CN106882398B - A kind of control method of attitude control thruster - Google Patents
A kind of control method of attitude control thruster Download PDFInfo
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- CN106882398B CN106882398B CN201710081266.7A CN201710081266A CN106882398B CN 106882398 B CN106882398 B CN 106882398B CN 201710081266 A CN201710081266 A CN 201710081266A CN 106882398 B CN106882398 B CN 106882398B
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- thruster
- pulse width
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- onz
- ony
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 210000001367 artery Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
The present invention provides a kind of control method of attitude control thruster, comprising the following steps: Step 1: controlling the pulse width that software resolves three directions according to gesture stability algorithm on star；Step 2: controlling software on star to two axis that need to be multiplexed thruster, calculates pulse width and carry out amplitude limiting processing；Step 3: controlling the thruster that the pulse width superposition after clipping is sent to multiplexing by software on star.The present invention to the thruster pulsewidth of two axis control multiplexing by carrying out etc. realizing two axis controls of progress simultaneously than being superimposed, improving the anti-interference ability of gesture stability.
Description
Technical field
The present invention relates to satellite guidance, navigation and control technologies, relate in particular to a kind of control of attitude control thruster
Method processed.
Background technique
Since the function of Piggybacking is more and more, structure also increasingly increased load.So bring thruster is laid out
It limits, the attitude control thruster of three axis directions can not be all independent on satellite.Often there is thruster multiplexing phenomenon, i.e.,
Both direction control requires certain thruster.In general, present solution is using certain tactful time-sharing multiplex, i.e., when same
One moment only carried out unidirectional control.This scheme can weaken the control ability and timeliness of posture, when satellite receives interference
When torque is smaller, this scheme is feasible；When satellite persistently receives big disturbance torque, such as the work of rail control thruster
When, time-sharing multiplex can make the shake of satellite flexibility acutely, and attitude control accuracy is poor, and then influences the efficiency and precision of rail control.
Summary of the invention
In view of the deficienciess of the prior art, the present invention provides a kind of control method of attitude control thruster, pass through arteries and veins
Punching processing guarantees that two axis of multiplexing thruster are controlled simultaneously, improves the anti-interference ability of gesture stability.
In order to achieve the above object, the technical solution of the present invention is to provide a kind of control method of attitude control thruster,
It includes the following steps:
Step 1: controlling software on star according to gesture stability algorithm, resolving obtains the pulse in tri- directions xyz
Width Tonx_mid, Tony_mid, Tonz_mid；
Amplitude limiting processing is carried out Step 2: controlling software on star and calculating pulse width to two axis of multiplexing thruster:
The processing in the direction x is
Wherein, Ton_minFor thruster minimum work pulsewidth, Ton_maxFor thruster maximum functional pulsewidth；
Y, the processing in the direction z is
Amplitude limiting processing is carried out to the direction y, z:
If | Tony_mid2|+|Tonz_mid2|≥Ton_max
It then carries out etc. than reduction
Otherwise
The pulse width superposition after clipping is sent to multiplexing thruster Step 3: controlling software on star:
TonxWhen >=0, to thruster ZK6 output pulse width abs (Tonx)；
TonxWhen < 0, to thruster ZK5 output pulse width abs (Tonx)；
Tony>=0 and TonzWhen >=0, to thruster ZK2 output pulse width abs (Tonz), to thruster ZK3 output pulse width abs
(Tony)+abs(Tonz), to thruster ZK4 output pulse width abs (Tony)；
Tony>=0 and TonzWhen < 0, to thruster ZK1 output pulse width abs (Tonz), to thruster ZK3 output pulse width abs
(Tony), abs (T is exported to thruster ZK4ony)+abs(Tonz)；
Tony< 0 and TonzWhen >=0, to thruster ZK1 output pulse width abs (Tony), to thruster ZK2 output pulse width abs
(Tony)+abs(Tonz), to thruster ZK3 output pulse width abs (Tonz)；
Tony< 0 and TonzWhen < 0, to thruster ZK1 output pulse width abs (Tony)+abs(Tonz), arteries and veins is exported to thruster ZK2
Wide abs (Tony), to thruster ZK4 output pulse width abs (Tonz)。
The present invention realizes two axis controls of progress simultaneously than being superimposed by carrying out etc. to the thruster pulsewidth of two axis control multiplexing
System.Compared with prior art, advantages and beneficial effects are: present invention can ensure that be multiplexed two axis of thruster while being controlled
System, improves the anti-interference ability of gesture stability.
