CN107089348B - On-orbit fault game method based on more flexible accessory satellite dynamics optimized Control Modes - Google Patents
On-orbit fault game method based on more flexible accessory satellite dynamics optimized Control Modes 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
- 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
- B64G1/10—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
Abstract
The present invention is based on the on-orbit fault game methods of more flexible accessory satellite dynamics optimized Control Modes: the three-axis attitude controller of more flexible accessory satellites uses the long-life gyro of normally opened working method, attitude angular velocity information is provided to attitude controller, three-axis attitude controller is improved and copes with the ability that more flexible accessory satellite characteristic frequencies reduce.The present invention can solve the rigidity in the connecting link of launch environment Satellite large-scale flexible attachment and the small probability failure that declines by a relatively large margin occur, failure causes the system frequency under the in-orbit free state of satellite to have with the constraint frequency of corresponding large-scale flexible attachment to be reduced by a relatively large margin, the tolerance that control system principle opinion may be exceeded, threatens the in-orbit safe operation of satellite.The present invention can have found whether flexible accessory characteristic frequency has occurred variation, is confirmed whether in tolerance early, such as realize system reconfiguration beyond franchise it is necessary to be transferred to the control model of offset features modal frequency in time, it is ensured that safety satellite and user demand.
Description
Technical field
It is the present invention relates to the on-orbit fault game method based on more flexible accessory satellite dynamics optimized Control Modes, i.e., more
The on-orbit fault processing method of flexible accessory satellite dynamics optimized Control Mode, belongs to satellite dynamics and control field.
Background technique
Existing document is as follows:
(1) Tu Shancheng academician chief editor, the 1st edition, Yuhang Publishing House 2 months 2001 " Satellite Attitude Dynamics and control ".
6th chapter is that " band flexible appendage Satellite Attitude Dynamics " are established (i.e. soft with flexible appendage with finite element analysis
Property attachment) three axis stabilized satellite kinetic model specifically describe and for being mounted with the telecommunication satellite of north and south solar wing
Kinetics equation when solar wing is with respect to Rigid Base continuous rotation is detailed in page 162~page 192；
13rd chapter is " gesture stability of three axis stabilized satellite ", specifically describes three axis stabilized satellite controller design and steady
Principle, method and the requirement of qualitative analysis.
Controller design with need to consider that there are many parameter of franchise when stability analysis, satellite is set forth in detail in high orbit satellite
Rotary inertia between transfer orbit each secondary change rail stage and geo-stationary orbit total life cycle changes table, and the 13rd chapter page 510 gives
It is as follows that partial parameters change franchise:
Satellite is with respect to the rotary inertia of mass center, and variation franchise is ± 10%, the rotation of the relative satellite mass center of flexible accessory
Inertia, variation franchise are ± 10%, and the rotation coefficient of coup and the translation coefficient of coup of flexible accessory, variation franchise is ± 5%, and
The modal frequency of flexible accessory, variation franchise are ± 10%~25%, and rotary inertia and the coefficient of coup of flexible accessory are mutual
Associated, when the rotary inertia of flexible accessory, which changes, to be increased, the variation of the coefficient of coup also increases, conversely, then reducing, is finding
When the worst combination of Parameters variation, to meet above-mentioned correlation.
10N double elements thruster, the variation of thrust is generally beginning of lifetime: 9.6~11.4N, service life during operation on orbit
Latter stage: 7.8~9.8N.
Controller should still have certain gain stability margin and phase stability margin under the worst combined situation of Parameters variation,
Modal frequency franchise such as selection is too big, the search of controller worst case, optimization design of controller parameters and subsystem test and
The time of whole star test will lengthen, and controller performance is also difficult to optimal.
It is more to require to be detailed in page 424~page 536.
(2) " satellite orbit and attitude dynamics and control " (publishing house, BJ University of Aeronautics & Astronautics that professor Zhang Renwei writes
Publish, the first edition in 1998) gesture stability of chapter 9 flexible satellite gives satellite system Free Modal and compliant member about
Transformational relation between beam mode is detailed in page 308.
