CN106542118B - A method of normal attitude being restored to from magnet-wheel joint control state control using flywheel - Google Patents
A method of normal attitude being restored to from magnet-wheel joint control state control using flywheel Download PDFInfo
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- CN106542118B CN106542118B CN201610879238.5A CN201610879238A CN106542118B CN 106542118 B CN106542118 B CN 106542118B CN 201610879238 A CN201610879238 A CN 201610879238A CN 106542118 B CN106542118 B CN 106542118B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000006641 stabilisation Effects 0.000 claims abstract description 6
- 238000011105 stabilization Methods 0.000 claims abstract description 6
- 238000011084 recovery Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 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
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 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
-
- 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 method of normal attitude being restored to from magnet-wheel joint control state using flywheel and being controlled, step is：(1) the rotating speed control instruction of pitch orientation flywheel can be sent to spaceborne computer in such a way that number is noted in remote control in the setting of satellite remote control system；(2) when satellite is in magnet-wheel joint control state, the instruction so that pitch orientation Speed of Reaction Wheels zero setting is injected to spaceborne computer, spaceborne computer is connected to the instruction of zero setting later in the real-time rotational speed omega of each controlling cycle acquisition pitch orientation flywheelY, and judge ωYWhether=0 is true, enters in next step if setting up；If invalid, by ωYC=ωY△ ω are sent to pitch orientation flywheel as the rotating speed of target of the controlling cycle, so that its rotating speed is reduced △ ω on the basis of original rotating speed, and judge afterwards to enter in next step between the real-time rotating speed of pitch orientation flywheel is in 0~△ ω by several controlling cycles；(3) rotating speed of each flywheel remains unchanged on star, and three-axis stabilization gesture stability is gradually restored to after being connected to note number instruction.
Description
Technical field
The invention belongs to satellite gravity anomaly technical fields, and in particular to a kind of to be adjusted to the attitude of satellite using flywheel
Method.
Background technology
There are three types of the executing agencies often configured on satellite：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, safe mode generally has magnet-wheel joint control this most on star
The control model of small configuration, the pattern be under satellite emergency rating, using on star minimal configuration and minimum energy demand, it is real
Existing satellite Direct to the sun.The pattern, which needs to open on Y-direction flywheel, is screwed into maximum speed, and Y-direction flywheel no longer has tune in this case
The ability at section control attitude of satellite angle and angular speed, and in order to be restored to the normal three-axis stabilization state of satellite, it is necessary to use it
His executing agency such as thruster carries out the recovery of state of a control, and is controlled using thruster, it is also necessary to the letter of gyro
Using and access for the information of breath and attitude sensor (such as infrared or star is quick), these sensitive single machines and executing agency can be to being
Regiment commander carrys out probabilistic security risk, even more so that satellite high speed rotation.
Invention content
Present invention solves the technical problem that being：Overcome the deficiencies of the prior art and provide it is a kind of as possible using flywheel as
Executing agency makes the method that satellite is controlled from magnet-wheel joint control pattern recovery to normal attitude, can improve the safety of satellite control
Property.
Technical solution of the invention is：It is a kind of to be restored to what normal attitude controlled from magnet-wheel joint control state using flywheel
Method includes the following steps：
(1) when satellite remote control system designs, setting can turn pitch orientation flywheel in such a way that number is noted in remote control
Fast control instruction is sent to spaceborne computer；
(2) it when satellite is in magnet-wheel joint control state, is injected to spaceborne computer so that pitch orientation Speed of Reaction Wheels zero setting
Instruction, spaceborne computer is connected to the real-time rotating speed for acquiring pitch orientation flywheel after the instruction of zero setting in each controlling cycle
ωY, and judge ωYWhether=0 is true, enters in next step if setting up；If invalid, by ωYC=ωY- △ ω conducts
The rotating speed of target of the controlling cycle is sent to pitch orientation flywheel, its rotating speed is made to reduce △ ω on the basis of original rotating speed, and
Judged by several controlling cycles rear into next step between the real-time rotating speed of pitch orientation flywheel is in 0~△ ω；
(3) rotating speed of each flywheel remains unchanged on star, after being connected into the note number instruction for restoring normal condition gradually
It is restored to three-axis stabilization gesture stability.
