CN106915476B - A kind of Split type electric magnetic coupling satellite load direction control method - Google Patents
A kind of Split type electric magnetic coupling satellite load direction control method Download PDFInfo
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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
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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
- B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
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Abstract
The present invention relates to a kind of Split type electric magnetic coupling satellite loads to be directed toward control method, and satellite load and satellite body are not directly contacted with, and ontology micro-vibration is isolated, guarantees the super quiet super steady of load；Posture is carried out using electromagnetic voice coil actuator and is directed toward control, without consuming working medium, can be used for a long time, broadband is big, response quickly, by adjusting the attitude angle of the controllable satellite load of size of current, attitude angle is made to reach desired value.Super quiet requirement is realized, the stability of direction is improved.
Description
Technical Field
The invention relates to the field of satellite load pointing and control, in particular to a super-static pointing control problem of a separated electromagnetic force coupling satellite load, and provides a method for designing and controlling the super-static pointing control of the load.
Background
Satellite load pointing technology is an important component of satellites and plays a decisive role in certain tasks. For the requirement of hyperstatic pointing of satellite load, a servo mechanism is required to provide small-amplitude high-precision control torque. Traditional U type motor servo directional control for the directional precision of load is limited because servo motor frictional force's existence, and servo motor is a disturbance source simultaneously, transmits the micro-vibration to satellite load, can't realize the hyperstatic requirement, influences directional stability moreover. The traditional air injection mechanism can provide large-amplitude pulse torque to control the attitude of a load, but micro-vibration is easy to cause, high-precision pointing is difficult to carry out, and the air injection actuating mechanism consumes working media and is not suitable for long-term work. In order to meet the requirements of high precision, high stability and hyperstatic pointing of satellite load pointing, the invention provides a method for designing and controlling hyperstatic pointing control on load.
Various traditional technologies are easy to cause micro-vibration of the load due to direct contact with the satellite load, and stability and precision of satellite load pointing are greatly limited. Therefore, in the aspect of directional control, the invention adopts a separated electromagnetic coupling method, the satellite load is not directly contacted with the satellite body, the micro-vibration of the body is isolated, and the ultra-static and ultra-stable state of the load is ensured; the electromagnetic voice coil actuator is adopted to carry out attitude pointing control, working media do not need to be consumed, the device can be used for a long time, the broadband is large, the response is quick, and high precision and high stability can be realized.
Disclosure of Invention
In order to realize the hyperstatic directional control of the satellite load, the invention utilizes a plurality of separated electromagnetic voice coil actuators to carry out three-degree-of-freedom attitude precise control on the load, thereby improving the directional precision and stability of the satellite load and realizing the hyperstatic requirement.
In order to achieve the purpose, the invention discloses the following technical scheme:
a separated electromagnetic force coupling satellite load pointing control method comprises the following steps:
s1, the satellite-load connector is fixedly connected with the satellite body, a plurality of separated electromagnetic voice coil actuator magnet parts are fixed on the satellite load, and the coil parts are fixedly connected with the satellite-load connector; a star sensor for measuring the actual attitude angle of the load is arranged on the satellite load; a lens barrel is mounted on the upper part of the satellite load, is a common component in a space optical system and plays the roles of shading, fixing and supporting a camera lens;
s2, respectively carrying out dynamic modeling on the satellite body and the satellite load to obtain the relationship between the attitude angle of the satellite load and the control moment of the satellite body on the satellite load;
s3, electrifying the coil, and controlling the magnitude of current to generate output force by the separated electromagnetic voice coil actuator to synthesize control torque for controlling attitude angle motion;
s4, according to the working principle of the separated electromagnetic voice coil actuator and the dynamic model design control method thereof, a control algorithm block diagram of the system is obtained, and hyperstatic directional control of satellite loads is realized;
s5, the star sensor is used for measuring the attitude angle, the attitude angle is compared with the expected attitude angle reference value, the difference value of the reference angular position and the actual angular position is used as the control input for compensation, and when the actual attitude angle reaches the expected attitude angle, the control is finished.
Furthermore, in step S1, a total of eight separate electromagnetic voice coil actuators are adopted, where four electromagnetic voice coil actuators are symmetrically distributed at four corners of the bottom of the load along the satellite load axis, and the other four actuators are installed at the middle position of the satellite load side along the load axis at an included angle of 90 °.
