CN107491082A - Spacecraft Attitude Control mixing executing agency optimal control method - Google Patents
Spacecraft Attitude Control mixing executing agency optimal control method Download PDFInfo
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- CN107491082A CN107491082A CN201710800629.8A CN201710800629A CN107491082A CN 107491082 A CN107491082 A CN 107491082A CN 201710800629 A CN201710800629 A CN 201710800629A CN 107491082 A CN107491082 A CN 107491082A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The present invention discloses a kind of Spacecraft Attitude Control mixing executing agency optimal control method, for single-gimbal control momentum gyro geometry is unusual and the problems such as counteraction flyback dead band, saturation, proposes to make up the optimal control method of deficiency each other using the mixing executing agency that both are formed.Using above-mentioned optimal control method, realize to spacecraft momentum management and stability contorting.The control method can be applied to following quick maneuverable spacecraft and full electricity pushes away Spacecraft During Attitude Maneuver and keep control, realize quick high-precision control, and can improve the life-span of spacecraft.
Description
Technical field
The present invention relates to Spacecraft Attitude Control field, specifically a kind of Spacecraft Attitude Control mixing executing agency optimization
Control method.
Background technology
With stepping up for space mission demand, the spacecraft for having had quick maneuverability since the last century has turned into
The emphasis of research.For imaging satellite of future generation, wide-angle agility is motor-driven, multiple target capture and the boat such as reorientation
Its task turns into the pre-requisite abilities for obtaining high-definition picture.
Relative to the small torque output capability of flywheel, single-gimbal control momentum gyro (Single Gimbal Control
Moment Gyro, SGCMG) because of its powerful moment amplification ability turn into the main executing agency of quick satellite.Single frame control
Moment gyro processed is made up of framework, frame motor, rotor and rotor electric machine.When system works, the rotor with constant speed rotation exists
Under the driving of frame motor, change the direction of system angular momentum, so as to produce output torque.Single-gimbal control momentum gyro has
The premium properties such as output torque is big, long lifespan, efficient energy-saving.Especially because of its powerful torque output capability, it is allowed to obtain
The application extensively sent out, such as international space station and WorldView series high-resolution earth imaging satellites.But control-moment gyro system
One big shortcoming of system is its intrinsic geometry singular problem, once system is absorbed in unusual state, then can not export expectation torque,
It is possible to causing system out of control, this does not allow in practical engineering application.Therefore, single-gimbal control momentum gyro system
System Singularity Analysis and the research of corresponding Handling Strategy turn into study hotspot problem.
Research shows that the mixing actuator system containing single-gimbal control momentum gyro has on reply singular problem
Certain potentiality.
The content of the invention
The present invention is in order to solve problem of the prior art, there is provided a kind of Spacecraft Attitude Control mixing executing agency optimization
Control method, for using quick spacecraft of the control-moment gyro as executing agency, it is unusual to there is control-moment gyro
Problem, Spacecraft Attitude Control mixing executing agency optimal control method so that the two plays respective characteristic respectively, ensures mixing
Actuator system can complete spacecraft quick attitude maneuver and control in high precision for a long time without unusual/saturation.
Spacecraft Attitude Control mixing executing agency optimal control method of the present invention relates generally to following existing system：(1)
Spacecraft angular momentum management system, (2) control-moment gyro system, (3) reaction wheel system, (4) Spacecraft Attitude Control
System, the measurement of (5) spacecraft attitude and reponse system.Characterized in that, the mixing executing agency optimal control method include with
Lower step：
Step 1：In each space mission, required according to targeted attitude, by the spaceborne control computer calculating pair of spacecraft
The control moment τ answeredcSequence, as torque caused by actuating mechanism controls moment gyro system and reaction wheel system need.
Step 2：Control-moment gyro and counteraction flyback perform self-test, determine the current unusual degree (controling power of system
Square gyro) and degree of saturation (flywheel).
Step 3：By spaceborne control computer according to torque command sequence τcResolve only by control-moment gyro output torque
When frame corners track δ, while obtain the unusual metric function value sequence S of control-moment gyro.
Step 3-1：Determine that the current frame corners of control-moment gyro system combine δ with reponse system by attitude measurement；
Step 3-2：Unusual metric function is performed, obtains the unusual journey of control-moment gyro system of current pyramid configuration
Degree：
S=det (JTJ), J ∈ R in formula3×4For the Jacobian matrix of control-moment gyro system, worked as by control-moment gyro
Preceding frame corners δ=(δ1,δ2,δ3,δ4) determine.