The △ ω are a fixed value, and value is min (Δ ω (k)), wherein Δ ω (k)=My(k) × Δ T/J,
Period, J are the angular momentum of pitch orientation flywheel, M to Δ T in order to control in formulay(k) magnetic force provided in pitch orientation for magnetic torque
Square, k are required controlling cycle number.
In the step (2), the momentum change of pitch orientation flywheel in each control cycle is generated by magnetic torquer
Magnetic torque absorb.
The advantages of the present invention over the prior art are that：
(1) the method for the present invention realizes for the first time gradually drops to the slow-speed of revolution under magnet-wheel joint control pattern by the rotating speed of Y-direction flywheel,
The magnetic torque that the angular momentum that period generates is generated by magnetic torquer absorbs to offset.After operating in this way, flywheel is at the low rotational speed
There are larger control ability adjusting control attitude of satellite angle and angular speed so that can return to normal control mould subsequently through flywheel
Formula.Avoiding must be carried out caused by control recovery state not under normal circumstances using other executing agencies such as thruster
Certainty security risk；
(2) it gives pitch orientation flywheel control rotating speed reserved remote control note number parameter due to being designed in the method for the present invention, grasps
Only the rotating speed control instruction need to be sent to spaceborne computer in such a way that number is noted in remote control when making, because the method is easy on star real
Now and terrestrial operation.
Description of the drawings
Fig. 1 is the flow diagram of the method for the present invention.
Specific implementation mode
The basic principle of the method for the present invention 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；When injecting rotating speed with last instruction rotating speed difference, changed with each controlling cycle small
Rotating speed is injected after amount rotating speed △ ω, during which the momentum change of flywheel is absorbed by the magnetic torque that magnetic torquer generates；It is restored to just
Before normal posture, the rotating speed of injection Y-direction flywheel is 0, and the instruction is responded on star；Y-direction Speed of Reaction Wheels is gradually to 0, hereafter, flies on star
Wheel speed remains unchanged, and until note number enters the full gesture mode of flywheel, hereafter system is gradually restored to normal attitude control by flow
System.
In order to which satellite can realize three-axis stabilization control, (the satellite body coordinate system on tri- axis 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 usually with
Orbital coordinate system overlaps, and satellite orbit coordinate system OoXoYoZo origins Oo refers in centroid of satellite, Zo axis in satellite orbit plane
To the earth's core；Xo axis perpendicular to Zo axis, and is directed toward heading in satellite orbit plane；Yo axis is determined by right-hand rule) usually
Each installation at least flywheel is respectively used to control the X-axis of satellite body coordinate system relative orbit coordinate system, Y-axis and Z axis
Posture.
The basic thought of magnet-wheel Direct to the sun scheme：It is real first using the minimal configuration on star after satellite loses posture
Existing satellite Direct to the sun, to ensure energy supply on star, to provide condition for further rescue.Minimal configuration single machine includes appearance
Rail control computer, Y-direction flywheel, magnetometer, magnetic torquer.
It includes mainly the following aspects that the pattern, which executes,：
1) Y-direction flywheel, which rises, is screwed into the negative rotating speed of highest and maintains always.
2) the instruction magnetic moment of magnetic torquer calculates
Generating magnetic moment on three quadrature axis of design is
In formula：K is gain coefficient,
Bi(k)、Bi(k-1) it is respectively current time and magnetic field intensity (i=x, y, z) that a upper sampling instant measures
Coded treatment is carried out to the magnetic moment calculated above, is sent to magnetic torquer.
