CN106542118A - A kind of method that utilization flywheel is controlled from magnet-wheel joint control recovering state to normal attitude - Google Patents
A kind of method that utilization flywheel is controlled from magnet-wheel joint control recovering state to normal attitude Download PDFInfo
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- CN106542118A CN106542118A CN201610879238.5A CN201610879238A CN106542118A CN 106542118 A CN106542118 A CN 106542118A CN 201610879238 A CN201610879238 A CN 201610879238A CN 106542118 A CN106542118 A CN 106542118A
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- flywheel
- rotating speed
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- magnet
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000006641 stabilisation Effects 0.000 claims abstract description 6
- 238000011105 stabilization Methods 0.000 claims abstract description 6
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 238000011084 recovery Methods 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000002745 absorbent Effects 0.000 description 1
- 239000002250 absorbent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000000243 solution Substances 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
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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
Abstract
A kind of method that utilization flywheel is controlled from magnet-wheel joint control recovering state to normal attitude, step is：(1) arrange and by way of number is noted in remote control the rotating speed control instruction of pitch orientation flywheel can be sent to spaceborne computer in satellite remote control system；(2) when satellite is in magnet-wheel joint control state, the instruction for causing pitch orientation Speed of Reaction Wheels zero setting is injected to spaceborne computer, spaceborne computer gathers the real-time rotational speed omega of pitch orientation flywheel in each controlling cycle after being connected to the instruction of zero settingY, and judge ωYWhether=0 set up, and next step is entered if setting up；If be false, by ωYC=ωY△ ω are sent to pitch orientation flywheel as the rotating speed of target of the controlling cycle so as to which rotating speed reduces △ ω on the basis of original rotating speed, and judges that the real-time rotating speed of pitch orientation flywheel enters next step after being between 0～△ ω by several controlling cycles；(3) on star, the rotating speed of each flywheel remains unchanged, and after being connected to note number instruction is gradually restored to three-axis stabilization gesture stability.
Description
Technical field
The invention belongs to satellite gravity anomaly technical field, and in particular to one kind is adjusted to the attitude of satellite using flywheel
Method.
Background technology
On satellite, often the actuator of configuration has three kinds：Thruster, counteraction flyback (abbreviation flywheel) and magnetic torquer.Just
In the case of often, satellite operation is in flywheel control model.
With the raising to satellite gravity anomaly security requirement, on star, safe mode typically has magnet-wheel joint control this most
The control model of little configuration, the pattern are under satellite emergency rating, using the minimal configuration on star and minimum energy demand, reality
Existing satellite Direct to the sun.The pattern needs to open Y-direction flywheel and is screwed into maximum speed, and Y-direction flywheel no longer possesses tune in this case
Section control attitude of satellite angle and the ability of angular velocity, and in order to return to the normal three-axis stabilization state of satellite, it is necessary to use which
His actuator such as thruster is being controlled the recovery of state, and is controlled using thruster, in addition it is also necessary to the letter of gyro
Using and accessing for the information of breath and attitude sensor (such as infrared or star quick etc.), these sensitive units and actuator can be to being
Regiment commander carrys out probabilistic potential safety hazard, even more so that satellite rotates at a high speed.
The content of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, there is provided it is a kind of as far as possible by the use of flywheel as
Actuator causes the method that satellite is controlled from magnet-wheel joint control pattern recovery to normal attitude, can improve the safety of satellite control
Property.
