CN106507770B - A kind of method with gravity gradient satellite rail control is realized without towing technology - Google Patents
A kind of method with gravity gradient satellite rail control is realized without towing technologyInfo
- Publication number
- CN106507770B CN106507770B CN201218000789.2A CN201218000789A CN106507770B CN 106507770 B CN106507770 B CN 106507770B CN 201218000789 A CN201218000789 A CN 201218000789A CN 106507770 B CN106507770 B CN 106507770B
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- gravity gradient
- towing
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Abstract
The invention provides a kind of method with gravity gradient satellite rail control is realized without towing technology, using without towing and attitude control system-include exact posture point to control and track resistance compensation control, the flight environment of vehicle under " pure gravitation " effect required for gravity gradient satellite is achieved, which comprises the following steps：Determine without towing and attitude control system hardware configuration scheme；The attitude determination method of design weight gradient former；Design resistance compensation scheme.The present invention is using gravity gradiometer as attitude angular velocity sensor and using magnetic torquer as attitude control actuator, the effect of flywheel when substituting the effect of gyro when conventional satellite attitude angular velocity is measured and stability contorting, reduce the disturbance to satellite, the requirement that the control of rail drag compensation can achieve the super quiet super steady platform required by gravity gradient satellite is simultaneously fitted within, gravitational field inversion accuracy is effectively improved.
Description
Technical field
The present invention relates to satellite orbit and attitude control technology, specifically weight is realized with without towing technology
The method of power gradient satellite rail control.
Background technology
For Gravisat, the influence that irregular gravitational field is measured gravitational field is with orbit altitude
And weaken.Therefore, satellite orbital altitude is lower, and the earth's gravity field change that satellite can be measured that is stronger.
In order to improve resolution ratio of the satellite to measured gravitational field as far as possible, realize and recover high accuracy and high spatial
Orbit altitude where the target of resolution ratio gravitational field, satellite is relatively low (250km~300km).But, track
Lower, the resistance that satellite is subject to is bigger.By taking orbit altitude 250km as an example, the big vapour lock that satellite is subject to
Power is up to mN grades, this far beyond payload-gravity gradiometer of Gravisat range,
Make it can not normal work because of saturation；In addition, satellite orbit decay is also very serious caused by atmospheric drag.
Existing Gravisat mainly measures gravitational field by the way of star-star tracking, for suffered by satellite
The processing mode of resistance is to utilize the spaceborne accelerometer measures resistance of high accuracy, then sharp in data processing
Drag perturbation acceleration is replaced with star accelerometer observed quantity, following shortcoming is shown：
1) cost is high, at least needs two satellites；
2) speed is slow, benefit is low.Orbit altitude is high, and satellite velocities are slow, causes measurement data to update slow；
3) gravitational field inversion accuracy is poor.The precision and range of gravity gradiometer are mutually restricted, in order that
Institute's measuring acceleration data (including in-orbit resistance) are needed without departing from accelerometer range, the range of accelerometer
Amplify, this causes measurement accuracy step-down, finally make it that inversion accuracy is poor.
If the technology of the in-orbit compensation resistance of research and development, is provided one intimate " pure gravitation " for gravity gradiometer
Flight environment of vehicle under effect, makes it from entering saturation state because of excessive acceleration and carries out rail
Road is kept.
The content of the invention
It is an object of the invention to provide a kind of with the side that gravity gradient satellite rail control is realized without towing technology
Method, it being capable of resistance, the payload gravity gradient of solution gravity gradient satellite suffered by in-orbit compensation satellite
The needs of problems of AF panel of the instrument in frequency domain, improves gravimetric precision.
Idea of the invention is that：Gravity gradient satellite without towing control use accelerometer pattern；Control
Loop is divided into mass control loop and satellite body control loop, and mass control loop is quick using inertia
Sensor mechanism obtains deviation of the mass relative to accelerometer body, then realizes confrontation using electrostatic force
The control of gauge block, mass resets the measurement that required power is satellite body acceleration in accelerometer.
