CN106774371A - A kind of 8 thruster realizes the satellite three-axis attitude control method of fully redundance - Google Patents
A kind of 8 thruster realizes the satellite three-axis attitude control method of fully redundance Download PDFInfo
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- CN106774371A CN106774371A CN201710018556.7A CN201710018556A CN106774371A CN 106774371 A CN106774371 A CN 106774371A CN 201710018556 A CN201710018556 A CN 201710018556A CN 106774371 A CN106774371 A CN 106774371A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims abstract description 22
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 238000013016 damping Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000005507 spraying Methods 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
-
- 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 invention discloses the satellite three-axis attitude control method that a kind of 8 thruster realizes fully redundance, comprise the following steps：8 thrusters are divided into A groups thruster, B group thrusters by S1, and described A groups thruster includes A1 ~ A4 totally 4 thrusters；Described B groups thruster includes B1 ~ B4 totally 4 thrusters；S2, according to gas puff Z-pinch algorithm, obtains nominal positive and negative jet pulsewidth needed for the axis of rolling, pitch axis and yaw axis；S3, for A or B group thrusters, by the positive and negative jet pulsewidth correspondence of each axle to pulsewidth needed for each thruster；S4, each thruster is superimposed in each axle jet component, and to A or B groups thruster, each thruster pulsewidth maximum carries out equal proportion amplitude limit.The present invention makes, when any one group of group thruster has abnormal, to can switch to another group of thruster, only realizes that satellite three-axis attitude is controlled by 4 thrusters.
Description
Technical field
The present invention relates to satellite attitude control method, more particularly to a kind of 8 thruster realizes the axle of satellite three of fully redundance
Attitude control method.
Background technology
Thruster as satellite attitude control system important component, it is general multiple common to coordinate, by spraying working medium pair
The reaction force and torque of satellite, complete attitude damping after the satellier injection satellite and the rocket are separated, gesture stability, flywheel unloading, track guarantor
Hold, the function such as orbit maneuver.
Current satellite in orbit generally completes an attitude control for axle with single thruster, and backup is generally duplicate using two sets
Thruster is laid out；It is 6 without backing up most simple, double copies are most simple 12, it is considered to which rail control independence and ground configuration etc. are constrained, commonly uses
More than 16 layout design schemes of thruster.Above-mentioned thruster layout designs mode control algolithm is simple, but requires thruster
Number is more, and propulsion system circuit design and structure design are more complicated, and system weight is big.
The content of the invention
It is an object of the invention to provide the satellite three-axis attitude control method that a kind of 8 thruster realizes fully redundance, make
When any one group of group thruster has abnormal, another group of thruster is can switch to, only realize the axle appearance of satellite three by 4 thrusters
State is controlled.
In order to realize the above object the present invention is achieved by the following technical solutions：
A kind of 8 thruster realizes the satellite three-axis attitude control method of fully redundance, is characterized in, comprises the following steps：
8 thrusters are divided into A groups thruster, B group thrusters by S1, and described A groups thruster includes A1~A4 totally 4
Thruster；Described B groups thruster includes B1~B4 totally 4 thrusters；
S2, according to gas puff Z-pinch algorithm, obtains nominal positive and negative jet pulsewidth needed for the axis of rolling, pitch axis and yaw axis；
S3, for A group thrusters, by the positive and negative jet pulsewidth correspondence of each axle to pulsewidth needed for each thruster, by each thrust
Device is superimposed in each axle jet component, and to A groups thruster, each thruster pulsewidth maximum carries out equal proportion amplitude limit；
S4, for B group thrusters, by the positive and negative jet pulsewidth correspondence of each axle to pulsewidth needed for each thruster, by each thrust
Device is superimposed in each axle jet component, and to B groups thruster, each thruster pulsewidth maximum carries out equal proportion amplitude limit.
