CN107554817A - The compound formation method of satellite - Google Patents
The compound formation method of satellite Download PDFInfo
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- CN107554817A CN107554817A CN201710558811.7A CN201710558811A CN107554817A CN 107554817 A CN107554817 A CN 107554817A CN 201710558811 A CN201710558811 A CN 201710558811A CN 107554817 A CN107554817 A CN 107554817A
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Abstract
The invention discloses a kind of compound formation method of satellite, the technical problem low for solving existing satellite Autonomous formation flight control method control accuracy.Technical scheme is that separate type active vibration isolation and control system are designed between satellite body and load, regard as between satellite body and load and be fixedly connected, using conventional formation method to slightly being formed into columns between satellite group, for Leader-Follower Formation's Satellite attitude and orbit control problem, establish the six degree of freedom relative motion model of satellite, by measuring relative attitude and relative position between Satellite Formation Flying, its posture and track are adjusted using microthruster, keep the relative motion between Satellite Formation Flying.The kinetic model of single load is established, three axle controling powers of generation and three axle control moments are used cooperatively using between 8 Split type electric magnetic force actuator, carrying out six degree of freedom to load accurately controls, and realizes high-precision compound formation between satellite load.
Description
Technical field
The present invention relates to a kind of satellite Autonomous formation flight control method, more particularly to a kind of compound formation method of satellite.
Background technology
Recently as increasingly complicated and antenna, optics load bore the increase of satellite function, development cost and development
Difficulty sharply increases, and developing risk is also increasing, and the function of single star and performance indications are limited, therefore, using moonlet
Formation flight cooperates turns into an important research direction, in electronics investigation, is positioned to answering for picture, meteorological observation etc.
With also more and more extensive.On the other hand, formation flying satellites super large caliber observation mission and high-resolution perform task to forming into columns
The requirement of precision and stability also more and more higher.
Traditional satellites formation is controlled to the space relative orbit posture of each satellite, is adopted between satellite load and body
Formed into columns with the mode that is fixedly connected, and using single-stage, be difficult to realize micron order relative displacement control and differential of the arc level relative Attitude Control for Spacecraft.
Document " application publication number is CN104142686A Chinese invention patent ", which discloses a kind of satellite Autonomous and formed into columns, to fly
Row control method.The track and posture of satellite are adjusted respectively using jet and momenttum wheel for this method, by satellite and load
As an entirety, using single-stage formation mode, because flywheel attitude control, jet Orbit control precision are limited, while satellite body disturbs source
More, micro-vibration protrudes, and formation limited precision, the formation mode is only suitable for the occasion of conventional required precision, distributed optics into
It is difficult to pass through formation interference imaging in the related applications such as picture, the application in high accuracy, high stability field is limited.
The content of the invention
In order to overcome the shortcomings of that existing satellite Autonomous formation flight control method control accuracy is low, the present invention provides one kind and defended
The compound formation method of star.This method designs separate type active vibration isolation and control system, satellite sheet between satellite body and load
Regard as between body and load and be fixedly connected, using conventional formation method to slightly being formed into columns between satellite group, compiled for master-slave mode
Team's Satellite attitude and orbit control problem, establishes the six degree of freedom relative motion model of satellite, relative between Satellite Formation Flying by measuring
Posture and relative position, its posture and track are adjusted using microthruster, keep the relative motion between Satellite Formation Flying.
The kinetic model of single load is established, is controlled using between 8 Split type electric magnetic force actuator with the use of three axles of generation
Power and three axle control moments, six degree of freedom is carried out to load and accurately controlled, realizes high-precision compound formation between satellite load.