On the one hand satellite body control loop needs to complete three-axis stabilization control, on the other hand according to mass loop
The acceleration information of feedback offsets the resistance suffered by satellite.
In order to reach foregoing invention purpose, one kind of the invention realizes gravity gradient satellite with without towing technology
The method of rail control, it comprises the following steps：
Step one：Determine that gravity gradient satellite control system is configured, including gravity gradiometer, GPS, the sun
Earth sensor, thruster, magnetic torquer, star sensor and magnetometer；Gradiometry satellite
Very sensitive to resistance, on the one hand accurate compensation includes the data after the preceding ion thrust-compensating of measurement and measurement
Processing compensation, on the other hand strictly limits the various perturbed forces inside satellite platform, such as rotatable parts are produced
Raw frictional force.Therefore, flywheel and gyro etc. can not all be applied on gradiometry satellite.It is based on
Gravity gradient satellite system configuration without towing technology includes：A pair of ion thrusters, for heading
Drag compensation；A set of cold air thruster, for load calibration；Three magnetic torquers, for gesture stability；
Gravity gradiometer, for the measurement of linear and angular acceleration and the measurement of gravity gradient data；Two GPS
Receiver, for determining to refer to attitude and precise orbit determination；Three star sensors, are determined for attitude；
Three three axis magnetometers, for measuring earth's magnetic field；Six sun, earth sensors；
Step 2：The observational equation of design weight gradient former；Control subsystem is required without towing control mode
Receive the measurement signal from gravity gradiometer, gravity gradiometer obtain signal in have " common mode " and
" differential mode " signal, wherein from " differential mode " signal the observed quantity of gravity gradient can be obtained and for satellite
Angular speed.And " common mode " signal is then by adding that the resistances such as atmospheric drag and solar light pressure are caused to celestial body
Speed by propulsion plant compensation, it is necessary to be fallen.Control subsystem must receive from gravity gradiometer measurement
Signal, common-mode signal therein is extracted.In conjunction with GPS Receiver of Satellite, star sensor etc.
Data, determine satellite position in space and attitude, provide control instruction signal, change and promote dress
The thrust size put and direction, the acceleration that the resistances such as atmospheric drag, solar light pressure are caused to celestial body are mended
Repay.
Step 3：Satellite body and multiple quality are set up using Newton-Euler equation and dAlembert principle
Kinetic model between block simultaneously designs interference observer；Satellite dynamics is set up to realize without towing satellite
Ultra quiet platform is, it is necessary to study dynamic (dynamical) many aspects, and current driving force research can be divided into dynamic
Mechanical modeling and interference observer design two major classes.
Established according to Newton-Euler equation and dAlembert principle between satellite body and multiple masses
Kinetic model, including satellite body motion dynamics equations, attitude dynamic equations and attitude kinematics
The kinetics equation of the single free degree of relative motion and observation between equation, and mass and satellite body
Equation.
Gravity gradient satellite is disturbed has dynamic characteristic over time, for disturbance-proof design disturbance-observer
Device.In low orbit satellite perturbative force, the compression of the Earth perturbation accounts for major part, but due to gravity gradient satellite
Measurement is exactly gravity anomaly, so ellipticity perturbation is not included within disturbance.Except the earth draws
Outside power, atmospheric drag perturbation 2~3 magnitudes higher than other resistances during low rail.Mass is located at satellite body
Inside, is not influenceed by atmospheric drag, thus atmospheric drag perturbation be the difference of the perturbation of no towing system formation most
Main factor.Using big between the relative status observation inverting observation moment between satellite and mass
Atmidometer and integrative trend extrapolated forecasting method observation the moment after atmospheric drag and carry out real-time identification.
Step 4：Design is based on mixing H2/H∞The system controller of method come suppress interference, both ensure system
Robustness, also reaches that systematic function is optimal.Controller is designed, the control of gradiometry satellite includes
Orbits controlling and gesture stability without towing.The purpose of orbits controlling is to eliminate to disappear using ion propeller
Eliminate another except main resistances such as the atmospheric drags on the heading axis of rolling, and using cold air micromass culture
Resistance on outer two direction of principal axis.Influence each other and mutually constrain in view of gesture stability and orbits controlling,
Therefore gravity gradient satellite uses integrated design without towing rail control.Can have without towing control algolithm
The disturbance for suppressing satellite body and mass of effect, and have to the uncertainty of interference preferable robustness and
Stability.Based on mixing H2/H∞Method design system controller.