Step 4：According to unusual metric sequence S, judge control-moment gyro in whole duty cycle any instant it is strange
Different degree.If more than the unusual threshold value of initial settingThen think that system is absorbed in unusual state, remember that first unusual moment is
ts, and step 5 is performed, otherwise perform step 9.
Step 5：System is transferred to the control-moment gyro unusual amendment stage, in tsTime Δt torque command is added before moment
Less unusual amendment torqueObtain new torque command sequenceWherein unusual amendment torque will be by
Fly wheel system produces.Step 3, step 4 and step 5 are performed until control-moment gyro system is remote strange in whole controlling cycle
It is different.Then, step 6 is performed.
Step 6：Correcting force moment sequence and fly wheel system current state according to striked by step 5, are resolved by fly wheel system
Output amendment torque TMWhen angular speed sequence Ω.If flywheel initial angular velocity meets TMOutput requires, then performs step 8, otherwise
Perform step 7.
Step 7：According to requirements of the flywheel angular speed sequence Ω to original state, it is not absorbed in very in control-moment gyro system
During metachromatic state, in Spacecraft Control torque sequence τcMiddle addition flywheel original state correction torque NM, nurse one's health flywheel initial angular velocity
Meet the unusual correction demand of control-moment gyro.Then, step 8 is performed.
Step 8：According to the final unusual correction torque of control-moment gyro and flywheel original state correction torque NMIt is determined that
New Spacecraft Control torque sequence τc, and perform step 9.
Step 9：The frame corners speed command sequence according to determined by control-moment gyro manipulates ruleWith flywheel control law institute
The flywheel acceleration instruction of determinationSequence, start control-moment gyro system and fly wheel system, produce output torque NCMGWith
NRW, act on spacecraft, carry out gesture stability and motor-driven.
Step 10：In boat too device attitude maneuver task cycle end, closing control moment gyro system.And using flywheel system
The moderate output torque of system carries out attitude rectification and fine alignment.
Beneficial effect of the present invention is：It is similar with single-gimbal control momentum gyro system, though reaction wheel system is without strange
It is different, but dead band and saturated characteristic be present.The present invention is using the 4-SGCMG systems with pyramid configuration and orthogonal configuration 3-RW groups
Executing agency is mixed into Spacecraft Attitude Control.It is intended to weaken and overcome the unusual of control-moment gyro system using fly wheel system
Problem, while flywheel is adjusted using control-moment gyro system so that the two plays respective characteristic respectively, ensures mixing
Actuator system can complete spacecraft quick attitude maneuver in high precision for a long time without unusual.
Brief description of the drawings
Fig. 1 is mixing actuating mechanism controls flow chart；
Fig. 2 is that the Spacecraft Control logic containing mixed organization is intended to；
Fig. 3 is the 4-SGCMG systems and 3-RW system scheme of installations of pyramid configuration.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
The present invention proposes Spacecraft Attitude Control mixing executing agency optimal control method, control program block diagram such as Fig. 1 institutes
Show, control logic schematic diagram is as shown in Fig. 2 relate generally to following existing system：(1) spacecraft angular momentum management system, (2) control
Moment gyro system processed, (3) reaction wheel system, (4) spacecraft attitude control system, the measurement of (5) spacecraft attitude with it is anti-
Feedback system.Characterized in that, the mixing executing agency optimal control method comprises the following steps：
Step 1：In each space mission, required according to targeted attitude, by the spaceborne control computer calculating pair of spacecraft
The control moment τ answeredcSequence, as torque caused by actuating mechanism controls moment gyro system and reaction wheel system need；
Step 2：Control-moment gyro and counteraction flyback perform self-test, determine the current unusual degree (controling power of system
Square gyro) and degree of saturation (flywheel).Self-check program is specially:
(1) degree of the current control force square gyro system apart from unusual state is calculated
S=det (JTJ)
Wherein J is the Jacobian matrix of SGCMG systems, and J is that framework angle function is J=J (δ)；
(2) degree apart from saturation of current fly wheel system is calculated, angular velocity vector Ω is obtained, performs and saturation is determined with minor function
Degree,
Ω=[Ω in formula1 Ω2 Ω3]TFor each flywheel angular speed in fly wheel system, Q ∈ R3×3To weight matrix,To weight two norms, | | Ω0||∞=max { Ωi, i=1,2,3 } and it is Infinite Norm；
Step 3：By spaceborne control computer according to torque command sequence τcResolve only by control-moment gyro output torque
When frame corners track δ, while obtain the unusual metric function value sequence S of control-moment gyro.