(3) article " the flexible spacecraft free flight state that Xu little Sheng, Yu Dengyun researcher, Qu Guangji researcher deliver
The evaluation method of system fundamental frequency " (see aerospace journal the 2nd phase of volume 25 in 2004), this article is according to kinetics equation, to normal
See configuration spacecraft (flexible spacecraft with north and south solar wing), gives and estimated by ground flexible attachment feature frequency theory value
Two class simplified formulas of Space Vehicle System fundamental frequency, wherein the first is consistent with the simplified formula that professor Zhang Renwei provides, and to
A kind of formula gives engineer application example.
The above be the present invention relates to flexible dynamics basis and have north and south solar wing flexible spacecraft three
The basis of axis stability controller design.
Since former control system does not have condition to configure long-life gyro, most difficult period is only configured with one 3000 small
The liquid floated gyroscope component of the 3+1S of Shi Shouming usually protects Shi Caikai gyro to north and south position, and to heat a period of time gyro ability
It works normally, therefore north and south position guarantor's controller is often divided into and has gyro control mode and gyro free control model, gyro free control mould
Formula lacks three-axis attitude angular velocity measurement information, has been inevitably less than top for the ability to bear of the franchise of flexible accessory modal frequency
Spiral shell control model, therefore the configuration and control model of required Optimal Control System could cope with safely more flexible accessory boats in time
The small probability failure of flexible accessory characteristic modes frequency sharp fall in launch environment of its device, it is soft in all previous launch environment
Property attachment feature modal frequency variation tendency be less than theoretical value, the maximum range of decrease occurred be 30%.
Summary of the invention
Present invention solves the technical problem that are as follows: it overcomes the shortage of prior art, provides based on more flexible accessory satellite dynamics
The on-orbit fault game method of optimized Control Mode, the technical problem to be solved by the present invention is to large-scale in launch environment Satellite
The rigidity of the connecting link of flexible accessory is likely to occur the small probability failure declined by a relatively large margin, leads to the in-orbit free shape of satellite
System frequency under state has with the constraint frequency of corresponding large-scale flexible attachment and reduces by a relatively large margin, may exceed control system
The tolerance of design threatens the in-orbit safe operation of satellite.The present invention seeks to whether find flexible accessory characteristic frequency early
Variation has occurred, is confirmed whether in tolerance, such as beyond franchise it is necessary to changing controller in time, it is ensured that safety satellite with
User demand.
The technical solution that the present invention solves are as follows: the on-orbit fault based on more flexible accessory satellite dynamics optimized Control Modes
Game method, steps are as follows:
(1) 4 hemispherical reso nance gyroscopes are configured for satellite control system, and carries out pyramid layout, it is ensured that the satellite life-cycle
Period three axis attitude controller has the three-axis attitude angular velocity information of gyro to measure；It is attached according to satellite rotary inertia, large-scale flexible
The dynamics modal analysis result of part (includes: each rank normal direction vibration shape frequency, each rank plane vibration shape frequency and each rank torsion vibration mode frequency
Rate) and Control performance standard (including: three axis of satellite control precision), it is that the three-axis attitude controller of more flexible accessory satellites is set
The control model of theory characteristic modal frequency and the control model of offset features modal frequency；
The control model of theory characteristic modal frequency is that the control system of more flexible accessory satellites (is not sent out when not breaking down
Raw failure refers to: after satellite and the rocket separation, large-scale the South and the North solar wing, truss-like large-scale flexible antenna, Large Deployable heat radiator
After full expansion, after satellite controller work, satellite three-axis attitude precision is able to satisfy user performance index request) control mould
Formula, i.e., the in-orbit characteristic modes frequency of flexible accessory of more flexible accessory satellites are that theoretical value (as uses PATRAN finite element model
Analyze budget characteristic modes frequency) 120%~80% control model, i.e., modal frequency biasing (i.e. modal frequency deviate
The characteristic modes frequency of PATRAN finite element model analysis budget is used before satellite launch) it is 0, franchise is ± 20%；
The control model of offset features modal frequency is the control when control system of more flexible accessory satellites breaks down
Mode, i.e., the in-orbit characteristic modes frequency of flexible accessory of more flexible accessory satellites are 100%~60% control mould of theoretical value
Formula, i.e. modal frequency are biased to-the 20% of theoretical value, and franchise is ± 20%；