The present invention technical solution be：What a kind of utilization flywheel was controlled from magnet-wheel joint control recovering state to normal attitude
Method, comprises the steps：
(1) in satellite remote control system design, arrange can remote control note number by way of by pitch orientation flywheel turn
Fast control instruction is sent to spaceborne computer；
(2) when satellite is in magnet-wheel joint control state, inject to spaceborne computer and cause pitch orientation Speed of Reaction Wheels zero setting
Instruction, spaceborne computer is connected to after the instruction of zero setting the real-time rotating speed that pitch orientation flywheel is gathered in each controlling cycle
ωY, and judge ωYWhether=0 set up, and next step is entered if setting up；If be false, by ωYC=ωY- △ ω conducts
The rotating speed of target of the controlling cycle is sent to pitch orientation flywheel so as to which rotating speed reduces △ ω on the basis of original rotating speed, and
Judge that the real-time rotating speed of pitch orientation flywheel enters next step after being between 0～△ ω by several controlling cycles；
(3) on star, the rotating speed of each flywheel remains unchanged, until being connected to into after the note number instruction of recovery normal condition gradually
Return to three-axis stabilization gesture stability.
Described △ ω are a fixed value, and value is min (Δ ω (k)), wherein Δ ω (k)=My(k) × Δ T/J,
In formula Δ T be controlling cycle, J for pitch orientation flywheel angular momentum, MyK magnetic force that () is provided in pitch orientation for magnetic torque
Square, controlling cycle numbers of the k for needed for.
In the step (2), momentum change of the pitch orientation flywheel in each controlling cycle is produced by magnetic torquer
Magnetic torque absorb.
Present invention advantage compared with prior art is：
(1) the inventive method realizes first and the rotating speed of Y-direction flywheel is dropped to the slow-speed of revolution gradually under magnet-wheel joint control pattern,
The magnetic torque that the angular momentum that period produces is produced by magnetic torquer is offsetting absorption.After so operating, flywheel is at the low rotational speed
There is larger control ability to adjust control attitude of satellite angle and angular velocity so that normal control mould can be returned to subsequently through flywheel
Formula.Avoid generally recovery state must be controlled using other actuator such as thrusters and be brought not
Definitiveness potential safety hazard；
(2) as remote control note number parameter reserved to pitch orientation flywheel control rotating speed, behaviour are designed in the inventive method
Only the rotating speed control instruction need to be sent to spaceborne computer by way of number is noted in remote control when making, therefore method is easy on star real
Now and terrestrial operation.
Description of the drawings
FB(flow block)s of the Fig. 1 for the inventive method.
Specific embodiment
The ultimate principle of the inventive method is：Ensureing from system design view can be by Y-direction flywheel by remote control note number
Rotary speed instruction is dealt into spaceborne computer；It is when injecting rotating speed and being different from last instruction rotating speed, little with each controlling cycle change
Rotating speed is injected after amount rotating speed △ ω, the momentum change of period flywheel is absorbed by the magnetic torque that magnetic torquer is produced；Just return to
Often before attitude, the rotating speed for injecting Y-direction flywheel is 0, and the instruction is responded on star；Y-direction Speed of Reaction Wheels gradually to 0, hereafter, flies on star
Wheel speed remains unchanged, and enters the full gesture mode of flywheel until noting number, and hereafter system is gradually restored to normal attitude control by flow process
System.
In order to satellite can realize three-axis stabilization control, (the satellite body coordinate system on tri- axles of X, Y, Z of satellite body
The origin O of OXYZ in centroid of satellite, absolute orientation three axis stabilized satellite under normal steady state flight progress the coordinate system generally with
Orbital coordinate system overlaps, and satellite orbit coordinate system OoXoYoZo origin Oo refers in satellite orbit plane in centroid of satellite, Zo axles
To the earth's core；Xo axles perpendicular to Zo axles, and point to heading in satellite orbit plane；Yo axles press right-hand rule determination) generally
At least one flywheel is respectively installed, X-axis, Y-axis and the Z axis of control satellite body coordinate system relative orbit coordinate system are respectively used to
Attitude.
The basic thought of magnet-wheel Direct to the sun scheme：It is after satellite loses attitude, real first using the minimal configuration on star
Existing satellite Direct to the sun, to guarantee energy supply on star, so as to provide condition for further rescue.Minimal configuration unit includes appearance
Rail control computer, Y-direction flywheel, gaussmeter, magnetic torquer.