Step 3-1：Determine that the current frame corners of control-moment gyro system combine δ with reponse system by attitude measurement；
Step 3-2：Unusual metric function is performed, obtains the unusual journey of control-moment gyro system of current pyramid configuration
Degree：
S=det (JTJ), J ∈ R in formula3×4For the Jacobian matrix of control-moment gyro system, worked as by control-moment gyro
Preceding frame corners δ=(δ1,δ2,δ3,δ4) determine.
Step 4：According to unusual metric sequence S, judge control-moment gyro in whole duty cycle any instant it is strange
Different degree.If more than the unusual threshold value of initial settingThen think that system is absorbed in unusual state, remember that first unusual moment is
ts, and step 5 is performed, otherwise perform step 9；
Step 5：System is transferred to the control-moment gyro unusual amendment stage, in tsTime Δt torque command is added before moment
Less unusual amendment torqueObtain new torque command sequenceWherein unusual amendment torque will be by
Fly wheel system produces.Step 4 and step 5 are performed until control-moment gyro system is remote unusual in whole controlling cycle.So
Afterwards, step 6 is performed.
Step 6：Correcting force moment sequence and fly wheel system current state according to striked by step 5, are resolved by fly wheel system
Output amendment torque TMWhen angular speed sequence Ω.If flywheel initial angular velocity meets TMOutput requires, then performs step 8, otherwise
Perform step 7.
Step 7：According to requirements of the flywheel angular speed sequence Ω to original state, it is not absorbed in very in control-moment gyro system
During metachromatic state, in Spacecraft Control torque sequence τcMiddle addition flywheel original state correction torque NM, nurse one's health flywheel initial angular velocity
Meet the unusual correction demand of control-moment gyro.Then, step 8 is performed.
Step 8：According to the final unusual correction torque of control-moment gyro and flywheel original state correction torque NMIt is determined that
New Spacecraft Control torque sequence τc, and perform step 9.
Step 9：The frame corners speed command sequence according to determined by control-moment gyro manipulates ruleWith flywheel control law institute
The flywheel acceleration command sequence of determinationStart control-moment gyro system and fly wheel system, produce output torque NCMGWith
NRW, act on spacecraft, carry out gesture stability and motor-driven.
Step 10：In boat too device attitude maneuver task cycle end, closing control moment gyro system.And using flywheel system
The moderate output torque of system carries out attitude rectification and fine alignment.
The present invention proposes the mixing based on counteraction flyback (Reaction Wheel, RW) and single-gimbal control momentum gyro
Executing agency's optimal control method.It is similar with single-gimbal control momentum gyro system, though reaction wheel system without unusual, is deposited
In dead band and saturated characteristic.The present invention forms space flight using the 4-SGCMG systems with pyramid configuration with orthogonal configuration 3-RW
Device gesture stability mixes executing agency, as shown in Figure 3, it is intended to weakened using fly wheel system and overcome control-moment gyro system
Singular problem, while flywheel is adjusted using control-moment gyro system so that the two plays respective characteristic respectively, ensures
Spacecraft quick attitude maneuver in high precision can be completed for a long time without unusual by mixing actuator system.
