained through the measurement informationb,k＝[Ebx,kEby,kEbz,k]TAnd the historical value E of the last effective output time of the infrared earth sensor is savedb,k-1。
Balance angleDefined as E in the geocentric unit vectorbz,kAnd the included angle between the coordinate system of the satellite body and the Z axis is obtained by the following steps:
vector of angle of balanceDefined as the earth's center vector unit vector Eb,kAnd the normal direction of the plane where the coordinate system of the satellite body and the Z axis are located is obtained by the following steps:
wherein Ebx,k、Eby,kAs a current geocentric unit vector Eb,kThe correlation component of (a).
The star speed information output by the infrared earth sensor twice before and after is used as
Wherein, the earth center unit vector historical value Eb,k-1The value obtained when the infrared earth sensor is effective in the previous time is not necessarily the previous period value. When the historical value Eb,k-1Taking N as 1 when the value is the previous period value; and when the value is the value of the first two periods, taking N as 2, and so on. Generally, N is less than or equal to 5, and the historical value E is obtained after N exceeds a limited number of timesb,k-1And updating and assigning the value of the effective data to be obtained and then using the effective data. Delta t is the attitude measurement period of the infrared earth sensor, and N is the interval period of the current effective value and the previous effective historical value measured by the infrared earth sensor
The physical meaning of formula (3) is: according to the value E before and after the geocentric vector changeb,k、Eb,k-1The vector obtained by the cross multiplication operation is perpendicular to the directions before and after the change of the geocentric vector, namely the change direction of the geocentric vector, and the modulus of the vector is obtained (namely the length of the vector is the sine value of the included angle in the directions before and after the change of the geocentric vector, and the vector can be approximated to the included angle before and after the change when the interval before and after the change of the geocentric vector is not large, which is also the reason for limiting the N value in the invention); then, the vector obtained by dividing the time interval N.DELTA.t is taken as the change direction of the geocentric vector and the modulus is the change rate of the included angle.
The method for calculating the geocentric vector from the data measured by the infrared earth sensor can be specifically seen in the following steps: luzheng bell, Recuudu, satellite attitude measurement and determination, Beijing: national defense industry press, 2013: 130-134.
(3) After the offset angular momentum is built, the speed damping and coarse ground pointing control based on the geocentric vector are switched, and the specific implementation control law is as follows:
wherein,is a constant greater than zero, typically inThe value of the compound is within the range,is a balance angleThe amount of the offset of (a) is,taking the value of between 10 and 30 degrees, tauCCThe control quantity calculated by the control law is the torque command provided for the actuator to realize.
Formula (4) comprises two parts, wherein the first partBy applying a unit vector E along the vertical geocentric vectorb，kAnd the moment of the satellite body coordinate system + Z axis, so thatNamely, control to realize geocentric unit vector Eb,kTo the set conical surface; rear partBy applying torque control in opposite directions of movement of the earth's centre vectorTo the energy dissipation effect, so that the geocentric vector unit vector Eb,kStably kept on the setting conical surface. In addition, the bias angular momentum established in the star-Y axis direction generates gyro moment along with orbital motion, and the spacecraft attitude tends to be a stable balance point attitude when the geocentric vector is superposed on one of the front and rear buses which are vertical to the Y axis of the orbital system and on the conical surface under the controlled energy dissipation.