(2) three-axis attitude of theory characteristic modal frequency control model and offset features modal frequency control model is controlled
The stability margin of device is kept are as follows: gain stability margin 6dB；15 ° of phase stability margin, to guarantee the control of more flexible accessory satellites
System robustness and reliability；
(3) in launch environment, the flexibility of system frequency and satellite under more in-orbit free states of flexible accessory satellite is attached
Part characteristic frequency changes simultaneously, to keep attachment flexible couplings coefficient and the whole star of satellite opposite in satellite body coordinate system
The rotary inertia of centroid of satellite is constant；
(4) carrying out spectrum analysis to the in-orbit triaxial attitude angle rate curve of more flexible accessory satellites (can be used spectrum analysis
Instrument, by satellite in orbit posture curve input spectrum analyzer, so that it may obtain the frequency spectrum included), obtain each of more flexible accessories
Three kinds of characteristic frequencies of flexible accessory (three kinds of characteristic frequencies, comprising: single order normal direction vibration shape frequency, single order plane vibration shape frequency and one
Rank torsion vibration mode frequency)；Each flexible accessory characteristic frequency for more flexible accessories that spectrum analysis is obtained and each flexible accessory
Characteristic frequency theoretical value (with the characteristic modes frequency of PATRAN finite element model analysis budget), ground experiment test value (
Face experimental test value is are as follows: the solar wing of satellite carries out ground experiment, obtained single order normal direction fundamental frequency) compare after, in conjunction with flexibility
Dynamic (dynamical) physical concept, (excitation refers to that playing pulse with the thruster of the propulsion system of satellite causes flexible body on star for excitation
Vibration) go out three main shafts of satellite characteristic frequency oscillating curve (abscissa of the characteristic frequency oscillating curve of each main shaft be defend
Star working time, ordinate are the amplitude of posture concussion), it is obtained under three in-orbit free states of main shaft of satellite according to the curve
System frequency, then each flexible accessory characteristic modes frequency lambda corresponding with each satellite system Free Modal frequency is estimated in pairingi；
(5) each flexible accessory characteristic modes frequency lambda based on estimatesi, judge λiWith the feature of budget before satellite launch
Whether the deviation value of modal frequency is more than franchise, is such as more than franchise -20%, and a control mode switch instruction need to be sent out to satellite,
From the control mode switch of theory characteristic modal frequency to offset features modal frequency control model, i.e. realization system reconfiguration (is
System reconstruct refers to that satellite control system reconstructs), prevent the attitude of satellite out of control, it is ensured that the in-orbit safe operation of satellite；Otherwise, satellite
The control model of three-axis attitude controller holding theory characteristic modal frequency.
Each flexible accessory characteristic modes frequency lambda corresponding with each satellite system Free Modal frequency is estimated in pairingi, step is such as
Under:
According to square for the rotation coefficient of coup that the flexible accessory finite element analysis of more flexible accessory satellites obtainsWith defend
Star main shaft inertia IiThe ratio between, obtain modal gain ki；When having symmetrical north and south solar wing,Coupled systemes are rotated for single solar wing
2 times of several squares；
According to modal gain kiWith the system frequency f under the in-orbit free state of satellite main shafti, obtain flexible accessory character modules
State frequency lambdai, i.e., the flexible accessory characteristic frequency of in-orbit estimation:
The physical concept of flexible dynamics are as follows: when solar wing normal direction is consistent with Z axis, solar wing characteristic frequency is single order
Excurvation frequency of oscillation, corresponding satellite X-axis posture oscillation；It is large-scale flexible antenna single order that large-scale flexible antenna vibrates up and down along Z axis
Eigenmode, corresponding satellite Y-axis posture oscillation, according to physical concept, also may be selected the motivational techniques of respective characteristic frequency, such as
The impact of thrust or torque that the impact being normally unfolded using solar wing or the thruster targetedly selected are generated motivates each
Flexible accessory characteristic frequency vibrates (coefficient of coup of characteristic modes is big, i.e. modal efficient mass percentage is big)
More flexible accessory satellites is defined as: the satellite with solar wing and annular reflector.
The large-scale flexible attachment of more flexible accessory satellites refers to that 10 meters of maximum length or more later is all unfolded in antenna and the positive wing
Flexible accessory.
The control model of the theory characteristic modal frequency of the three-axis attitude controller of satellite and offset features modal frequency
The satellite of east four is original gyro control mode and gyro free control model for control model substitution.