Detailed description of the invention
Fig. 1 is the layout schematic diagram of thruster.
Fig. 2 is the flow chart of the control method of attitude control thruster of the present invention.
Specific embodiment
The step of the method for the present invention, is described further below with reference to drawings and examples.
As shown in Figure 1, being the layout schematic diagram of thruster ZK1~ZK6.As shown in Fig. 2, attitude control thruster of the invention
Control method, comprising the following steps:
Step 1: controlling the pulse width that software resolves three directions according to gesture stability algorithm on star；
Step 2: controlling software on star to two axis that need to be multiplexed thruster, calculates pulse width and carry out amplitude limiting processing；
Step 3: controlling the thruster that the pulse width superposition after clipping is sent to multiplexing by software on star.
1) pulse width in three directions is resolved according to gesture stability algorithm
The pulse width in three directions are as follows: Toni_mid
Wherein, i=x, y, z correspond to Tonx_mid, Tony_mid, Tonz_mid。
2) two axis for being multiplexed thruster calculate pulse width and carry out amplitude limiting processing
X-direction processing is as follows
Wherein, Ton_minFor thruster minimum work pulsewidth, Ton_maxFor thruster maximum functional pulsewidth；Formula sign
(Tonx_mid)Ton_max, refer to and return to Tonx_midSymbol, take 1 for timing, 0 taken when being zero, -1, and and T are taken when being negativeon_maxIt is multiplied.
Y, Z-direction processing is as follows:
Wherein, i=y, z correspond to Tony_mid2、Tonz_mid2。
Amplitude limiting processing is carried out to Y, Z-direction:
If | Tony_mid2|+|Tonz_mid2|≥Ton_max
It then carries out etc. than reduction
Otherwise
3) the pulse width superposition after clipping is sent to multiplexing thruster, is carried out according to following table.Wherein, abs refers to
Return to the operation of absolute value.
1 thruster final output pulse width logic table of table
In conclusion the present invention is handled by pulse guarantees that two axis of multiplexing thruster control simultaneously, appearance is improved
State control ability and timeliness, and then improve the attitude control accuracy under big disturbance torque.
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 (2)
1. a kind of control method of attitude control thruster, which comprises the steps of:
Step 1: controlling software on star according to gesture stability algorithm, resolving obtains the pulse width T in tri- directions xyzonx_mid,
Tony_mid, Tonz_mid；
Amplitude limiting processing is carried out Step 2: controlling software on star and calculating pulse width to two axis of multiplexing thruster:
The pulse width in the direction xyz, respectively T after clippingonx、Tony、Tonz；
The processing in the direction x is
Wherein, Ton_minFor thruster minimum work pulsewidth, Ton_maxFor thruster maximum functional pulsewidth；
Y, the processing in the direction z is
Amplitude limiting processing is carried out to the direction y, z:
If | Tony_mid2|+|Tonz_mid2|≥Ton_max,
It then carries out etc. than reduction
Otherwise
The pulse width superposition after clipping is sent to multiplexing thruster Step 3: controlling software on star.