(4) After the coarse ground pointing control is implemented, i.e. after(general balance angular deviation amplitude threshold value taking)) And is(general angular velocity information amplitude threshold value is 0 DEG)<ωVLimNot more than 0.2 deg.C, and shifting to offset angular momentum to control stably. At the moment, the input information is a rolling angle acquired by the infrared earth sensorAnd a pitch angle theta (the angle is described by an Euler angle of a spacecraft body coordinate system relative to an orbit coordinate system, a yaw angle psi is an included angle between the projection of a spacecraft rolling axis X on a local horizontal plane and an orbit system X axis, the pitch angle theta is an included angle between a satellite rolling axis X and the projection of the satellite rolling axis X on the local horizontal plane, and a rolling angle thetaThe included angle between the pitching axis Y of the spacecraft and the projection of the pitching axis Y on the local horizontal plane is shown. The detailed definitions can be found in: satellite orbit attitude dynamics and control, Beijing: beijing university of aerospace publishers, 1998: 137 — 143; ) And star rolling angular velocity obtained by processing attitude information measured by infrared earth sensorAnd pitch angular velocityThe specific three-axis control law is as follows:
wherein, tauBC,x、τBC,y、τBC,zRespectively the three-axis control moment of the star body,Kθ、Kωx、Kωyis a constant greater than zero and generally has a value range of0<Kθ<10，0<Kωx<100、0<Kωy<100，αψIs a non-negative constant, generally 0 ≦ αψ≤1。
And the momentum control of the offset angle performs momentum offset on a star pitch axis through the star, and the rolling angle and the yaw angle of the satellite are alternately coupled with each other based on the track compass principle. The roll angle measurement includes yaw angle information, and yaw control is simultaneously and indirectly achieved through roll control without independent yaw attitude measurement information. The bias momentum control type (5) control law adopted by the method can well solve the control of the spacecraft from the abnormal attitude to the normal ground final stage, so as to realize the integrity of the system implemented by the whole set of strategies of abnormal rate damping, rough ground orientation and normal ground orientation under the condition of no gyro configuration. For a spacecraft system provided with a gyroscope, after star rate damping and rough ground orientation are realized through the formula (4), the gyroscope measurement can be ensured to exit a saturation state, so that the three-axis attitude ground-to-ground stable control of the star can be directly realized by directly adopting an infrared earth sensor and gyroscope measurement attitude information.
Measuring and calculating rolling angle by infrared earth sensorThe calculation related to the pitch angle θ can be seen in: luzheng bell, Recuudu, satellite attitude measurement and determination, Beijing: national defense industry press, 2013: 130-134.
Examples
Using angular momentum HwIn the system configured by 15Nms 4 momentum wheels and two infrared earth sensors, air injection is adopted for attitude control in the normal ground-facing process, and the system is switched to a long-term operation state controlled by the offset angular momentum wheel after the offset angular momentum control is normal.
Each parameter is set as
ωVLim＝0.2°/s
Kθ＝5、Kωx＝15、Kωy＝15，αψ＝1
The specific implementation is as follows (wherein the variable S of the work sub-mode word is used in each stageMODETo distinguish):
1) establishing offset angular momentum: carrying out angular momentum bias of-12 Nms on the satellite pitch axis momentum wheel and juxtaposing SMODEAnd 1 (offset starting stage), and the thruster is not controlled in the process. Before the angular momentum bias is established, the attitude of the satellite is uncontrollable and freely rotates, and the attitude and the angular speed of the satellite are shown in fig. 2 before 10000 seconds;
2) geocentric vector acquisition and geocentric vector-based rate damping and coarse-to-ground pointing control: after the momentum wheel is started normally in an offset mode and the output data of the infrared earth sensor is valid, the process is switched to SMODE2, attitude measurement obtains geocentric vector E from valid infrared output datab,kAnd balance angle vectorAnd calculating satellite angular velocity according to the effective infrared output of the previous and next timesAttitude control is based on a balance angle and nutation damping control, and the corresponding control law is formula (4). From the 10000-30000 second data of FIG. 2(b), it can be seen that the three-axis angular velocity of the star body is controlled to decay below 0.2/s rapidly in the period, and the balance angle is controlled to be around 10 degree in the same period as that given by FIG. 3.
3) Offset angular momentum air injection control: when it is satisfied withIf the condition is satisfied, the three-axis angular velocity satisfies the requirement and the pitching attitude angle is less than 5 degrees, the S is convertedMODEThe control law is formula (5) 3 (offset angular momentum jet control phase). In this sub-mode, it can be seen from fig. 2(a) that the star body will eliminate the three-axis attitude error of the star body and further reduce, and it can be seen from fig. 4 that the Y axis of the star body approaches the Y axis of the orbital system after 30000 seconds.