The beneficial effect of the present invention compared with prior art is:
(1) present invention continues to use the " estimation of flexible spacecraft free flight status system fundamental frequency by in-orbit application verification
The first estimation formula in method ", by the posture frequency of oscillation under the in-orbit free state of satellite main shaft to the spy of flexible accessory
It levies modal frequency and carries out reverse in-orbit estimation, control system then preferred disposition 4 hemispherical reso nance gyroscopes made in China, golden word
The hemispherical reso nance gyroscope component (25 years working life demands can be met) of tower layout.
(2) present invention firstly provides designs " control model of theory characteristic modal frequency " to add " offset features mode frequency
The three-axis attitude controller of the control model of rate " substitutes three that original " having gyro control mode " adds " gyro free control model "
The modularized design trouble shooting method of axis attitude controller；The in-orbit Constrained mode characteristic frequency of bias flexible attachment is practical to be allowed
The amplitude of decline is promoted to -40% by-the 25% of former design requirement, i.e., big to the in-orbit Constrained mode characteristic frequency of flexible accessory
The ability to bear of the small probability failure of amplitude decline improves.
(3) present invention not only increases the control performance and cost performance of large-scale more flexible accessory spacecrafts, and to satellite
Before being not yet delivered for use, may occur small probability failure take system reconfiguration prevent trouble before it happens, active and effective, quickly
The trouble shooting method of safety:
(4) according to the flexible accessory characteristic frequency λ of in-orbit estimationi, judge the characteristic modes frequency and satellite of in-orbit estimation
Whether the deviation of the characteristic modes frequency theory value of budget is more than franchise before emitting, and is such as more than franchise -20%, need to only send out a control
Molding formula is switched to instruction, is switched to offset features modal frequency control model, and system reconfiguration can be realized and (changed one to permit
The control model software module of difference -40%), the attitude of satellite can be prevented out of control, it is ensured that the in-orbit safe operation of satellite.
Detailed description of the invention
Fig. 1 is the in-orbit control system trouble shooting method flow diagram based on more flexible accessory satellite dynamics；
Fig. 2 is more flexible accessory satellite schematic diagrames.
Specific embodiment
The invention proposes the on-orbit fault game methods based on more flexible accessory satellite dynamics optimized Control Modes: more
The three-axis attitude controller of flexible accessory satellite uses the long-life gyro of normally opened working method, provides three axis to attitude controller
Attitude angular velocity information optimizes control model design, improves three-axis attitude controller and copes with more flexible accessory satellite features
The ability that frequency reduces.
Based on more flexible accessory satellite dynamics control model optimization designs, the present invention is able to solve in launch environment centre halfback
The rigidity of the connecting link of star large-scale flexible attachment is likely to occur the small probability failure declined by a relatively large margin, and failure leads to satellite
System frequency under in-orbit free state has with the constraint frequency of corresponding large-scale flexible attachment and reduces by a relatively large margin, Ke Nengchao
The tolerance of control system original Theoretical Design out threatens the in-orbit safe operation of satellite.Present invention invention seeks to find early
Whether flexible accessory characteristic frequency has occurred variation, is confirmed whether in tolerance, such as inclined it is necessary to be transferred in time beyond franchise
The control model for setting characteristic modes frequency realizes system reconfiguration (mode for changing satellite controller), it is ensured that safety satellite and use
Family demand.
The invention will be described in further detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, the present invention is based on the on-orbit fault countermeasure sides of more flexible accessory satellite dynamics optimized Control Modes
Method, it is characterised in that steps are as follows:
(1) control system preferred disposition 4 hemispherical reso nance gyroscope (optional Chinese Academy of Space Technology north made in China
Capital control engineering research 4s hemispherical reso nance gyroscope produced), pyramid layout (pyramid layout are as follows: 4 hemispherical reso nance gyroscopes
Be respectively arranged on four faces of truncated rectangular pyramids, form pyramid layout), hemispherical resonator that 25 years working life demands can be met
Gyrounit, it is ensured that three-axis attitude controller has the three-axis attitude angular velocity information of gyro to measure, improves three axis between total life cycle
(long-life three that can also be configured reliably working requirement between can meeting total life cycle is floating, two floating, light for the stability margin of attitude controller
Fine gyro)；The input datas such as the dynamics modal analysis result according to the satellite rotary inertia, large-scale flexible attachment that totally provide
And Control performance standard, design " control model of theory characteristic modal frequency " add " control model of offset features modal frequency "
Three-axis attitude controller substitute " having gyro control mode " in original satellite platform that long-life gyro is not configured and add " nothing
Gyro control mode " (when the gyro of configuration is not able to satisfy reliably working requirement between total life cycle, geo-stationary orbit can only be in property
Can demanding control model, such as position keep mode, antenna direction chart-pattern, be directed toward safe mode and open gyro, survey
Three-axis attitude angular speed claims have gyro control mode, and the normal mode of quick, the too quick survey triaxial attitude angle of geo-stationary orbit land used
It is gyro free control model, furthermore in order to enhance the reliability of control system, position keeps mode to devise gyro free position and protects control
Molding formula, it is ensured that control system gyrounit failure reach more than two gyros it is unhealthy when, control system remain into
Line position sets holding, and only to reduce thruster jet number, gyro free mode reduces the proportional integration of three-axis attitude controller
Amplification coefficient KP、Ki, will make to control precision decrease and lossy).
