CN106809406B - A kind of flywheel based on geomagnetic torque rotation control method - Google Patents
A kind of flywheel based on geomagnetic torque rotation control method Download PDFInfo
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- CN106809406B CN106809406B CN201710043948.9A CN201710043948A CN106809406B CN 106809406 B CN106809406 B CN 106809406B CN 201710043948 A CN201710043948 A CN 201710043948A CN 106809406 B CN106809406 B CN 106809406B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims abstract description 21
- 230000006340 racemization Effects 0.000 claims description 4
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- 238000005096 rolling process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/285—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using momentum wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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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
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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
- B64G1/32—Guiding or controlling apparatus, e.g. for attitude control using earth's magnetic field
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Abstract
The invention discloses a kind of flywheels based on geomagnetic torque to play rotation control method, it comprises the following steps: S1, for rate mode flywheel, controlled with control Attitude Calculation flywheel with revolving speed is instructed, output flywheel instruction revolving speed is that flywheel instructs the sum of control amount and Speed of Reaction Wheels amount of bias；S2 carries out magnetic dumping control to flywheel, realizes and control flywheel reaction momentum, so that flywheel works in magnetic dumping rotating speed of target；S3, adjustment pitching flywheel play the rotating speed of target of rotation, play rotation or despun control to pitching flywheel.The present invention can be in the available operating condition of no jet thrust, and be still able to achieve bias momentum flywheel plays rotation and despun control.
Description
Technical field
The present invention relates to satellite gravity anomaly field, in particular to a kind of flywheel based on geomagnetic torque plays rotation controlling party
Method.
Background technique
According to the distribution of the angular momentum of satellite momentum device and Satellite Attitude Movement characteristic, attitude control system can be divided into zero
Momentum attitude control system and momentum bias attitude control system.
If the magnitude of three axis stabilized satellite flywheel gear angular momentum h x, hy, hz is equivalent, and with celestial body angular momentum Ixw0,
The magnitude of Iyw0, Izw0 are close, then satellite does not have gyroscopic intertia, referred to as zero momentum system.The advantages of zero momentum satellite
Each axis Approximate Decoupling, can independent control, higher stability and mobility easy to accomplish；The disadvantage is that not having gyroscopic inertia, outside
Disturbance torque is enough to change satellite direction.
Momentum bias attitude control system refers to pitch axis negative direction namely satellite orbit face the normal direction peace in satellite
Big angular momentum flywheel is filled, the angular momentum being stored in high speed rotation flywheel makes satellite have gyroscopic intertia, to rolling, yaw axis
Gyrocompass effect is generated, the yaw error of satellite will be coupled as roll error with satellite movement in orbit.Biasing is dynamic
The advantages of amount system is not need yaw sensor, and three-axis stabilization control only can be realized by the measurement (horizon instrument) of two axis；
Under the big disturbed condition that happens suddenly, attitude reference will not be lost in a short time；Nearly morning and evening orbiter is still ensured that when opened loop control
Energy security.The technology of bias momentum scheme has successful application on multi-satellite, and it is dynamic that in-orbit practice sufficiently demonstrates biasing
The safety of amount scheme.But there is also certain limitations for the application of bias momentum scheme, because the gyroscopic inertia of bias momentum can shadow
Ring satellite mobility.
Therefore the mode that zero momentum and bias momentum combine obtains increasingly heavier in current satellite attitude control system
The functions such as attitude maneuver are realized in the application wanted, i.e. zero momentum scheme, are played precession by pitching flywheel and are entered bias momentum control, improve
The reliability and safety of attitude control system when in orbit for a long time.And realize the switching of above-mentioned control system it is critical that
Can be under the premise of guaranteeing stability contorting over the ground, simple and reliable realization biasing flywheel plays rotation and despun control.
Previous satellite mostly uses gas jet attitude control to realize the rotation that rises of pitching flywheel, and which control mode switch is complicated,
And certain moonlet rail-free controls require, and for weight and cost consideration, rotation special configuration thruster can not be played for flywheel.Cause
This plays rotation control method it is necessary to develop a kind of flywheel based on geomagnetic torque, avoids control mode switch, in the case of no jet
That realizes bias momentum flywheel plays rotation and despun control.