In described step S1：
When A groups thruster and B group thruster normal works, described A1 thrusters are used for the positive propulsion of the axis of rolling,
Described B1 thrusters are advanced for axis of rolling negative sense, and described A2 thrusters are used for the positive propulsion of pitch axis, described
B2 thrusters are advanced for pitch axis negative sense, and described A3, B3 thruster is used for the positive propulsion of yaw axis, and described the
A4, B4 thruster are advanced for yaw axis negative sense.
In described step S1：
When only A groups thruster works, described A1 thrusters are used for the positive propulsion of the axis of rolling, described A2,
A3, A4 thruster are advanced for axis of rolling negative sense, and described A2 thrusters are used for the positive propulsion of pitch axis, described A1,
A3, A4 thruster are advanced for pitch axis negative sense, and described A1, A2, A3 thruster is used for the positive propulsion of yaw axis, described
A1, A2, A4 thruster are advanced for yaw axis negative sense.
In described step S1：
When only B groups thruster works, described B2, B3, B4 thruster is used for the positive propulsion of the axis of rolling, described
B1 thrusters are advanced for axis of rolling negative sense, and described B1, B3, B4 thruster is used for the positive propulsion of pitch axis, described
B2 thrusters are advanced for pitch axis negative sense, and described B1, B2, B3 thruster is used for the positive propulsion of yaw axis, described
B1, B2, B4 thruster are advanced for yaw axis negative sense.
The present invention compared with prior art, with advantages below：
The present invention only realizes three axle gesture stabilities of satellite by 4 thrusters, i.e., only realize satellite by 8 thrusters
The fully redundance control of attitude.It is The present invention gives specific each thruster jet width calculation method and clear in the matrix form
The clear corresponding relation for expressing each thruster output pulse width and nominal pulsewidth, Project Realization is easy.
Brief description of the drawings
Fig. 1 is a kind of thruster layout of the present invention；
Fig. 2 is a kind of thruster layout of the present invention
Fig. 3 is the oblique switching line control algolithm figure of the present invention.
Specific embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
A kind of 8 thruster realizes the satellite three-axis attitude control method of fully redundance, comprises the following steps：
8 thrusters are divided into A groups thruster, B group thrusters by S1, and described A groups thruster includes A1~A4 totally 4
Thruster；Described B groups thruster includes B1~B4 totally 4 thrusters；(angle layout of each thruster is referring to Fig. 1-2)
S2, the gas puff Z-pinch algorithm according to oblique switching line obtains nominal positive and negative needed for the axis of rolling, pitch axis and yaw axis
Jet pulsewidth；
Tiltedly switch control algolithm mathematical description is as follows：
Wherein Ton1~Ton3Represent the corresponding jet pulsewidth instruction of oblique each subregion of switching line control algolithm；X1~X3Represent each
Bar switching line it is transversal away from Xpa~Xpc represents the vertical intercept of each switching line；Y1Celestial body angular speed amplitude limit value is represented, ω represents star
Body angular speed, s ω represent celestial body attitude, and τ represents switch line slope；
S3, for A group thrusters, by the positive and negative jet pulsewidth correspondence of each axle to pulsewidth needed for each thruster, by each thrust
Device is superimposed in each axle jet component, and to A groups thruster, each thruster pulsewidth maximum carries out equal proportion amplitude limit；
S4, for B group thrusters, by the positive and negative jet pulsewidth correspondence of each axle to pulsewidth needed for each thruster, by each thrust
Device is superimposed in each axle jet component, and to B groups thruster, each thruster pulsewidth maximum carries out equal proportion amplitude limit.
When A groups thruster and B group thruster normal works, described A1 thrusters are used for the positive propulsion of the axis of rolling,
Described B1 thrusters are advanced for axis of rolling negative sense, and described A2 thrusters are used for the positive propulsion of pitch axis, described
B2 thrusters are advanced for pitch axis negative sense, and described A3, B3 thruster is used for the positive propulsion of yaw axis, and described the
A4, B4 thruster are advanced for yaw axis negative sense.