The control model of theory characteristic modal frequency is the control model preferentially selected when control system does not break down, is fitted
It is 120%~80% control model of theoretical value for the in-orbit characteristic modes frequency of flexible accessory, i.e. modal frequency is biased to
0, franchise is ± 20%；
The control model of offset features modal frequency is theoretical value suitable for the in-orbit characteristic modes frequency of flexible accessory
100%~60% control model, i.e. modal frequency are biased to-the 20% of theoretical value, and franchise is ± 20%.Flexible accessory is in-orbit
Constrained mode characteristic frequency is practical to allow the amplitude declined by -25% (effect for considering stability margin) of former design requirement
Be promoted to -40% (not considering the effect of stability margin), i.e., to the in-orbit Constrained mode characteristic frequency of flexible accessory significantly under
The ability to bear of the small probability failure of drop is greatly improved；
(2) stability margin design specification under the worst combined situation of Parameters variation, theory characteristic modal frequency control have been continued to use
Molding formula and the design requirement of the stability margin of the controller of offset features modal frequency control model are kept: gain stabilization is abundant
Spend 6dB；15 ° of phase stability margin, with Guarantee control system robustness and reliability；
(3) in the launch environment Satellite large-scale flexible attachment of carrier rocket three-level engine ignition acceleration shock, such as Fig. 2
Shown (large-scale flexible attachment includes: large-scale southern and northern solar wing, truss-like large-scale flexible antenna, Large Deployable heat radiator)
The rigidity of connecting link be likely to occur large change, lead to system frequency and large-scale flexible under the in-orbit free state of satellite
Attachment constraint frequency varies widely simultaneously, but the attachment flexible couplings coefficient that large-scale flexible attachment finite element analysis computation goes out
The rotary inertia of matrix and the whole star of satellite the relative satellite mass center in satellite body coordinate system is by being basically unchanged carry out characteristic frequency
Estimation；As shown in Fig. 2, label 1 is satellite health, 2 be the large arm of truss-like large-scale flexible antenna, and 3 be truss-like large-scale flexible
The forearm of antenna, 4 be antenna reflector (annular).
(4) since method proposed by the present invention is towards more flexible accessory spacecrafts, the spectral density of flexible accessory is agreed
The fixed spectral density than the only flexible spacecraft flexible accessory with north and south solar wing is big, thus can be to the in-orbit triaxial attitude angle of satellite
Rate curve carries out spectrum analysis, compares with each flexible accessory characteristic frequency (fundamental frequency) theoretical value, ground experiment test value, in conjunction with
The physical concept of flexible dynamics: when solar wing normal direction is consistent with Z axis, solar wing characteristic frequency is single order excurvation oscillation frequency
Rate, corresponding satellite X-axis posture oscillation；It is that large-scale flexible antenna single order is special that large-scale flexible antenna (see attached drawing 2) vibrates up and down along Z axis
The vibration shape is levied, the motivational techniques of respective characteristic frequency, such as benefit also may be selected according to physical concept in corresponding satellite Y-axis posture oscillation
The impact of thrust or torque that the impact being normally unfolded with solar wing or the thruster targetedly selected generate, motivates each soft
Property attachment feature hunting of frequency (coefficient of coup of characteristic modes is big, i.e. modal efficient mass percentage is big).Using spectrum analysis
The method for motivating characteristic frequency oscillation can be more effectively selected with the method that the physical concept of flexible dynamics combines and is matched
Each flexible accessory characteristic frequency corresponding with each satellite system Free Modal frequency to estimation.The X-axis, Y-axis, Z axis are to defend
X-axis that star body coordinate system defines, Y-axis, Z axis；
(5) present invention continues to use the " estimation of flexible spacecraft free flight status system fundamental frequency by in-orbit application verification
The first estimation formula in method ", carrying out in-orbit identification to the characteristic modes of flexible accessory is based on its corresponding satellite master
What the posture frequency of oscillation under the in-orbit free state of axis was realized, the rotation coefficient of coup obtained according to flexible accessory finite element analysis