Furthermore, the satellite-load connecting body is of a U-shaped structure, and the satellite load and the electromagnetic voice coil actuator are arranged on the connecting body.
Further, the magnet part of the separated electromagnetic voice coil actuator is mounted on the satellite load through a bolt, and the coil part is connected with the satellite-load connector through a bolt; the lens cone on the satellite load is connected by a bolt.
Further, in step S2, before performing dynamic modeling on the satellite body and the satellite load, a reference coordinate system of the satellite load is first establishedA rotation around the z axle for being directed to the optical axis is controlled, and eight actuators divide into two sets ofly, and four actuator control load of bottom installation are around the rotation of x axle and y axle, and four actuator control load of side-mounting are around the rotation of z axle.
Further, in step S2, when the satellite body is dynamically modeled, the satellite body is regarded as a rigid body, and the reference coordinate system Ox is used as the reference coordinate systemryrzrRegardless of the influence of environmental factors, the model is as follows:
wherein,the control moment generated by the actuating mechanism of the satellite body,is the reaction moment of the load on the satellite body, Ix,Iy,IzThe moment of inertia of the satellite body, psi, theta,yaw, pitch and roll angles, omega, of the satellite, respectivelyx,ωy,ωzThe angular velocity of the satellite around the reference coordinate system;
for stabilising the body of the satellite, i.e. omegax,ωy,ωz＝0,The executing mechanism of the satellite body compensates the influence of the load on the body, and the control law shown in the formula (2) is adopted to stably control the satellite body:
the kinetic equation of the satellite body is:
as can be seen from the equation, the three-channel attitude control of the satellite body is completely decoupled, and proper differential parameters are selectedAnd the ratio parameterThe satellite body can be kept stable.
Further, in step S2, when modeling the satellite load, the satellite load is regarded as a rigid body, and the reference coordinate system thereof is set asThe model is established as follows:
wherein,is the control moment of the satellite body to the load, andmoment of inertia, psi, of the loadp,θp,Respectively yaw, pitch and roll angles of the load,is the angular velocity of rotation of the load about its reference coordinate system;
assuming the satellite load is square, thenThe coupling terms in equation (4) of the dynamics cancel and the small angle maneuver assumption is used, assuming,θp,ψpAll are small quantities, neglecting second order small terms, so its model simplification is:
since the load is pointed with high precision, the reference rotation angular speed is zero and the reference attitude angle is constant, i.e. the load is pointed atThe attitude angle is controlled by adopting a control law shown as a formula (6), and the difference value of the reference angular position and the actual angular position is used as the input of a control system, so that the satellite body controls the loadThe control torque is as follows:
the kinetic equation for the load is then:
wherein,for controlling the differential and proportional parameters of the system, it can be seen from this equation that each channel is decoupled from each other, being a second order system, according to the parameter kd,kpThe law of motion of the attitude angle can be determined.
Further, when the control attitude angular motion is compensated, the actual angular position of the satellite load is measured by the star sensor and fed back to the control system, and the difference value between the reference value and the actual value is obtained for compensation; the voice coil model is assumed to be known, as shown in equation (8):
F＝BIL (8)
and B, L is the inherent property of the voice coil actuator and is a known quantity, I is the current passing through the coil and is a control variable, after the coil is electrified, an output force is generated, and the perpendicular distance between the force and the axial direction is set as d, so that a moment along the axial direction of the load is formed and is used for controlling the deviation of the attitude angle to compensate.
The invention discloses a separated electromagnetic force coupling satellite load pointing control method, which has the following beneficial effects:
the separated electromagnetic voice coil actuator provided by the invention can be used for carrying out directional control on the satellite load, and the attitude angle of the satellite load can be controlled by adjusting the current, so that the attitude angle reaches the expected value. In the invention, the satellite load and the satellite body are not in direct contact, so that micro-vibration cannot be transmitted, the hyperstatic requirement is realized, and the pointing stability is improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a front view of an eight solenoid coil actuator assembly;
FIG. 3 is a top view of an eight solenoid coil actuator assembly;
fig. 4 is a block diagram of a control algorithm, wherein,proportional and differential parameters of the load, respectively.