Concrete application approach of the present invention is a lot, and described above is only the preferred embodiment of the present invention, it is noted that for
For those skilled in the art, under the premise without departing from the principles of the invention, some improvement can also be made, this
A little improve also should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of Spacecraft Attitude Control mixing executing agency optimal control method, it is characterised in that comprise the following steps：
Step 1：In each space mission, according to targeted attitudeIt is required that by the spaceborne control computer calculating pair of spacecraft
The control moment τ answeredcSequence, as torque caused by actuating mechanism controls moment gyro system and reaction wheel system need；
Step 2：Control-moment gyro and counteraction flyback perform self-test, determine system current unusual degree and degree of saturation；
Step 3：By spaceborne control computer according to torque command sequence τcResolve only by frame during control-moment gyro output torque
Frame angle track δ, while obtain the unusual metric function value sequence S of control-moment gyro；
Step 4：According to unusual metric sequence S, judge control-moment gyro in whole duty cycle any instant it is unusual
Degree, if the unusual threshold value more than initial settingThen think that system is absorbed in unusual state, first unusual moment of note is ts, and
Step 5 is performed, otherwise performs step 9；
Step 5：System is transferred to the control-moment gyro unusual amendment stage, in tsThe addition of time Δt torque command is less before moment
Unusual amendment torqueObtain new torque command sequenceWherein unusual amendment torque will be by flywheel system
System produces, and performs step 3, step 4 and step 5 until control-moment gyro system is remote unusual in whole controlling cycle, so
Afterwards, step 6 is performed；
Step 6：Correcting force moment sequence and fly wheel system current state according to striked by step 5, resolve and are exported by fly wheel system
Correct torque TMWhen angular speed sequence Ω, if flywheel initial angular velocity meets TMOutput requires, then performs step 8, otherwise perform
Step 7；
Step 7：According to requirements of the flywheel angular speed sequence Ω to original state, unusual shape is not absorbed in control-moment gyro system
During state, in Spacecraft Control torque sequence τcMiddle addition flywheel original state correction torque NM, conditioning flywheel initial angular velocity satisfaction
The unusual correction demand of control-moment gyro, then, perform step 8；
Step 8：According to the final unusual correction torque of control-moment gyro and flywheel original state correction torque NMIt is determined that new boat
Its device control moment sequence τc, and perform step 9；
Step 9：The frame corners speed command sequence according to determined by control-moment gyro manipulates ruleDetermined with flywheel control law
Flywheel acceleration instructionSequence, start control-moment gyro system and fly wheel system, produce output torque NCMGAnd NRW, make
For spacecraft, gesture stability and motor-driven is carried out；
Step 10：In boat too device attitude maneuver task cycle end, closing control moment gyro system, and using fly wheel system
Moderate output torque carries out attitude rectification and fine alignment.
2. Spacecraft Attitude Control mixing executing agency optimal control method according to claim 1, it is characterised in that institute
Stating the self checking method described in step 2 is：
Step, 2-1：Degree of the current control force square gyro system apart from unusual state is calculated,
S=det (JTJ)
Wherein J is the Jacobian matrix of SGCMG systems, and J is that framework angle function is J=J (δ)；
Step 2-2：The degree apart from saturation of current fly wheel system is calculated, obtains angular velocity vector Ω, performs and determines to satisfy with minor function
And degree,
Ω=[Ω in formula1 Ω2 Ω3]TFor each flywheel angular speed in fly wheel system, Q ∈ R3×3To weight matrix,
To weight two norms, | | Ω0||∞=max { Ωi, i=1,2,3 } and it is Infinite Norm.
3. Spacecraft Attitude Control mixing executing agency optimal control method according to claim 1, it is characterised in that institute
The determination method for stating unusual metric in step 3 is：
Step 3-1：Determine that the current frame corners of control-moment gyro system combine δ with reponse system by attitude measurement；
Step 3-2：Unusual metric function is performed, obtains the unusual degree of control-moment gyro system of current pyramid configuration：
S=det (JTJ)
J ∈ R in formula3×4For the Jacobian matrix of control-moment gyro system, by the current frame corners δ of control-moment gyro=
(δ1,δ2,δ3,δ4) determine.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108536014A (en) * | 2018-04-04 | 2018-09-14 | 北京航空航天大学 | A kind of model predictive control method for considering the spacecraft attitude of flywheel dynamic characteristic and evading |
| CN108762285A (en) * | 2018-05-25 | 2018-11-06 | 北京控制工程研究所 | A kind of targeted attitude collaborative planning method and system of spacecraft multistage composite control |
| CN110471434A (en) * | 2019-07-18 | 2019-11-19 | 南京航空航天大学 | A kind of Spacecraft Attitude Control intelligence counteraction flyback and its control method |
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|---|---|---|---|---|
| CN108536014A (en) * | 2018-04-04 | 2018-09-14 | 北京航空航天大学 | A kind of model predictive control method for considering the spacecraft attitude of flywheel dynamic characteristic and evading |
| CN108762285A (en) * | 2018-05-25 | 2018-11-06 | 北京控制工程研究所 | A kind of targeted attitude collaborative planning method and system of spacecraft multistage composite control |
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| CN110471434A (en) * | 2019-07-18 | 2019-11-19 | 南京航空航天大学 | A kind of Spacecraft Attitude Control intelligence counteraction flyback and its control method |
| CN110471434B (en) * | 2019-07-18 | 2020-11-20 | 南京航空航天大学 | Intelligent reaction flywheel for spacecraft attitude control and control method thereof |
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