Referring to table 1 below, when only A groups thruster works, described A1 thrusters are used for the positive propulsion of the axis of rolling, institute
A2, A3, A4 thruster stated are advanced for axis of rolling negative sense, and described A2 thrusters are used for the positive propulsion of pitch axis, institute
A1, A3, A4 thruster stated are advanced for pitch axis negative sense, and described A1, A2, A3 thruster is pushed away for yaw axis forward direction
Enter, described A1, A2, A4 thruster is advanced for yaw axis negative sense.
When only B groups thruster works, described B2, B3, B4 thruster is used for the positive propulsion of the axis of rolling, described
B1 thrusters are advanced for axis of rolling negative sense, and described B1, B3, B4 thruster is used for the positive propulsion of pitch axis, described
B2 thrusters are advanced for pitch axis negative sense, and described B1, B2, B3 thruster is used for the positive propulsion of yaw axis, described
B1, B2, B4 thruster are advanced for yaw axis negative sense.
The attitude orbit control thruster menu of table 1
(1) normal operation mode
The instruction of jet pulsewidth and three axles that oblique switching line algorithm (or rate damping algorithm) draws for giving each thruster are sprayed
Gaseous pulse corresponding relation wide is：
tA1=tonx+ tB1=tonx-
tA2=tony+ tB2=tony-
tA3=tonz+, tB3=tonz+
tA4=tonz- tB4=tonz-
(2) list A group working methods
Wherein tonx+And tonx-The positive jet pulsewidth instruction of X-axis is represented respectively and bears the instruction of jet pulsewidth, tony+And tony-Respectively
Represent the positive jet pulsewidth instruction of Y-axis and bear the instruction of jet pulsewidth, tonz+And tonz-The positive jet pulsewidth instruction of X-axis is represented respectively and is born
Jet pulsewidth is instructed；tA1~tA4Each thruster instruction jet pulsewidth of A groups, t are represented respectivelyB1~tB4Each thruster of B groups is represented respectively
Instruction jet pulsewidth；LxCorresponding A 2, the B2 thruster arm of forces, LyCorresponding A 1, the B1 thruster arm of forces, LrCorresponding A 3, B3, A4, B4 etc. is pushed away
The power device arm of force.
Amplitude limit in proportion and minimum pulse width are carried out to output：
Wherein max () is represented and is asked for maximum to input data.
(3) list B group working methods
Amplitude limit in proportion and minimum pulse width are carried out to output：
Wherein max () is represented and is asked for maximum to input data.
In sum, a kind of 8 thruster of the present invention realizes the satellite three-axis attitude control method of fully redundance, makes any
When one group of group thruster has abnormal, another group of thruster is can switch to, only realize satellite three-axis attitude control by 4 thrusters
System.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for of the invention
Various modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (4)
1. a kind of 8 thruster realizes the satellite three-axis attitude control method of fully redundance, it is characterised in that comprise the following steps：
8 thrusters are divided into A groups thruster, B group thrusters by S1, and described A groups thruster includes A1 ~ A4 totally 4 thrusts
Device；Described B groups thruster includes B1 ~ B4 totally 4 thrusters；
S2, according to gas puff Z-pinch algorithm, obtains nominal positive and negative jet pulsewidth needed for the axis of rolling, pitch axis and yaw axis；
S3, for A group thrusters, by the positive and negative jet pulsewidth correspondence of each axle to pulsewidth needed for each thruster, each thruster is existed
Each axle jet component superposition, to A groups thruster, each thruster pulsewidth maximum carries out equal proportion amplitude limit；
S4, for B group thrusters, by the positive and negative jet pulsewidth correspondence of each axle to pulsewidth needed for each thruster, each thruster is existed
Each axle jet component superposition, to B groups thruster, each thruster pulsewidth maximum carries out equal proportion amplitude limit.