Summary of the invention
The object of the present invention is to provide a kind of flywheels based on geomagnetic torque to play rotation control method, available in no jet thrust
Operating condition, be still able to achieve bias momentum flywheel rise rotation and despun control.
In order to achieve the goal above, the present invention is achieved by the following technical solutions:
A kind of flywheel based on geomagnetic torque rotation control method, its main feature is that, it comprises the following steps:
S1 is controlled with control Attitude Calculation flywheel with revolving speed is instructed, output flywheel instruction turns for rate mode flywheel
Speed is that flywheel instructs the sum of control amount and Speed of Reaction Wheels amount of bias；
S2 carries out magnetic dumping control to flywheel, realizes and control flywheel reaction momentum, so that flywheel is in magnetic dumping target
Rotary speed working；
S3, adjustment pitching flywheel play the rotating speed of target of rotation, play rotation or despun control to pitching flywheel.
Speed of Reaction Wheels amount of bias revolves mesh by each axis flywheel center revolving speed remote control amount and pitching flywheel in the step S1
Scalar is superimposed to obtain.
The angular momentum that is unloaded of the step S2 is the corresponding instruction revolving speed of gesture stability, i.e., current flywheel instructs revolving speed
With the difference of magnetic dumping target Speed of Reaction Wheels.
The magnetic dumping target Speed of Reaction Wheels is used to be set as flywheel and plays rotation target value.
The step S3 specifically:
S3.1 keeps the control of stable state flywheel, every Fixed Time Interval by pitching flywheel after having received rotation control instruction
The rotating speed of target for playing rotation increases negative incremental speed, realizes that pitching flywheel plays rotation control；
S3.2 keeps the control of stable state flywheel, every Fixed Time Interval by pitching flywheel after receiving despun control instruction
The rotating speed of target for playing rotation increases positive incremental speed, realizes pitching flywheel despun control.
Compared with prior art, the present invention having the advantage that
The present invention is by the autonomous setting at equal intervals of flywheel center revolving speed, it can be achieved that the momentum of magnetic dumping torque and flywheel is handed over
It changes, that realizes bias momentum flywheel plays rotation and racemization, and the switching without control model and control algolithm afterwards, therefore the party in place
Method is succinct, is easy to Project Realization
Detailed description of the invention
Fig. 1 is the flow chart that a kind of flywheel based on geomagnetic torque of the present invention plays rotation control method；
Fig. 2 is the coupled characteristic of bias momentum satellite rolling and yaw error；
Fig. 3 is that bias momentum flywheel plays rotation schematic diagram.
Specific embodiment
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
As shown in Figure 1, a kind of flywheel based on geomagnetic torque plays rotation control method, comprise the following steps:
S1 is controlled with control Attitude Calculation flywheel with revolving speed is instructed, output flywheel instruction turns for rate mode flywheel
Speed is that flywheel instructs the sum of control amount and Speed of Reaction Wheels amount of bias, and wherein by each axis flywheel, (axis of rolling flies Speed of Reaction Wheels amount of bias
Wheel, pitch axis flywheel and yaw axis flywheel) center revolving speed remote control amount and pitching flywheel play rotation aim parameter and be superimposed to obtain, can pass through
The feedforward to realize orbit angular velocity Yu flywheel angle momentum coupling torque is arranged in center revolving speed, for offsetting outer disturbance torque；Again
The setting for rotating fast target value can be acted by pitching flywheel, realize that pitching flywheel plays rotation or despun control；
S2 carries out magnetic dumping control to flywheel, realizes and control flywheel reaction momentum, so that flywheel is in magnetic dumping target
Rotary speed working；
S3 is played the rotating speed of target of rotation by autonomous or remote control adjustment pitching flywheel, plays rotation or racemization control to pitching flywheel
System.
Specifically: S3.1 keeps the control of stable state flywheel after having received rotation control instruction, will every Fixed Time Interval
The rotating speed of target that pitching flywheel plays rotation increases negative incremental speed, realizes that pitching flywheel plays rotation control；S3.2 is receiving racemization control
After system instruction, the control of stable state flywheel is kept, the rotating speed of target that pitching flywheel plays rotation is increased into positive turn every Fixed Time Interval
Fast increment realizes pitching flywheel despun control.