Y-direction flywheel no longer has the ability of adjusting control attitude of satellite angle and angular speed under this state, in order to be restored to
The normal three-axis stabilization state of satellite, it is necessary to carry out control recovery state using other executing agencies such as thruster.And it is
Avoid the uncertain security risk brought using thruster control model, the method for the present invention be put forward for the first time using flywheel as
Executing agency makes satellite restore normal attitude control.
Therefore in order to be restored 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.It needs to ensure have remote control note number that the rotary speed instruction of Y-direction flywheel is dealt into spaceborne meter from system design thus
Calculation machine；When injecting rotating speed with last instruction rotating speed difference, the rate for changing a small amount of rotating speed △ ω with each controlling cycle arrives
Rotating speed is injected, during which the momentum change of flywheel is absorbed by the magnetic torque that magnetic torquer generates.
The selection of its Small Amount rotating speed △ ω is related with in-orbit magnetic torque, can be calculate by the following formula to obtain on ground every
One claps absorbent flywheel angular momentum changing value：
Δ ω (k)=My(k)×ΔT/J
Period, J are the angular momentum of Y-direction flywheel, M to Δ T in order to control in formulay(k) it is that magnetic torque is provided in pitch orientation (Y-direction)
Magnetic torque.
Finally when being realized on star, △ ω are a fixed value, can choose min (Δ ω (k)).
When concrete operations are implemented, generally first the rotating speed of injection Y-direction flywheel is 0, and the instruction is responded on star；Y-direction flywheel is gradual
Back to zero, the magnetic torque that the angular momentum during which generated is generated by magnetic torquer absorb to offset.After Y-direction flywheel back to zero, fly on star
Wheel speed remains unchanged, and until note number enters the full gesture mode of flywheel, hereafter system is gradually restored to normal attitude control by flow
System.Entire control flow is as shown in Figure 1.
The content that description in the present invention is not described in detail belongs to the known technology of those skilled in the art.
Claims (2)
1. a kind of being restored to the method that normal attitude controls using flywheel from magnet-wheel joint control state, it is characterised in that including walking as follows
Suddenly：
(1) when satellite remote control system designs, setting can be in such a way that 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 so that pitch orientation Speed of Reaction Wheels zero setting is injected to spaceborne computer
It enables, spaceborne computer is connected to the instruction of zero setting later in the real-time rotational speed omega of each controlling cycle acquisition pitch orientation flywheelY, and
Judge ωYWhether=0 is true, enters in next step if setting up；If invalid, by ωYC=ωY- △ ω are as the control
The rotating speed of target in period processed is sent to pitch orientation flywheel, so that its rotating speed is reduced △ ω on the basis of original rotating speed, and pass through
Several controlling cycles judge rear into next step between the real-time rotating speed of pitch orientation flywheel is in 0~△ ω；The △
ω is a fixed value, and value is min (Δ ω (k)), wherein Δ ω (k)=My(k) × Δ T/J, Δ T is all in order to control in formula
Phase, J are the angular momentum of pitch orientation flywheel, My(k) magnetic torque provided in pitch orientation for magnetic torque, k are required control
Number of cycles；
(3) rotating speed of each flywheel remains unchanged on star, gradually restores after being connected into the note number instruction for restoring normal condition
To three-axis stabilization gesture stability.
2. a kind of method being restored to normal attitude control from magnet-wheel joint control state using flywheel according to claim 1,
It is characterized in that：In the step (2), the momentum change of pitch orientation flywheel in each control cycle is produced by magnetic torquer
Raw magnetic torque absorbs.
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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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| 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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| CN106542118B true CN106542118B (en) | 2018-08-28 |
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| CN114476135B (en) * | 2022-02-22 | 2024-02-09 | 中国空间技术研究院 | Satellite bias momentum flywheel hot standby method |
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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| 基于反作用飞轮和磁力矩器的小卫星姿态联合控制算法;陈闽等;《吉林大学学报》;20100715;第40卷(第4期);第1155-1160页 * |
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