The present invention is using the Attitude and orbit control that gravity gradient satellite is realized without towing technology, with existing skill
Art is compared, and its advantage and beneficial effect are：
1) do not influenceed based on the gravity gradient satellite without towing technology by inertial acceleration and can be with more
High accuracy and resolution ratio recover earth gravitational field；
2) measurement of the attitude angular velocity and angular acceleration of gravity gradient satellite is carried by gravity gradiometer
For while correcting its deviation using the quick measured value of high-precision star again, measurement accuracy is high, so as to ensure
The attitude control accuracy of gradiometry satellite is higher, is advantageously implemented the foundation of satellite ultra quiet platform；
3)H2/H∞System H can be realized2Performance and H∞Trading off for performance, both ensure that the robustness of system,
There is clear and definite AF panel, while also realizing the optimal of systematic function as far as possible, be conducive to aerial mission
Complete.
Brief description of the drawings
Fig. 1 is gravity gradient satellite system configuration schematic diagram of the present invention；
Fig. 2 is gravity gradient satellite Control system architecture block diagram of the present invention；
Fig. 3 is electrostatic suspension differential gravity gradient former structural representation of the present invention.
Embodiment
The inventive method is described in further detail below with reference to drawings and Examples.
As shown in figure 1, the payload of gravity gradient satellite is gravity gradiometer.In order to recover a wide range of
Gravitational field composition, gravity gradiometer supplements deficiency it is necessary to have precision orbit determination, and this is accomplished by GPS
Receiver.GPS location and speed also refer to attitude for real-time estimate, that is, determine orbital coordinate system.Cause
It is related to orbital coordinate system for gravity measurement, so gesture stability must make satellite body system and track system weight
Close.The observed quantity of gravity gradiometer can obtain the part attitude data of satellite, but gradient former is present partially
Difference, it will produce attitude drift, in order to carry out accurate measurement to the attitude of satellite, it is necessary to there is a star quick
Sensor coordinates gradient former measurement attitude information.Thus it can also draw, the attitude obtained by gravity gradiometer
The attitude data that data and star sensor are obtained for two load are carried out mutually mark compared with.On low rail
Smooth low noise microthruster is needed without towing control, thrust size is tens of mN, and the corresponding time is less than
1s, can use ion thruster.Cold air thruster is to be used for load calibration and track transverse axis drag compensation.
Magnetometer coordinates magnetic torquer to be mainly used in gesture stability.The sun, earth sensor are mainly in satellite fortune
The yaw axis of satellite body is locked to nadir by row when thick directing mode, and the axis of rolling is adjusted to and satellite speed
Spend direction consistent；
As shown in Fig. 2 satellite obtains status information using the mode of a variety of sensor integrated navigations.Tradition
Control model under, rail control subsystem is can independently to obtain the running status of satellite in space；
Control subsystem can be according to GPS, sun sensor, star sensor, infrared earth sensor
Data carry out the independent track and attitude information for obtaining satellite, drive momenttum wheel further according to control strategy, push away
Power device, magnetic torquer are controlled.Without under towing control model, GPS exports digital command-centroid of satellite
DisplacementAnd speedGravity gradiometer exports digital command-linear accelerationAnd angular accelerationStar
Sensor exports attitude informationGo out satellite inertial barycenter position using GPS and gravity gradiometer combinational estimation
PutSpeed andAnd satellite linear accelerationAnd then estimate track system transition matrixIt is instantaneous with track
SpeedGo out attitude of satellite angle using star sensor and gravity gradiometer combinational estimationAngular speedAnd angle
AccelerationDrag acceleration is also obtained during thisWith environment angular accelerationHere it is needing
We go compensation with without towing control.