Wherein:
1. the device comprises a lens barrel, 2, a satellite load, 3, a satellite-load connector, 4, a satellite body, 5, a voice coil actuator, 51, a coil part and 52, a magnet part.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a separated electromagnetic force coupling satellite load pointing control method, which realizes the hyperstatic pointing control of the satellite load, and utilizes a plurality of separated electromagnetic voice coil actuators to carry out three-degree-of-freedom attitude precision control on the load, thereby improving the pointing precision and stability of the satellite load and realizing the hyperstatic requirement.
Please refer to fig. 1.
A separated electromagnetic force coupling satellite load pointing control method comprises the following steps:
s1, the satellite-load connector 3 is fixedly connected with the satellite body 4, the magnet parts 52 of the plurality of separated electromagnetic voice coil actuators 5 are fixed on the satellite load 2, and the coil parts 51 are fixedly connected with the satellite-load connector 3; a star sensor for measuring the actual attitude angle of the load is arranged at a proper position on the satellite load 2; a lens barrel 1 is arranged at the upper part of a satellite load 2, and the lens barrel 1 is a common component in a space optical system and plays the roles of shading, fixing and supporting a camera lens;
s2, respectively carrying out dynamic modeling on the satellite body 4 (excluding the load part) and the satellite load 2 to obtain the relationship between the attitude angle of the satellite load 2 and the control moment of the satellite body 4 to the satellite load 2;
s3, electrifying the coil, and controlling the magnitude of current to generate output force by the separated electromagnetic voice coil actuator 5 to synthesize control moment for controlling attitude angle motion;
s4, according to the working principle of the separated electromagnetic voice coil actuator 5 and the dynamic model design control method thereof, a control algorithm block diagram of the system is obtained, and hyperstatic directional control of satellite loads is realized;
s5, the star sensor is used for measuring the attitude angle, the attitude angle is compared with the expected attitude angle reference value, the difference value of the reference angular position and the actual angular position is used as the control input for compensation, and when the actual attitude angle reaches the expected attitude angle, the control is finished.
In one embodiment of the present invention, in step S1, a total of eight separate electromagnetic voice coil actuators 5 are adopted, wherein four electromagnetic voice coil actuators 5 are symmetrically distributed at four corners of the bottom of the satellite load 2 along the axis of the satellite load 2, and the other four actuators are installed at an included angle of 90 ° along the axis of the satellite load 2 at the middle position of the side surface of the satellite load.
In one embodiment of the invention, the satellite-payload interface 2 is a U-shaped structure, with the satellite payload 2 and the electromagnetic voice coil actuator 5 disposed on the interface.
In one embodiment of the present invention, the magnet portion 52 of the separate electromagnetic voice coil actuator 5 is mounted on the satellite load 2 by bolts, and the coil portion 51 is connected to the satellite-load connector 3 by bolts; the lens barrel 1 on the satellite load 2 is connected by bolts.
During the satellite motion, vibration is inevitably generated, which affects the pointing accuracy of the satellite load 2, and therefore, the pointing of the optical axis needs to be controlled. In an embodiment of the present invention, before performing the dynamic modeling on the satellite body 4 and the satellite load 2 respectively in step S2, a reference coordinate system of the satellite load 2 is first establishedA rotation around the z axle for being directed to the optical axis is controlled, and eight actuators divide into two sets ofly, and four actuator control load of bottom installation are around the rotation of x axle and y axle, and four actuator control load of side-mounting are around the rotation of z axle.
In one embodiment of the present invention, the step S2 considers the satellite body 4 as a rigid body when performing dynamic modeling, and the reference coordinate system OxryrzrAs shown in fig. 2, the model, regardless of the influence of environmental factors, is as follows:
wherein,the control moment generated by the actuating mechanism of the satellite body,for reaction of loads on the satellite body 2Moment of force, Ix,Iy,IzThe moment of inertia, psi, theta,yaw, pitch and roll angles, omega, of the satellite, respectivelyx,ωy,ωzThe angular velocity of the satellite around the reference coordinate system;
for stabilising the satellite body 2, i.e. omegax,ωy,ωz＝0,The actuator of the satellite body 4 compensates the influence of the load on the body, and the control law shown in the formula (2) is adopted to stably control the satellite body 2:
the kinetic equation of the satellite body 4 (excluding the loading part) is then:
as can be seen from the equation, the three-channel attitude control of the satellite body 4 (excluding the load part) is completely decoupled, and proper differential parameters are selectedAnd the ratio parameterThe satellite body can be kept stable.