Speed of Reaction Wheels amount of bias revolves mesh by each axis flywheel center revolving speed remote control amount and pitching flywheel in above-mentioned step S1
Scalar is superimposed to obtain.
The angular momentum that is unloaded of above-mentioned step S2 is the corresponding instruction revolving speed of gesture stability, i.e., current flywheel instructs revolving speed
With the difference of magnetic dumping target Speed of Reaction Wheels.Above-mentioned magnetic dumping target Speed of Reaction Wheels is used to be set as flywheel and plays rotation target value.
As shown in Figure 2,3, step S1 controls Speed of Reaction Wheels especially by PI, by celestial body relative orbit system attitude angleθ,ψ
Calculate the instruction revolving speed of flywheel.
DeltSpdCmd (y)=Kpyθ+Kiy∫θ
Whereinθ, ψ are that posture is used in the control of three axis；
ω0For orbit angular velocity；
hx、hzIt respectively rolls, yaw axis flywheel angular momentum；
Kpx、Kix、Kpy、Kiy、Kpz、KizFor PI control parameter；
Speed of Reaction Wheels is converted to rpm by rad/s need to be multiplied by coefficient rad2rpm=30/ π.To output flywheel instruct revolving speed into
Row clipping.
On-board software is ultimately sent to rotary speed instruction=control amount+amount of bias of flywheel
SpdCmd (x)=deltSpdCmd (x)+SpdCmd_baised (x)
SpdCmd (y)=deltSpdCmd (y)+SpdCmd_baised (y)
SpdCmd (z)=deltSpdCmd (z)+SpdCmd_baised (z)
Wherein revolving speed amount of bias revolves aim parameter by each axis flywheel center revolving speed remote control amount and pitching flywheel and is superimposed to obtain
SpdCmd_baised (x)=0+YK_spdcmd (x)
SpdCmd_baised (y)=Yk_rwa2+YK_spdcmd (y)
SpdCmd_baised (z)=0+YK_spdcmd (z)
Wherein YK_spdcmd is the flywheel center revolving speed that remote control provides, and is arranged by center revolving speed and track angle speed can be achieved
The feedforward of degree and flywheel angle momentum coupling torque, for offsetting outer disturbance torque, which is defaulted as 0rpm.Yk_rwa2
It is risen for pitching flywheel and rotates fast target value.
The step 2 specifically includes: when three axis carry out closed-loop control using flywheel, independently calling magnetic dumping.
Ic=mag_moment/kic
Wherein IcElectric current is controlled for three-axis magnetorquer；
KunloadFor magnetic dumping coefficient；
kicFor magnetic torquer magnetic moment and electric current conversion coefficient.
DeltSpdCmd is the difference that current flywheel instructs revolving speed and magnetic dumping rotating speed of target；
Bx, By, Bz are respectively that ontology magnetic field strength is measured under normal steady state operating mode using three axis magnetometer
It arrives, can also be calculated by On-board software according to orbit information.
The step S3 specifically: after completing above-mentioned flywheel PI controller design and magnetic dumping design of control law, lead to
Cross autonomous or remote control setting pitching flywheel and bias revolving speed, can by the pose stabilization control to celestial body, realize magnetic control torque with
The angular momentum exchange of flywheel is done step-by-step flywheel and plays rotation or despun control.
It plays rotation control: after having received rotation control instruction, stable state flywheel PI still being kept to control, it need to be every 300s by Yk_
Rwa2 increase -500rpm, until Yk_rwa2 becomes -2000rpm from 0rpm.Wherein the incrementss and time interval of Yk_rwa2 can
It is designed according to specific satellite inertia and biasing revolving speed.
Despun control: after receiving despun control instruction, still keeping stable state flywheel PI to control, only need to be every 300s by Yk_
Rwa2 subtracts -500rpm, until Yk_rwa2 becomes 0rpm from -2000rpm.Wherein the incrementss and time interval of Yk_rwa2 can
It is designed according to specific satellite inertia and biasing revolving speed.
In conclusion a kind of flywheel based on geomagnetic torque of the present invention plays rotation control method, it is available in no jet thrust
Operating condition, be still able to achieve bias momentum flywheel plays rotation and despun control.