The executing agency of satellite is eliminated by the way of ion thruster and microthruster combination to complete resistance
And gesture stability.It is long-range that gravitational field satellite belongs to the atmospheric drag being subject on low orbit satellite, heading
The resistance being subject in two other direction, if only choosing a kind of executing agency, chooses that thrust is larger holds
Row mechanism, will increase the error of resistance elimination；And choose the less executing agency of thrust, then it can fly
Resistance can not all be eliminated on line direction.In order to solve this problem, the side of thruster combination is employed
Formula, wherein ion thruster are used for the drag compensation of heading, and microthruster is pushed away by Flied emission electricity
(FEEP) technology is used for transverse axis drag compensation and Attitude Tracking.
The data of gravitational field reconstruct are also that the mode combined by a variety of sensors is obtained.Wherein GPS measurements
Orbital data can provide accurate low order harmonics data for reconstruct, and high-order is humorous during gravity gradiometer can be provided
Wave number evidence, both can complement each other.Using without towing technology, the dry of the resistance that satellite is subject to can be reduced
Disturb, so that help is all played in the recovery to gravitational field low order and higher order coefficient.
As shown in figure 3, electrostatic suspension difference gradient former is by three pairs of electrostatic suspension three axis accelerometers (totally 6
It is individual) composition, six Electrostatically suspended accelerometers are respectively along the axle disposed orthogonals of Oxyz tri- on satellite, symmetrically
Centroid of satellite O is centrally located at, the mass barycenter of each accelerometer deviates the distance of centroid of satellite for r,
Mass is only acted in addition to gravitation and inertia force by accelerometer electrostatic force, matter in the case of dynamic balance
Gauge block is relative to satellite remains stationary.It can be obtained by the observation differential mode to coaxial two accelerometers
Gravity gradient data and remaining angle angular speed, common mode can obtain remaining linear acceleration.It should be noted
It is that differential gravity gradient is very faint, and the dynamic range of Electrostatically suspended accelerometer is limited.Therefore,
Gradiometry must be used without drag mode, i.e., obtain drag acceleration in itself using gravity gradiometer
Data, microthrust system is supplied to as control signal, implements feedback control, and offset resistance influence is real
Now without towed flight.
Claims (4)
1. it is a kind of with the method that gravity gradient satellite rail control is realized without towing technology, it is characterised in that：Bag
Include following steps：
Step one：Determine that gravity gradient satellite control system is configured, including gravity gradiometer, GPS, the sun
Earth sensor, thruster, magnetic torquer, star sensor and magnetometer；
Step 2：The observational equation of design weight gradient former；
Step 3：Satellite body and multiple quality are set up using Newton-Euler equation and dAlembert principle
Kinetic model between block simultaneously designs interference observer；
Step 4：Design is based on mixing H2/H∞The system controller of method come suppress interference, both ensure system
Robustness, also reaches that systematic function is optimal.
2. it is according to claim 1 with the method that gravity gradient satellite rail control is realized without towing technology,
It is characterized in that：In the step one, gravity gradiometer uses electrostatic differential gravity gradient former, thrust
Device selects ion thruster and cold air thruster.
3. according to claim 1 or 2 realize gravity gradient satellite rail control with without towing technology
Method, it is characterised in that：In the step 2, the observational equation of design weight gradient former first sets up weight
The observational equation of single accelerometer inside power gradient former, then by the observational equation of coaxial two accelerometers
Differential mode and common mode, differential mode obtain gravity gradient data and remaining angular acceleration, and common mode obtains residual line acceleration
Degree.