SquareWith satellite main shaft inertia IiThe ratio between, obtain modal gain ki, when having symmetrical north and south solar wing,For the single sun
The wing rotates 2 times of the coefficient of coup square, further by the system frequency f under the in-orbit free state of satellite main shaftiObtain flexibility
Attachment feature frequency lambdaiEstimated value:
(6) according to the flexible accessory characteristic frequency λ of in-orbit estimationi, judge the characteristic modes frequency lambda of in-orbit estimationiWith satellite
It is compared before transmitting with the characteristic modes frequency of PATRAN finite element model analysis budget, λiWhether the deviation value of decline is more than fair
Difference is such as more than franchise -20%, Zhi Xu earth station to the one control mode switch instruction of satellite hair, by the whole control of control system
Molding formula is switched to offset features modal frequency control model, and satellite control system reconstruct can be realized and (changed a series of fair
The control model software module of difference -40%), the attitude of satellite can be prevented out of control, it is ensured that the in-orbit safe operation of satellite.
The primary modal frequencies of flexible accessory are possible to occur larger inclined after the more flexible accessory satellite launchs of the present invention are entered the orbit
Difference, deviation are more than the tolerance of the modal frequency of controller design, it is possible to make controller stability margin less than 0, lead to posture control
System diverging, flexible accessory resonance even result in flexible accessory damage, and present invention invention is directed to such small probability failure, in large size
During flexible accessory expansion and after expansion, it is taken based on the in-orbit control system trouble shooting of more flexible accessory satellite dynamics
Method carries out in-orbit estimation to the characteristic frequency of large-scale flexible attachment, the risk of such small probability failure is reduced to zero.
Control system preferably configures the hemispherical resonator of 4 hemispherical reso nance gyroscopes made in China, pyramid layout at present
Gyrounit (can meet 25 years working life demands)；Hemispherical reso nance gyroscope not only strong antijamming capability, and it is identical as performance
Other gyros compare, light-weight small power consumption, good reliability, cost performance is high, and the control model optimization method of control system is as follows:
The control model substitution for setting characteristic modes frequency using the control model biasing of theory characteristic modal frequency is original gyro control
Molding formula adds gyro free control model:
1. the control model of theory characteristic modal frequency is to be suitable for the in-orbit characteristic modes frequency of flexible accessory as theoretical value
120%~80% control model, i.e. modal frequency is biased to 0, and franchise is ± 20%；
2. the control model of offset features modal frequency is to be suitable for the in-orbit characteristic modes frequency of flexible accessory as theoretical value
100%~60% control model, i.e. modal frequency is biased to-the 20% of theoretical value, and franchise is ± 20%.
Under the worst combined situation of Parameters variation, theory characteristic modal frequency control model and offset features modal frequency
The design requirement of the stability margin of the controller of control model keeps common design requirement: gain stability margin 6dB；Phase
15 ° of stability margin.
By the design objective of theory characteristic modal frequency control model and offset features modal frequency control model as it can be seen that with
Theory characteristic modal frequency control model biasing, which sets characteristic modes frequency control model substitution, original has gyro control mode to add
Gyro free control model, control model design and the difficulty and workload of test are basically unchanged, and it is soft or hard not increase computer
Part expense, and the in-orbit characteristic modes frequency of flexible accessory allows the amplitude peak declined to be promoted to -40% by -25%, i.e., pair
The ability to bear of the small probability failure of the in-orbit characteristic modes frequency sharp fall of flexible accessory improves.
Since theory characteristic modal frequency control model and offset features modal frequency control model are tested in subsystem
It was tested in whole-satellite experiment, the hemispherical reso nance gyroscope component of pyramid layout is normally opened working method, if there is large-scale soft
Property the in-orbit characteristic modes frequency of attachment decline to a great extent failure, and fall is more than -20%, only need to send out a control model and cut
Instruction is changed, offset features modal frequency control model is switched to, system reconfiguration can be realized and (changed a control model software mould
Block).