The pattern is performed：
1) Y-direction flywheel rises and is screwed into the negative rotating speed of highest and maintains always.
2) the instruction magnetic moment of magnetic torquer is calculated
Magnetic moment is produced on three normal axis of design is
In formula：K is gain coefficient,
Bi(k)、Bi(k-1) it is respectively the magnetic field intensity (i=x, y, z) that current time and a upper sampling instant are measured
The magnetic moment calculated to more than carries out coded treatment, is sent to magnetic torquer.
Under this state, Y-direction flywheel no longer possesses the ability for adjusting control attitude of satellite angle and angular velocity, in order to return to
The normal three-axis stabilization state of satellite, it is necessary to be controlled recovery state using other actuators such as thruster.And be
Avoid the uncertain potential safety hazard brought using thruster control model, the inventive method propose first by the use of flywheel as
Actuator causes satellite to recover normal attitude control.
Therefore in order to be able to return to normal attitude using flywheel, it is necessary first to by Y-direction flywheel under magnet-wheel joint control pattern
Rotating speed drops to the slow-speed of revolution.Need to ensure have remote control note number that the rotary speed instruction of Y-direction flywheel is dealt into spaceborne meter from system design for this
Calculation machine；When injecting rotating speed and being different from last instruction rotating speed, arrived with the speed of each controlling cycle change a small amount of rotating speed △ ω
Injection rotating speed, the momentum change of period flywheel are absorbed by the magnetic torque that magnetic torquer is produced.
The selection of its Small Amount rotating speed △ ω is related with in-orbit magnetic torque, can be calculated often by following formula on ground
One claps absorbent flywheel angular momentum changing value：
Δ ω (k)=My(k)×ΔT/J
In formula Δ T be controlling cycle, J for Y-direction flywheel angular momentum, MyK () is provided in pitch orientation (Y-direction) for magnetic torque
Magnetic torque.
When finally realizing on star, △ ω are a fixed value, can choose min (Δ ω (k)).
When concrete operations are implemented, the rotating speed for typically first injecting Y-direction flywheel is 0, and the instruction is responded on star；Y-direction flywheel is gradually
Back to zero, the magnetic torque that the angular momentum that period produces is produced by magnetic torquer is offsetting absorption.After Y-direction flywheel back to zero, fly on star
Wheel speed remains unchanged, and enters the full gesture mode of flywheel until noting number, and hereafter system is gradually restored to normal attitude control by flow process
System.Whole control flow is as shown in Figure 1.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (3)
1. a kind of method that utilization flywheel is controlled from magnet-wheel joint control recovering state to normal attitude, it is characterised in that including following step
Suddenly：
(1) in satellite remote control system design, arranging can be by way of number be noted in remote control by the rotating speed control of pitch orientation flywheel
System instruction is sent to spaceborne computer；
(2) when satellite is in magnet-wheel joint control state, the finger for causing pitch orientation Speed of Reaction Wheels zero setting is injected to spaceborne computer
Order, spaceborne computer gather the real-time rotational speed omega of pitch orientation flywheel in each controlling cycle after being connected to the instruction of zero settingY, and
Judge ωYWhether=0 set up, and next step is entered if setting up；If be false, by ωYC=ωY- △ ω are used as the control
The rotating speed of target in cycle processed is sent to pitch orientation flywheel so as to which rotating speed reduces △ ω on the basis of original rotating speed, and passes through
Several controlling cycles judge that the real-time rotating speed of pitch orientation flywheel enters next step after being between 0～△ ω；
(3) on star, the rotating speed of each flywheel remains unchanged, and gradually recovers until being connected to into after the note number instruction of recovery normal condition
To three-axis stabilization gesture stability.
2. the method that a kind of utilization flywheel according to claim 1 is controlled from magnet-wheel joint control recovering state to normal attitude,
It is characterized in that：Described △ ω are a fixed value, and value is min (Δ ω (k)), wherein Δ ω (k)=My(k)×ΔT/
J, in formula Δ T be controlling cycle, J for pitch orientation flywheel angular momentum, MyK magnetic force that () is provided in pitch orientation for magnetic torque
Square, controlling cycle numbers of the k for needed for.