The technical solution adopted for the present invention to solve the technical problems：A kind of compound formation method of satellite, is characterized in wrapping
Include following steps：
Step 1: it is connected between satellite body and load by eight Split type electric magnetic force actuator.First separate type
The Split type electric magnetic force actuator 13 of electromagnetic force 10- the 4th is symmetrically arranged on the baseplane of satellite load, with plane on satellite body
It is connected, the both ends of the Split type electric magnetic force actuator 13 of the first Split type electric magnetic force 10- the 4th pass through bolt and satellite load respectively
Connected with satellite body.The right boundary of satellite load separately designs the first installation pedestal 8 and the second installation pedestal 9, the first peace
The dress installation pedestal 9 of pedestal 8 and second and the upper plane of satellite body are connected, for installing the 5th Split type electric magnetic force actuator
The Split type electric magnetic force actuator 17 of 14- the 8th, the Split type electric magnetic force actuator 17 of the 5th Split type electric magnetic force actuator 14- the 8th
Installation it is symmetrical on yz planes and xz planes, the Split type electric magnetic force actuator of the 5th Split type electric magnetic force actuator 14- the 8th
17 both ends are connected by bolt with satellite load and satellite body respectively.
Step 2: in thick form into columns, Split type electric magnetic force actuator is locked or makes each actuator pole by active control
Length is constant, regards as between satellite body and load and is fixedly connected, with the Leader-Follower Formation's satellite formed into columns relative to central satellite
Rail control problem, the relative motion model of system is established, by measuring relative attitude and relative position between Satellite Formation Flying,
Its posture and track are adjusted using microthruster, realize the thick formation control of the first order of satellite.
Assuming that each satellite of formation flight moves in earth center gravitational field, and central satellite is circuit orbit, is not considered
The influence of orbit perturbation factor, the relative motion model of Satellite Formation Flying is obtained using Hill equations：
Wherein, ω is the mean orbit angular speed of reference satellite, and x, y, z is respectively Satellite Formation Flying in relative motion coordinate system
In location components.
Satellite Formation Flying is controlled relative to the relative motion of central satellite according to above-mentioned motion model, realizes that satellite is thick
Form into columns.
Step 3: when slightly formation precision meets that load operation domain requires to satellite, Split type electric magnetic force actuator starts work
Make, the unblock of Split type electric magnetic force actuator or no longer keep each actuator strut lengths by controlling, satellite body and load by
Connection status is converted to released state, the influence of isolation satellite body micro-vibration disturbance, realizes the super quiet super steady of load, is second
Level high accuracy, which is formed into columns, prepares.Relative motion deviation after satellite is slightly formed into columns is obtained by measurement, passes it to load progress
Compensation, the high-precision formation of load is realized by Split type electric magnetic force actuator, is made by the cooperation between diverse location actuator
Six degree of freedom driving is carried out with to load.
Split type electric magnetic force actuator selects voice coil actuator, and voice coil actuator in coil by being passed through DC current reality
The output of existing power, by acting on the power output of load diverse location, according to the topology layout mode of actuator in step 1, is obtained
To the controling power and control moment of each free degree.
Separate type voice coil actuator power output size and the relation of electric current are given by
F=δ BLi
Wherein, δ is the perceptual coefficient in conductor coils, and B represents homogeneous field strength, and L is the effective length of conductor coils,
I represents the electric current in conductor coils.The size and Orientation of power output is changed by the size and Orientation of control input electric current.
By being used cooperatively for the Split type electric magnetic force actuator 13 of the first Split type electric magnetic force 10- the 4th, realize load around
X, the rotation of y-axis and linear motion in the z-direction, pass through the Split type electric magnetic force of the 5th Split type electric magnetic force actuator 14- the 8th
Actuator 17 is used cooperatively, and load is realized around the rotation of z-axis and the linear motion along x, y direction, so as to carry out six to load
Free degree high-precision control, realize high-precision compound formation.
The installation pedestal 9 of first installation pedestal 8 and second is triangular prism-shaped.
The beneficial effects of the invention are as follows：This method designs separate type active vibration isolation and manipulation between satellite body and load
System, regard as between satellite body and load and be fixedly connected, using conventional formation method to slightly being formed into columns between satellite group, pin
To Leader-Follower Formation's Satellite attitude and orbit control problem, the six degree of freedom relative motion model of satellite is established, by measuring Satellite Formation Flying
Between relative attitude and relative position, its posture and track are adjusted using microthruster, keep Satellite Formation Flying between
Relative motion.The kinetic model of single load is established, life is used cooperatively using between 8 Split type electric magnetic force actuator
Into three axle controling powers and three axle control moments, six degree of freedom is carried out to load and accurately controlled, realized high-precision multiple between satellite load
Compile in collaboration with team.