In one embodiment of the present invention, the satellite load 2 is treated as a rigid body when being modeled in the step S2, and the reference coordinate system thereof isAs shown in fig. 2, the model is established as follows:
wherein,control moment for the satellite body 4 to the load, andmoment of inertia, psi, of the loadp,θp,Respectively yaw, pitch and roll angles of the load,is the angular velocity of rotation of the load about its reference coordinate system;
assuming the satellite load 2 is square, thenThe coupling terms in equation (4) of the dynamics cancel and the small angle maneuver assumption is used, assumingθp,ψpAll are small quantities, neglecting second order small terms, so its model simplification is:
since the load is pointed with high precision, the reference rotation angular speed is zero and the reference attitude angle is constant, i.e. the load is pointed atThe attitude angle is controlled by adopting a control law shown in formula (6), and the difference value between the reference angular position and the actual angular position is used as the input of a control system, so that the control moment of the satellite body on the load is as follows:
the kinetic equation for the load is then:
wherein,for controlling the differential and proportional parameters of the system, it can be seen from this equation that each channel is decoupled from each other, being a second order system, according to the parameter kd,kpThe law of motion of the attitude angle can be determined.
Since the load is required to have high pointing accuracy, the attitude angle of the load deviates from the reference value under the influence of disturbance. The coil of the voice coil actuator 5 is energized to form a control torque for adjusting the deviation of the attitude angle. In one embodiment of the present invention, when compensating for the control attitude angular motion, the actual angular position of the satellite load 2 is measured by the star sensor, and is fed back to the control system to obtain the difference between the reference value and the actual value for compensation; the voice coil model is assumed to be known, as shown in equation (8):
F＝BIL (8)
wherein, B, L is the inherent property (B magnetic field intensity, L common length) of the voice coil actuator, as a known quantity, I is the current passing through the coil, as a control variable, the coil generates output force after being electrified, and the perpendicular distance between the force and the axial direction is d, so as to form moment along the axial direction of the load, and the moment is used for controlling the deviation of the attitude angle to compensate.
Setting parameters: this step requires determining the relationship between the current level and the output force. And measuring the required parameters such as B, I, d and the like by using the linear model. The parameters to be set are differential parameters of three channels in the formula (3)And the proportional parameters of the three channelsAnd the differential parameters of the three channels in equation (7)And the proportional parameters of the three channelsAnd (3) setting the parameters by using a trial and error method, firstly adjusting the proportional parameter, and then adjusting the differential parameter, wherein the two steps are repeatedly carried out until the performance required by the system is met.
Compared with the content introduced in the background art, the separated electromagnetic voice coil actuator 5 provided by the invention can be used for carrying out the directional control method on the satellite load 2, and the attitude angle of the satellite load 2 can be controlled by adjusting the current, so that the attitude angle reaches the expected value. In the invention, the satellite load 2 and the satellite body 4 are not in direct contact, so that micro-vibration cannot be transmitted, the hyperstatic requirement is realized, and the pointing stability is improved.
The foregoing is only a preferred embodiment of the present invention and is not limiting thereof; it should be noted that, although the present invention has been described in detail with reference to the above embodiments, those skilled in the art will understand that the technical solutions described in the above embodiments can be modified, and some or all of the technical features can be equivalently replaced; and the modifications and the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A separated electromagnetic force coupling satellite load pointing control method is characterized by comprising the following steps:
s1, the satellite-load connector is fixedly connected with the satellite body, a plurality of separated electromagnetic voice coil actuator magnet parts are fixed on the satellite load, and the coil parts are fixedly connected with the satellite-load connector; a star sensor for measuring the actual attitude angle of the load is arranged on the satellite load; a lens cone is arranged on the upper part of the satellite load and is used for shading, fixing and supporting a camera lens;
s2, respectively carrying out dynamic modeling on the satellite body and the satellite load to obtain the relationship between the attitude angle of the satellite load and the control moment of the satellite body on the satellite load;
s3, electrifying the coil, and controlling the magnitude of current to generate output force by the separated electromagnetic voice coil actuator to synthesize control torque for controlling attitude angle motion;
s4, according to the working principle of the separated electromagnetic voice coil actuator and the dynamic model design control method thereof, a control algorithm block diagram of the system is obtained, and hyperstatic directional control of satellite loads is realized;
s5, the star sensor is used for measuring the attitude angle, the attitude angle is compared with the expected attitude angle reference value, the difference value of the reference angular position and the actual angular position is used as the control input for compensation, and when the actual attitude angle reaches the expected attitude angle, the control is finished.