2. 8 thruster as claimed in claim 1 realizes the satellite three-axis attitude control method of fully redundance, it is characterised in that
In described step S1：
When A groups thruster and B group thruster normal works, described A1 thrusters are used for the positive propulsion of the axis of rolling, described
B1 thrusters advanced for axis of rolling negative sense, described A2 thrusters are used for the positive propulsion of pitch axis, described B2
Thruster is advanced for pitch axis negative sense, and described A3, B3 thruster is used for the positive propulsion of yaw axis, described A4, B4
Thruster is advanced for yaw axis negative sense.
3. 8 thruster as claimed in claim 1 realizes the satellite three-axis attitude control method of fully redundance, it is characterised in that
In described step S1：
When only A groups thruster works, described A1 thrusters are used for the positive propulsion of the axis of rolling, described A2, A3, A4
Thruster is advanced for axis of rolling negative sense, and described A2 thrusters are used for the positive propulsion of pitch axis, described A1, A3, A4
Thruster is advanced for pitch axis negative sense, and described A1, A2, A3 thruster is used for the positive propulsion of yaw axis, described A1,
A2, A4 thruster are advanced for yaw axis negative sense.
4. 8 thruster as claimed in claim 1 realizes the satellite three-axis attitude control method of fully redundance, it is characterised in that
In described step S1：
When only B groups thruster works, described B2, B3, B4 thruster is used for the positive propulsion of the axis of rolling, described B1
Thruster is advanced for axis of rolling negative sense, and described B1, B3, B4 thruster is used for the positive propulsion of pitch axis, described B2
Thruster is advanced for pitch axis negative sense, and described B1, B2, B3 thruster is used for the positive propulsion of yaw axis, described B1,
B2, B4 thruster are advanced for yaw axis negative sense.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710018556.7A CN106774371A (en) | 2017-01-10 | 2017-01-10 | A kind of 8 thruster realizes the satellite three-axis attitude control method of fully redundance |
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Cited By (6)
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| CN108454884A (en) * | 2018-02-27 | 2018-08-28 | 北京控制工程研究所 | A kind of power rises safe method of guidance and system |
| CN109018442A (en) * | 2018-06-15 | 2018-12-18 | 上海卫星工程研究所 | The high multiplexing gas puff Z-pinch method of novel low-cost satellite three-axis attitude timesharing decoupling |
| CN109367821A (en) * | 2018-06-14 | 2019-02-22 | 上海卫星工程研究所 | A kind of GEO orbiter thruster configuration |
| CN109649692A (en) * | 2018-12-28 | 2019-04-19 | 上海航天控制技术研究所 | A kind of in-orbit modification method of Orbital Control Strategy based on thruster estimation of deviation and system |
| 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 |
| CN112407337A (en) * | 2020-11-23 | 2021-02-26 | 北京微动航科技术有限公司 | Propulsion system of satellite simulator and satellite simulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454884A (en) * | 2018-02-27 | 2018-08-28 | 北京控制工程研究所 | A kind of power rises safe method of guidance and system |
| CN109367821A (en) * | 2018-06-14 | 2019-02-22 | 上海卫星工程研究所 | A kind of GEO orbiter thruster configuration |
| CN109018442A (en) * | 2018-06-15 | 2018-12-18 | 上海卫星工程研究所 | The high multiplexing gas puff Z-pinch method of novel low-cost satellite three-axis attitude timesharing decoupling |
| CN109649692A (en) * | 2018-12-28 | 2019-04-19 | 上海航天控制技术研究所 | A kind of in-orbit modification method of Orbital Control Strategy based on thruster estimation of deviation and system |
| 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 |
| CN109976360B (en) * | 2019-03-11 | 2021-10-01 | 北京控制工程研究所 | Thruster configuration method based on configuration matrix |
| CN112407337A (en) * | 2020-11-23 | 2021-02-26 | 北京微动航科技术有限公司 | Propulsion system of satellite simulator and satellite simulator |
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