Formation load active control is treated using Split type electric magnetic force actuator on the basis of satellite is slightly formed into columns and carries out two
Secondary formation, realize the high-precision compound formation between each satellite load.
Separate type active vibration isolation and control system are designed between satellite body and load, and uses eight separate type electromagnetism
Power actuator carries out active control, and separate type active vibration isolation and control system can Whole frequency band physical isolation satellite body be various micro- shakes
The dynamic interference to load, ensure the super quiet super steady state of load.
The separate type active vibration isolation of designed load is made with control system using Split type electric magnetic force in the compound formation of satellite
Dynamic device is driven, and has higher control accuracy, can be carried out six degree of freedom to load and precisely be manipulated, slightly be formed into columns in satellite
On the basis of secondary formation is carried out to load, further improve formation precision.
The present invention is elaborated with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is the flow chart of the compound formation method of satellite of the present invention.
Fig. 2 is compound fleet system schematic diagram in the inventive method.
Fig. 3 is the axonometric drawing of compound Satellite Formation Flying separate type active vibration isolation and control system in the inventive method.
Fig. 4 is the front view of compound Satellite Formation Flying separate type active vibration isolation and control system in the inventive method.
Fig. 5 is the top view of compound Satellite Formation Flying separate type active vibration isolation and control system in the inventive method.
Fig. 6 is compound fleet system control block diagram in the inventive method.
In figure, 1- central satellite load, 2- central satellite bodies, the satellite loads of 3- first, the satellite bodies of 4- first, 5-
Two satellite loads, the satellite bodies of 6- second, 7- separate types active vibration isolation and control system, the installation pedestals of 8- first, 9- second pacify
Fill pedestal, 10- the first Split type electric magnetic force actuator, 11- the second Split type electric magnetic force actuator, the separate type electromagnetism of 12- the 3rd
Power actuator, the Split type electric magnetic force actuator of 13- the 4th, the Split type electric magnetic force actuator of 14- the 5th, the Split type electrics of 15- the 6th
Magnetic force actuator, the Split type electric magnetic force actuator of 16- the 7th, the Split type electric magnetic force actuator of 17- the 8th.
Embodiment
Reference picture 1-6.The compound formation method of satellite of the present invention using two satellites relative to central satellite formation flight as
Example, separate type active vibration isolation and control system 7 are designed between satellite body and load, passes through the second Split type electric magnetic force actuator
The Split type electric magnetic force actuator 17 of 11- the 7th connects.Comprise the following steps that：
Step 1: separate type active vibration isolation and control system between design satellite body and load, the system is by 8 points
Formed from formula electromagnetic force actuator, by actuator with the use of being driven to load, realize the smart formation control of load.
It is connected between satellite body and load by 8 Split type electric magnetic force actuator.By taking the first Satellite Formation Flying as an example,
The Split type electric magnetic force actuator 13 of first Split type electric magnetic force 10- the 4th is symmetrically arranged on the baseplane of the first satellite load 3, with
Plane is connected on first satellite body 4, the both ends difference of the Split type electric magnetic force actuator 13 of the first Split type electric magnetic force 10- the 4th
It is connected by bolt with the first satellite load 3 and the first satellite body 4.The right boundary of first satellite load 3 separately designs
One installation pedestal 8 and the second installation pedestal 9, the first installation pedestal 8 and the second installation pedestal 9 and the upper of the first satellite body 4 are put down
Face is connected, for installing the Split type electric magnetic force actuator 17 of the 5th Split type electric magnetic force actuator 14- the 8th, the 5th Split type electric
The installation of the Split type electric magnetic force actuator 17 of magnetic force actuator 14- the 8th is symmetrical on yz planes and xz planes, the 5th separate type
The both ends of the Split type electric magnetic force actuator 17 of electromagnetic force actuator 14- the 8th pass through bolt and the first satellite load 3 and respectively
One satellite body 4 connects.The installation pedestal 9 of first installation pedestal 8 and second is triangular prism-shaped.