2. the control method of attitude control thruster as described in claim 1, which is characterized in that
In step 3, corresponding pulsewidth is exported to the thruster of multiplexing according to the pulse width after clipping:
TonxWhen >=0, to thruster ZK6 output pulse width abs (Tonx)；
TonxWhen < 0, to thruster ZK5 output pulse width abs (Tonx)；
Tony>=0 and TonzWhen >=0, to thruster ZK2 output pulse width abs (Tonz), to thruster ZK3 output pulse width abs (Tony)+
abs(Tonz), to thruster ZK4 output pulse width abs (Tony)；
Tony>=0 and TonzWhen < 0, to thruster ZK1 output pulse width abs (Tonz), to thruster ZK3 output pulse width abs (Tony),
To thruster ZK4 output pulse width abs (Tony)+abs(Tonz)；
Tony< 0 and TonzWhen >=0, to thruster ZK1 output pulse width abs (Tony), to thruster ZK2 output pulse width abs (Tony)+
abs(Tonz), to thruster ZK3 output pulse width abs (Tonz)；
Tony< 0 and TonzWhen < 0, to thruster ZK1 output pulse width abs (Tony)+abs(Tonz), to thruster ZK2 output pulse width
abs(Tony), to thruster ZK4 output pulse width abs (Tonz)。
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710081266.7A CN106882398B (en) | 2017-02-15 | 2017-02-15 | A kind of control method of attitude control thruster |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710081266.7A CN106882398B (en) | 2017-02-15 | 2017-02-15 | A kind of control method of attitude control thruster |
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| Publication Number | Publication Date |
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| CN106882398A CN106882398A (en) | 2017-06-23 |
| CN106882398B true CN106882398B (en) | 2019-08-30 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639384A (en) * | 2018-04-03 | 2018-10-12 | 上海航天控制技术研究所 | A kind of satellite booster agent management method based on the multiplexing of attitude control thruster |
| CN111498149B (en) * | 2020-04-28 | 2021-07-13 | 北京控制工程研究所 | Soft landing attitude and orbit integrated control method based on parallel variable thrust engine |
| CN113306747B (en) * | 2021-04-27 | 2022-12-20 | 上海卫星工程研究所 | Flexible spacecraft attitude stabilization control method and system based on SO (3) group |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005035363A1 (en) * | 2003-10-10 | 2005-04-21 | Raymond Payette | A thruster for propelling and directing a vehicle without interacting with environment and method for making the same |
| CN102649480A (en) * | 2012-04-23 | 2012-08-29 | 上海卫星工程研究所 | 16-thruster layout designing method of omnidirectional orbital transfer spacecraft |
| CN105197257A (en) * | 2015-08-31 | 2015-12-30 | 中国空间技术研究院 | Thruster layout method for truss type GEO (geostationary orbit) satellite adopting subdivision optimization design |
| WO2016156487A1 (en) * | 2015-03-31 | 2016-10-06 | Airbus Defence And Space Sas | Method and device for controlling attitude of a spacecraft |
| CN106167104A (en) * | 2016-07-12 | 2016-11-30 | 上海拓攻机器人有限公司 | A kind of reaction thrust device modulator approach based on pulse width modulation, device |
-
2017
- 2017-02-15 CN CN201710081266.7A patent/CN106882398B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005035363A1 (en) * | 2003-10-10 | 2005-04-21 | Raymond Payette | A thruster for propelling and directing a vehicle without interacting with environment and method for making the same |
| CN102649480A (en) * | 2012-04-23 | 2012-08-29 | 上海卫星工程研究所 | 16-thruster layout designing method of omnidirectional orbital transfer spacecraft |
| WO2016156487A1 (en) * | 2015-03-31 | 2016-10-06 | Airbus Defence And Space Sas | Method and device for controlling attitude of a spacecraft |
| CN105197257A (en) * | 2015-08-31 | 2015-12-30 | 中国空间技术研究院 | Thruster layout method for truss type GEO (geostationary orbit) satellite adopting subdivision optimization design |
| CN106167104A (en) * | 2016-07-12 | 2016-11-30 | 上海拓攻机器人有限公司 | A kind of reaction thrust device modulator approach based on pulse width modulation, device |
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