2. The separated electromagnetic force coupling satellite load direction control method as claimed in claim 1, wherein in step S1, a total of eight separated electromagnetic voice coil actuators are used, wherein four electromagnetic voice coil actuators are symmetrically distributed along the satellite load axis at four corners of the bottom of the load, and the other four actuators are installed at an included angle of 90 ° along the load axis at the middle position of the satellite load side.
3. The separated electromagnetic force coupling satellite load direction control method as claimed in claim 1, wherein the satellite-load connecting body is a U-shaped structure, and the satellite load and the electromagnetic voice coil actuator are disposed on the satellite-load connecting body.
4. The split electromagnetic force coupling satellite load direction control method as claimed in claim 1, wherein the split electromagnetic voice coil actuator magnet part is mounted on the satellite load by bolts, and the coil part is connected with the satellite-load connector by bolts; the lens cone on the satellite load is connected by a bolt.
5. The separated electromagnetic force coupled satellite load direction control method as claimed in claim 2, wherein in step S2, before performing dynamic modeling on the satellite body and the satellite load respectively, a reference coordinate system of the satellite load is first establishedA rotation around the z axle for being directed to the optical axis is controlled, and eight actuators divide into two sets ofly, and four actuator control load of bottom installation are around the rotation of x axle and y axle, and four actuator control load of side-mounting are around the rotation of z axle.
6. The separated electromagnetic force coupled satellite load direction control method as claimed in claim 5, wherein in step S2, the satellite body is considered as a rigid body when being dynamically modeled, and the reference coordinate system Ox is set asryrzrRegardless of the influence of environmental factors, the model is as follows:
wherein,the control moment generated by the actuating mechanism of the satellite body,is the reaction moment of the load on the satellite body, Ix,Iy,IzThe moment of inertia of the satellite body, psi, theta,yaw, pitch and roll angles, omega, of the satellite, respectivelyx,ωy,ωzThe angular velocity of the satellite around the reference coordinate system;
for stabilising the body of the satellite, i.e. omegax,ωy,ωz＝0,ψ,θ,The executing mechanism of the satellite body compensates the influence of the load on the body, and the control law shown in the formula (2) is adopted to stably control the satellite body:
the kinetic equation of the satellite body is:
as can be seen from the equation, the three-channel attitude control of the satellite body is completely decoupled, and proper differential parameters are selectedAnd the ratio parameterThe satellite body can be kept stable.
7. The separated electromagnetic force coupled satellite load direction control method as claimed in claim 6, wherein in step S2, the satellite load is considered as a rigid body when being modeled, and the reference coordinate system thereof is a rigid bodyThe model is established as follows:
wherein,is the control moment of the satellite body to the load, and moment of inertia, psi, of the loadp,θp,Respectively yaw, pitch and roll angles of the load,is the angular velocity of rotation of the load about its reference coordinate system;
assuming the satellite load is square, thenThe coupling terms in equation (4) of the dynamics cancel and the small angle maneuver assumption is used, assumingθp,ψpAll are small quantities, neglecting second order small terms, so its model simplification is:
since the load is pointed with high precision, the reference rotation angular speed is zero and the reference attitude angle is constant, i.e. the load is pointed atThe attitude angle is controlled by adopting a control law shown in formula (6), and the difference value between the reference angular position and the actual angular position is used as the input of a control system, so that the control moment of the satellite body on the load is as follows:
the kinetic equation for the load is then:
wherein,for controlling the differential and proportional parameters of the system, it can be seen from this equation that each channel is decoupled from each other, being a second order system, according to the parameter kd,kpThe law of motion of the attitude angle can be determined.
8. The separated electromagnetic force coupled satellite load direction control method as claimed in claim 7, wherein when the control attitude angular motion is compensated, an actual angular position of the satellite load is measured by a star sensor and fed back to the control system, and a difference between a reference value and an actual value is obtained for compensation; the voice coil model is assumed to be known, as shown in equation (8):
F＝BIL (8)
and B, L is the inherent property of the voice coil actuator and is a known quantity, I is the current passing through the coil and is a control variable, after the coil is electrified, an output force is generated, and the perpendicular distance between the force and the axial direction is set as d, so that a moment along the axial direction of the load is formed and is used for controlling the deviation of the attitude angle to compensate.
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