Step 2: satellite slightly formation relative motion modeling and control.In thick form into columns, Split type electric magnetic force actuator is locked
Or make each actuator strut lengths constant by active control, regard as between satellite body and load and be fixedly connected, with relative to
Leader-Follower Formation's Satellite attitude and orbit control problem that central satellite is formed into columns, the relative motion model of system is established, formed into columns by measuring
Relative attitude and relative position between satellite, its posture and track are adjusted using microthruster, realize the of satellite
The thick formation control of one-level.
By taking the formation flight of relative central satellite as an example, it is assumed that each satellite of formation flight is transported in earth center gravitational field
It is dynamic, and central satellite is circuit orbit, does not consider the influence of the factors such as orbit perturbation, and Satellite Formation Flying is obtained using Hill equations
Relative motion model：
Wherein, ω is the mean orbit angular speed of reference satellite, and x, y, z is respectively Satellite Formation Flying in relative motion coordinate system
In location components.
Satellite Formation Flying is controlled relative to the relative motion of central satellite according to above-mentioned kinetic model, realizes satellite
It is thick to form into columns.
Step 3: the realization of the high-precision formation of load.When slightly formation precision meets that load operation domain requires to satellite, separate type
Electromagnetic force actuator is started working, and Split type electric magnetic force actuator, which unlocks or no longer passes through to control, keeps each actuator pole to grow
Degree, satellite body are converted to released state by connection status with load, the influence of isolation satellite body micro-vibration disturbance, realize and carry
Lotus it is super quiet super steady, for the second level in high precision form into columns prepare.Relative motion deviation after satellite is slightly formed into columns is obtained by measurement,
Pass it to load to compensate, the high-precision formation of load is realized by Split type electric magnetic force actuator, passes through diverse location
Being used cooperatively between actuator carries out six degree of freedom driving to load.
Voice coil actuator typically can be selected in Split type electric magnetic force actuator, and voice coil actuator in coil by being passed through direct current
Electric current realizes the output of power, by acting on the power output of load diverse location, according to the topology layout of actuator in step 1
Mode, obtain the controling power and control moment of each free degree.
Separate type voice coil actuator power output size and the relation of electric current are given by
F=δ BLi
Wherein, δ is the perceptual coefficient in conductor coils, and B represents homogeneous field strength, and L is the effective length of conductor coils,
I represents the electric current in conductor coils.The size and Orientation of power output can be changed by the size and Orientation of control input electric current.
Load can be realized by being used cooperatively for the Split type electric magnetic force actuator 13 of the first Split type electric magnetic force 10- the 4th
Around x, the rotation of y-axis and linear motion in the z-direction, pass through the separate type electromagnetism of the 5th Split type electric magnetic force actuator 14- the 8th
Being used cooperatively for power actuator 17 realizes load around the rotation of z-axis and the linear motion along x, y direction, so as to carry out six to load
Free degree high-precision control, realize high-precision compound formation.