4. it is according to claim 3 with the method that gravity gradient satellite rail control is realized without towing technology,
It is characterized in that：The remaining angular acceleration gone out with gravity gradiometer data calculation derives satellite angular speed,
Gyro action in conventional satellite is substituted, the remaining linear acceleration that gravity gradiometer data calculation goes out, which is derived, to be defended
External resistance suffered by star, and then drag compensation is carried out by control system.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107380484A (en) * | 2017-06-06 | 2017-11-24 | 上海卫星工程研究所 | Based on magnetic buoyancy device control system without momenttum wheel satellite platform |
| CN108873093A (en) * | 2018-07-12 | 2018-11-23 | 临沂大学 | A kind of airborne gradiometer is from gradient compensation method |
| CN108871312A (en) * | 2018-07-09 | 2018-11-23 | 北京控制工程研究所 | A kind of joint method for determining posture of gravity gradiometer and star sensor |
| CN109976360A (en) * | 2019-03-11 | 2019-07-05 | 北京控制工程研究所 | A kind of thruster configuration method based on configuring matrix |
| CN111505941A (en) * | 2020-05-11 | 2020-08-07 | 北京控制工程研究所 | Acceleration mode self-adaptive drag-free control method based on first-order feature model |
| CN111580388A (en) * | 2020-05-11 | 2020-08-25 | 北京控制工程研究所 | Displacement mode differential golden section self-adaptive drag-free control method |
| CN111638643A (en) * | 2020-05-07 | 2020-09-08 | 北京控制工程研究所 | Displacement mode drag-free control dynamics coordination condition determination method |
| CN112632700A (en) * | 2020-12-22 | 2021-04-09 | 上海卫星工程研究所 | Flywheel signal acquisition method and system for satellite attitude and orbit control general comprehensive test |
| CN113200154A (en) * | 2021-03-31 | 2021-08-03 | 北京控制工程研究所 | Displacement mode drag-free control method for eliminating static error |
| CN115808881A (en) * | 2023-01-21 | 2023-03-17 | 中国科学院数学与系统科学研究院 | On-orbit quality estimation method and self-adaptive control method for drag-free satellite |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380484A (en) * | 2017-06-06 | 2017-11-24 | 上海卫星工程研究所 | Based on magnetic buoyancy device control system without momenttum wheel satellite platform |
| CN108871312A (en) * | 2018-07-09 | 2018-11-23 | 北京控制工程研究所 | A kind of joint method for determining posture of gravity gradiometer and star sensor |
| CN108873093A (en) * | 2018-07-12 | 2018-11-23 | 临沂大学 | A kind of airborne gradiometer is from gradient compensation method |
| CN108873093B (en) * | 2018-07-12 | 2019-11-05 | 临沂大学 | A kind of airborne gradiometer is from gradient compensation method |
| CN109976360B (en) * | 2019-03-11 | 2021-10-01 | 北京控制工程研究所 | Thruster configuration method based on configuration matrix |
| CN109976360A (en) * | 2019-03-11 | 2019-07-05 | 北京控制工程研究所 | A kind of thruster configuration method based on configuring matrix |
| CN111638643B (en) * | 2020-05-07 | 2022-07-05 | 北京控制工程研究所 | Displacement mode drag-free control dynamics coordination condition determination method |
| CN111638643A (en) * | 2020-05-07 | 2020-09-08 | 北京控制工程研究所 | Displacement mode drag-free control dynamics coordination condition determination method |
| CN111580388A (en) * | 2020-05-11 | 2020-08-25 | 北京控制工程研究所 | Displacement mode differential golden section self-adaptive drag-free control method |
| CN111505941A (en) * | 2020-05-11 | 2020-08-07 | 北京控制工程研究所 | Acceleration mode self-adaptive drag-free control method based on first-order feature model |
| CN111580388B (en) * | 2020-05-11 | 2022-08-09 | 北京控制工程研究所 | Displacement mode differential golden section self-adaptive drag-free control method |
| CN112632700A (en) * | 2020-12-22 | 2021-04-09 | 上海卫星工程研究所 | Flywheel signal acquisition method and system for satellite attitude and orbit control general comprehensive test |
| CN113200154A (en) * | 2021-03-31 | 2021-08-03 | 北京控制工程研究所 | Displacement mode drag-free control method for eliminating static error |
| CN115808881A (en) * | 2023-01-21 | 2023-03-17 | 中国科学院数学与系统科学研究院 | On-orbit quality estimation method and self-adaptive control method for drag-free satellite |
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