Since method proposed by the present invention is towards more flexible accessory spacecrafts, the spectral density of flexible accessory affirms ratio
Only the spectral density of the flexible spacecraft flexible accessory with north and south solar wing is big, thus can be to the in-orbit three-axis attitude angular speed of satellite
Curve carries out spectrum analysis, compares with each flexible accessory characteristic frequency (fundamental frequency) theoretical value, ground experiment test value, in conjunction with flexibility
Dynamic (dynamical) physical concept: when solar wing normal direction is consistent with Z axis, solar wing characteristic frequency is single order excurvation frequency of oscillation,
Corresponding satellite X-axis posture oscillation；It is large-scale flexible antenna single order feature that large-scale flexible antenna (see attached drawing 2) vibrates up and down along Z axis
The vibration shape, corresponding satellite Y-axis posture oscillation, can more be had using the method that spectrum analysis is combined with the physical concept of flexible dynamics
The selection of effect ground motivates the method that characteristic frequency vibrates and pairing estimation is corresponding with each satellite Free Modal system frequency each soft
Property attachment Constrained mode characteristic frequency.
By contrast, when not considering the product of inertia of spacecraft, with " flexible spacecraft free flight status system fundamental frequency
Evaluation method " in second formula carry out the error of the result that the result of engineer application estimation is estimated with the first formula and be less than
2%, therefore the present invention still continues to use the first formula and carries out in-orbit estimation, so as to flexible accessory character modules in all previous launch environment
The variation of state frequency (fundamental frequency) is for statistical analysis.
Claims (7)
1. the on-orbit fault game method based on more flexible accessory satellite dynamics optimized Control Modes, it is characterised in that step is such as
Under:
(1) 4 hemispherical reso nance gyroscopes are configured for satellite control system, and carries out pyramid layout, it is ensured that between satellite total life cycle
Three-axis attitude controller has the three-axis attitude angular velocity information of gyro to measure；According to satellite rotary inertia, large-scale flexible attachment
Dynamics modal analysis result and Control performance standard are that the three-axis attitude controller of more flexible accessory satellites sets theory characteristic
The control model of modal frequency and the control model of offset features modal frequency；
The control model of theory characteristic modal frequency is the control mould when control system of more flexible accessory satellites does not break down
Formula, the in-orbit characteristic modes frequency of the flexible accessory of more flexible accessory satellites is the 120%~80% of theoretical value, mode frequency at this time
Rate is biased to 0, and franchise is ± 20%；
The control model of offset features modal frequency is the control model when control system of more flexible accessory satellites breaks down,
The in-orbit characteristic modes frequency of the flexible accessory of more flexible accessory satellites is the 100%~60% of theoretical value, i.e. modal frequency at this time
It is biased to-the 20% of theoretical value, franchise is ± 20%；
(2) by the three-axis attitude controller of theory characteristic modal frequency control model and offset features modal frequency control model
Stability margin is kept are as follows: gain stability margin 6dB；15 ° of phase stability margin, to guarantee the control system of more flexible accessory satellites
Robustness and reliability；
(3) in launch environment, the flexible accessory of system frequency and satellite under more in-orbit free states of flexible accessory satellite is special
Sign frequency changes simultaneously, to keep attachment flexible couplings coefficient and the whole star of the satellite relative satellite in satellite body coordinate system
The rotary inertia of mass center is constant；
(4) spectrum analysis is carried out to the in-orbit triaxial attitude angle rate curve of more flexible accessory satellites, obtains each of more flexible accessories
Three kinds of characteristic frequencies of flexible accessory；Each flexible accessory characteristic frequency and each flexibility for more flexible accessories that spectrum analysis is obtained
After the characteristic frequency theoretical value of attachment, ground experiment test value compare, in conjunction with the physical concept of flexible dynamics, satellite is motivated
The characteristic frequency oscillating curve of three main shafts obtains the system frequency under three in-orbit free states of main shaft of satellite according to the curve
Rate, then each flexible accessory characteristic modes frequency lambda corresponding with each satellite system Free Modal frequency is estimated in pairingi；
(5) each flexible accessory characteristic modes frequency lambda based on estimatesi, judge λiWith the characteristic modes of budget before satellite launch
Whether the deviation value of frequency is more than franchise, is such as more than franchise -20%, a control mode switch instruction need to be sent out to satellite, from reason
By the control mode switch of characteristic modes frequency to offset features modal frequency control model, i.e. realization system reconfiguration, prevent from defending
Star posture is out of control, it is ensured that the in-orbit safe operation of satellite；Otherwise, the three-axis attitude controller of satellite keeps theory characteristic modal frequency
Control model.