It is discussed in detail although the contents of the present invention have passed through 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 above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. a kind of flywheel based on geomagnetic torque plays rotation control method, which is characterized in that comprise the following steps:
S1 is controlled with control Attitude Calculation flywheel with revolving speed is instructed for rate mode flywheel, is exported flywheel instruction revolving speed and is
Flywheel instructs the sum of control amount and Speed of Reaction Wheels amount of bias；
S2 carries out magnetic dumping control to flywheel, realizes and control flywheel reaction angular momentum, so that flywheel flies in magnetic dumping target
Wheel speed work；
S3, adjustment pitching flywheel play the rotating speed of target of rotation, control the rotation or racemization of pitching flywheel.
2. the flywheel based on geomagnetic torque plays rotation control method as described in claim 1, which is characterized in that the step S1
Middle Speed of Reaction Wheels amount of bias revolves aim parameter by each axis flywheel center revolving speed remote control amount and pitching flywheel and is superimposed to obtain.
3. the flywheel based on geomagnetic torque plays rotation control method as described in claim 1, which is characterized in that the step S2
The angular momentum that is unloaded be the corresponding instruction revolving speed of gesture stability, i.e. current flywheel instruction revolving speed and magnetic dumping target Speed of Reaction Wheels
Difference.
4. the flywheel based on geomagnetic torque plays rotation control method as claimed in claim 3, which is characterized in that the magnetic dumping
Target Speed of Reaction Wheels is used to be set as flywheel and plays rotation target value.
5. the flywheel based on geomagnetic torque plays rotation control method as described in claim 1, which is characterized in that the step S3
Specifically:
S3.1 keeps the control of stable state flywheel after having received rotation control instruction, and pitching flywheel is played rotation every Fixed Time Interval
Rotating speed of target increase negative incremental speed, realize that pitching flywheel plays rotation control；
S3.2 keeps the control of stable state flywheel after receiving despun control instruction, and pitching flywheel is played rotation every Fixed Time Interval
Rotating speed of target increase positive incremental speed, realize pitching flywheel despun control.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108549412B (en) * | 2018-04-08 | 2020-11-24 | 上海微小卫星工程中心 | Magnetic control solar capture method considering solar angle change rate and control factor |
| CN109625334B (en) * | 2018-12-11 | 2021-11-05 | 上海航天控制技术研究所 | Satellite momentum wheel on-orbit attitude deviation-free rotation starting and rotation eliminating control method |
| CN110116825B (en) * | 2019-05-14 | 2021-02-05 | 中国空间技术研究院 | Suspension rotation mechanism and microgravity rolling state simulation system |
| CN110562500B (en) * | 2019-07-25 | 2021-02-09 | 北京控制工程研究所 | Non-cooperative target three-dimensional rolling motion spinning simulation air injection control method and system |
| CN112896555B (en) * | 2021-02-22 | 2022-09-23 | 航天科工空间工程发展有限公司 | Self-balancing control method for rotating speed of attitude control flywheel |
| CN113335567B (en) * | 2021-05-26 | 2022-09-23 | 航天科工空间工程发展有限公司 | Wheel magnetic hybrid attitude control method and system for microsatellite |
| CN115817856B (en) * | 2022-11-21 | 2023-06-20 | 清华大学 | Method and device for controlling stable attitude of satellite to solar spin based on pure magnetic control mode |
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|---|---|---|---|---|
| JP2000238699A (en) * | 1999-02-22 | 2000-09-05 | Mitsubishi Electric Corp | Flywheel mount mechanism |
| EP1357451A1 (en) * | 2002-04-23 | 2003-10-29 | Astrium SAS | Method of controlling the attitude and stabilization of a satellite in low orbit |
| CN103523243A (en) * | 2013-10-12 | 2014-01-22 | 上海新跃仪表厂 | Non-biased momentum single-flywheel magnetizing control 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 |
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2017
- 2017-01-19 CN CN201710043948.9A patent/CN106809406B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000238699A (en) * | 1999-02-22 | 2000-09-05 | Mitsubishi Electric Corp | Flywheel mount mechanism |
| EP1357451A1 (en) * | 2002-04-23 | 2003-10-29 | Astrium SAS | Method of controlling the attitude and stabilization of a satellite in low orbit |
| CN103523243A (en) * | 2013-10-12 | 2014-01-22 | 上海新跃仪表厂 | Non-biased momentum single-flywheel magnetizing control 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 |
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