Claims (2)
- A kind of 1. compound formation method of satellite, it is characterised in that comprise the following steps：Step 1: it is connected between satellite body and load by eight Split type electric magnetic force actuator；First separate type electromagnetism The Split type electric magnetic force actuator (13) of power (10)-the four is symmetrically arranged on the baseplane of satellite load, with plane on satellite body It is connected, the both ends of the Split type electric magnetic force actuator (13) of the first Split type electric magnetic force (10)-the four pass through bolt and satellite respectively Load connects with satellite body；The right boundary of satellite load separately designs the first installation pedestal (8) and the second installation pedestal (9), the first installation pedestal (8) and the second installation pedestal (9) and the upper plane of satellite body are connected, for installing the 5th separate type The Split type electric magnetic force actuator (17) of electromagnetic force actuator (14)-the eight, the 5th (14)-the eight points of Split type electric magnetic force actuator It is symmetrical on yz planes and xz planes from the installation of formula electromagnetic force actuator (17), the 5th Split type electric magnetic force actuator (14)- The both ends of 8th Split type electric magnetic force actuator (17) are connected by bolt with satellite load and satellite body respectively；Step 2: in thick form into columns, Split type electric magnetic force actuator is locked or makes each actuator strut lengths by active control It is constant, regard as between satellite body and load and be fixedly connected, with the Leader-Follower Formation's Satellite Attitude rail formed into columns relative to central satellite Control problem, the relative motion model of system is established, by measuring relative attitude and relative position between Satellite Formation Flying, utilized Microthruster is adjusted to its posture and track, realizes the thick formation control of the first order of satellite；Assuming that each satellite of formation flight moves in earth center gravitational field, and central satellite is circuit orbit, does not consider track The influence of perturbation factors, the relative motion model of Satellite Formation Flying is obtained using Hill equations：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mover> <mi>x</mi> <mo>&CenterDot;&CenterDot;</mo> </mover> <mo>+</mo> <mn>2</mn> <mi>&omega;</mi> <mover> <mi>z</mi> <mo>&CenterDot;</mo> </mover> <mo>=</mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mover> <mi>y</mi> <mo>&CenterDot;&CenterDot;</mo> </mover> <mo>+</mo> <msup> <mi>w</mi> <mn>2</mn> </msup> <mi>y</mi> <mo>=</mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mover> <mi>z</mi> <mo>&CenterDot;&CenterDot;</mo> </mover> <mo>-</mo> <mn>2</mn> <mi>&omega;</mi> <mover> <mi>x</mi> <mo>&CenterDot;</mo> </mover> <mo>-</mo> <mn>3</mn> <msup> <mi>&omega;</mi> <mn>2</mn> </msup> <mi>z</mi> <mo>=</mo> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced>Wherein, ω is the mean orbit angular speed of reference satellite, and x, y, z is respectively Satellite Formation Flying in relative motion coordinate system Location components；Satellite Formation Flying is controlled relative to the relative motion of central satellite according to above-mentioned motion model, realizes that satellite is slightly compiled Team；Step 3: when slightly formation precision meets that load operation domain requires to satellite, Split type electric magnetic force actuator is started working, point Unlocked from formula electromagnetic force actuator or no longer keep each actuator strut lengths by controlling, satellite body is with load by being connected shape State is converted to released state, the influence of isolation satellite body micro-vibration disturbance, realizes the super quiet super steady of load, is that the second level is high-precision Degree formation is prepared；Relative motion deviation after satellite is slightly formed into columns is obtained by measurement, load is passed it to and compensates, carry The high-precision formation of lotus is realized by Split type electric magnetic force actuator, passes through being used cooperatively to load between diverse location actuator Carry out six degree of freedom driving；Split type electric magnetic force actuator selects voice coil actuator, and voice coil actuator realizes power by being passed through DC current in coil Output, by acting on the power output of load diverse location, according to the topology layout mode of actuator in step 1, obtain each The controling power and control moment of the individual free degree；Separate type voice coil actuator power output size and the relation of electric current are given byF=δ BLiWherein, δ be conductor coils in perceptual coefficient, B represent homogeneous field strength, L be conductor coils effective length, i tables Show the electric current in conductor coils；The size and Orientation of power output is changed by the size and Orientation of control input electric current；By being used cooperatively for the first Split type electric magnetic force (10)-the four Split type electric magnetic force actuator (13), realize load around X, the rotation of y-axis and linear motion in the z-direction, pass through the separate type electromagnetism of the 5th Split type electric magnetic force actuator (14)-the eight Power actuator (17) are used cooperatively, and load are realized around the rotation of z-axis and the linear motion along x, y direction, so as to enter to load Row six degree of freedom high-precision control, realize high-precision compound formation.
- 2. the compound formation method of satellite according to claim 1, it is characterised in that：First installation pedestal (8) and Two installation pedestals (9) are triangular prism-shapeds.
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