4) The offset angular momentum is stably controlled to the ground: 40000 seconds at star hour shifts to SMODEEntering into long-term bias angular momentum wheel control as 4, and measuring the attitude as a rolling angle acquired by an infrared earth sensorFrom pitch angle theta, and differential star roll and pitch velocityThe control law is as shown in formula (5),from fig. 2, it can be known that the 40000 seconds star attitude and the attitude angular velocity both tend to zero.
The working sub-mode character S of each stageMODEThe variation process is shown in fig. 5.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (8)
1. A satellite attitude anomaly recovery control method based on geocentric vector information is characterized by comprising the following steps:
(1) establishing offset angular momentum on a Y axis of a satellite body coordinate system through a momentum wheel;
(2) after the momentum wheel is normally biased and started and the output data of the infrared earth sensor is effective, the measurement information of the infrared earth sensor obtains the expression E of the current geocentric unit vector in the satellite body coordinate systemb,k＝[Ebx,kEby,kEbz,k]TAnd calculate what is at that timeBalance angleA balance angle vector and a satellite velocity, wherein:
wherein the earth center unit vector historical value Eb,k-1The value obtained when the infrared earth sensor is effective last time, N is the interval period of the current effective value and the previous effective historical value measured by the infrared earth sensor, and delta t is the attitude measurement period of the infrared earth sensor;
(3) carrying out speed damping and coarse ground pointing control, wherein the specific implementation control law is as follows:
whereinIs a constant number greater than zero and is,is a balance angleThe amount of the offset of (a) is,τCCthe moment control quantity provided for the actuating mechanism is calculated by the control law;
(4) determinationAndwhether or not the conditions are satisfied at the same time,if yes, switching to bias angular momentum ground stable control, otherwise, returning to the step (3); wherein,and ωVLimRespectively a flat angle deviation amplitude threshold value and an angular velocity amplitude threshold value.
2. The method for controlling recovery from abnormal attitude of satellite based on geocentric vector information as claimed in claim 1, wherein: and N is less than or equal to 5.
3. The method for controlling recovery from abnormal attitude of satellite based on geocentric vector information as claimed in claim 1, wherein: saidHas a value range of
4. The method for controlling recovery from abnormal attitude of satellite based on geocentric vector information as claimed in claim 1, wherein: saidHas a value range of
5. The method for controlling recovery from abnormal attitude of satellite based on geocentric vector information as claimed in claim 1, wherein: saidThe value is between 10 and 30 degrees.
6. The method for controlling recovery from abnormal attitude of satellite based on geocentric vector information as claimed in claim 1, wherein: the angle deviation amplitude threshold value of the balanceHas a value range of
7. The method for controlling recovery from abnormal attitude of satellite based on geocentric vector information as claimed in claim 1, wherein: the angular velocity amplitude threshold value omegaVLimIs in the range of 0 DEG<ωVLim≤0.2°。
8. The method for controlling recovery from abnormal attitude of satellite based on geocentric vector information as claimed in claim 1, wherein: the control rate of the bias angular momentum to the ground stable control in the step (4) is as follows:
wherein tau isBC,x、τBC,y、τBC,zRespectively the three-axis control moment of the star body,Kθ、Kωx、Kωyis a constant larger than zero and has a value range of0<Kθ<10，0<Kωx<100、0<Kωy<100，αψIs a non-negative constant, 0 is not less than αψ≤1。
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| CN111007865A (en) * | 2019-12-18 | 2020-04-14 | 中国人民解放军国防科技大学 | Satellite stable earth orientation method using sun-to-day orientation deviation as constraint |
| CN114172557A (en) * | 2021-11-10 | 2022-03-11 | 北京控制工程研究所 | RDSS-based intelligent satellite-borne remote sensing system |
| CN114172557B (en) * | 2021-11-10 | 2024-05-14 | 北京控制工程研究所 | Intelligent satellite-borne remote sensing system based on RDSS system |
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