2. the on-orbit fault countermeasure side according to claim 1 based on more flexible accessory satellite dynamics optimized Control Modes
Method, it is characterised in that: each flexible accessory characteristic modes frequency lambda corresponding with each satellite system Free Modal frequency is estimated in pairingi,
Steps are as follows:
According to square for the rotation coefficient of coup that the flexible accessory finite element analysis of more flexible accessory satellites obtainsWith satellite master
Axis inertia IiThe ratio between, obtain modal gain ki；When having symmetrical north and south solar wing,It is flat that the coefficient of coup is rotated for single solar wing
2 times of side；
According to modal gain kiWith the system frequency f under the in-orbit free state of satellite main shafti, obtain flexible accessory characteristic modes frequency
Rate λi, i.e., the flexible accessory characteristic frequency of in-orbit estimation:
3. the on-orbit fault countermeasure side according to claim 1 based on more flexible accessory satellite dynamics optimized Control Modes
Method, it is characterised in that: the physical concept of flexible dynamics are as follows: when solar wing normal direction is consistent with Z axis, solar wing characteristic frequency
For single order excurvation frequency of oscillation, corresponding satellite X-axis posture oscillation；It is large-scale flexible day that large-scale flexible antenna vibrates up and down along Z axis
Line single order eigenmode, corresponding satellite Y-axis posture oscillation, according to physical concept, selects the motivational techniques of respective characteristic frequency, swashs
Encourage out each flexible accessory characteristic frequency oscillation.
4. the on-orbit fault countermeasure side according to claim 1 based on more flexible accessory satellite dynamics optimized Control Modes
Method, it is characterised in that: more flexible accessory satellites include solar wing and annular reflector.
5. the on-orbit fault countermeasure side according to claim 1 based on more flexible accessory satellite dynamics optimized Control Modes
Method, it is characterised in that: the large-scale flexible attachment of more flexible accessory satellites refers to that maximum length later is all unfolded in antenna and solar wing
10 meters or more of flexible accessory.
6. the on-orbit fault countermeasure side according to claim 1 based on more flexible accessory satellite dynamics optimized Control Modes
Method, it is characterised in that: the control model and offset features mode of the theory characteristic modal frequency of the three-axis attitude controller of satellite
The control model substitution of frequency is original gyro control mode and gyro free control model.
7. the on-orbit fault countermeasure side according to claim 3 based on more flexible accessory satellite dynamics optimized Control Modes
Method, it is characterised in that: the impact or the thrust targetedly selected that the motivational techniques are normally unfolded including the use of solar wing
The impact of thrust or torque that device generates motivates each flexible accessory characteristic frequency oscillation.
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| PCT/CN2017/113267 WO2018176877A1 (en) | 2017-04-01 | 2017-11-28 | On-orbit fault countermeasure method using optimized control mode for dynamics of satellite with multiple flexible appendages |
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| CN107089348B (en) * | 2017-04-01 | 2019-04-30 | 中国空间技术研究院 | On-orbit fault game method based on more flexible accessory satellite dynamics optimized Control Modes |
| CN109063237A (en) * | 2018-06-19 | 2018-12-21 | 上海卫星工程研究所 | A kind of system mode calculation method being suitble to more attachment flexible spacecrafts |
| CN109740186B (en) * | 2018-12-10 | 2020-08-14 | 北京空间飞行器总体设计部 | Fault handling method for large-scale accessories of spacecraft during in-orbit undeployment |
| CN109632185B (en) * | 2018-12-13 | 2020-10-27 | 上海航天控制技术研究所 | On-orbit estimation method for dynamic unbalance characteristic of large-inertia rotating part |
| CN110471436B (en) * | 2019-08-08 | 2022-05-03 | 南京航空航天大学 | Attitude control method of flexible spacecraft |
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