3. the side that a kind of utilization flywheel according to claim 1 and 2 is controlled from magnet-wheel joint control recovering state to normal attitude
Method, it is characterised in that：In the step (2), momentum change of the pitch orientation flywheel in each controlling cycle passes through magnetic torque
The magnetic torque that device is produced absorbs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610879238.5A CN106542118B (en) | 2016-10-08 | 2016-10-08 | A method of normal attitude being restored to from magnet-wheel joint control state control using flywheel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610879238.5A CN106542118B (en) | 2016-10-08 | 2016-10-08 | A method of normal attitude being restored to from magnet-wheel joint control state control using flywheel |
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| CN106542118A true CN106542118A (en) | 2017-03-29 |
| CN106542118B CN106542118B (en) | 2018-08-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114476135A (en) * | 2022-02-22 | 2022-05-13 | 中国空间技术研究院 | Hot standby method for satellite bias momentum flywheel |
Citations (7)
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| US5130931A (en) * | 1990-07-13 | 1992-07-14 | General Electric Company | Spacecraft attitude and velocity control system |
| JPH08268394A (en) * | 1995-03-29 | 1996-10-15 | Toshiba Corp | Unloading device for space navigation body |
| US7376496B1 (en) * | 2005-12-13 | 2008-05-20 | Lockheed Martin Corporation | Spacecraft magnetic momentum control system |
| CN101934863A (en) * | 2010-09-29 | 2011-01-05 | 哈尔滨工业大学 | Satellite posture all-round controlling method based on magnetic moment device and flywheel |
| CN103523243A (en) * | 2013-10-12 | 2014-01-22 | 上海新跃仪表厂 | Non-biased momentum single-flywheel magnetizing control method |
| CN105644810A (en) * | 2016-02-05 | 2016-06-08 | 上海微小卫星工程中心 | Open-loop control method for rotation speed change of reaction wheels and unloading method |
| CN105966639A (en) * | 2016-05-11 | 2016-09-28 | 上海微小卫星工程中心 | Stable control system and method for satellite spinning around sun |
-
2016
- 2016-10-08 CN CN201610879238.5A patent/CN106542118B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5130931A (en) * | 1990-07-13 | 1992-07-14 | General Electric Company | Spacecraft attitude and velocity control system |
| JPH08268394A (en) * | 1995-03-29 | 1996-10-15 | Toshiba Corp | Unloading device for space navigation body |
| US7376496B1 (en) * | 2005-12-13 | 2008-05-20 | Lockheed Martin Corporation | Spacecraft magnetic momentum control system |
| CN101934863A (en) * | 2010-09-29 | 2011-01-05 | 哈尔滨工业大学 | Satellite posture all-round controlling method based on magnetic moment device and flywheel |
| CN103523243A (en) * | 2013-10-12 | 2014-01-22 | 上海新跃仪表厂 | Non-biased momentum single-flywheel magnetizing control method |
| CN105644810A (en) * | 2016-02-05 | 2016-06-08 | 上海微小卫星工程中心 | Open-loop control method for rotation speed change of reaction wheels and unloading method |
| CN105966639A (en) * | 2016-05-11 | 2016-09-28 | 上海微小卫星工程中心 | Stable control system and method for satellite spinning around sun |
Non-Patent Citations (1)
| Title |
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| 陈闽等: "基于反作用飞轮和磁力矩器的小卫星姿态联合控制算法", 《吉林大学学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114476135A (en) * | 2022-02-22 | 2022-05-13 | 中国空间技术研究院 | Hot standby method for satellite bias momentum flywheel |
| CN114476135B (en) * | 2022-02-22 | 2024-02-09 | 中国空间技术研究院 | Satellite bias momentum flywheel hot standby method |
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| CN106542118B (en) | 2018-08-28 |
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