CN107600463A - A kind of quick small satellite attitude fast reserve control method - Google Patents
A kind of quick small satellite attitude fast reserve control method Download PDFInfo
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- CN107600463A CN107600463A CN201710723194.1A CN201710723194A CN107600463A CN 107600463 A CN107600463 A CN 107600463A CN 201710723194 A CN201710723194 A CN 201710723194A CN 107600463 A CN107600463 A CN 107600463A
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Abstract
A kind of quick small satellite attitude fast reserve control method, relates to aerospace field, the present invention includes：The torque outbound course angle of first, second, third counteraction flyback is 90 °；The angle all same of 4th counteraction flyback and first, second, third counteraction flyback；First, second and the torque outbound course angle of the third-largest torque flywheel are 90 °；The angle all same of the fourth-largest torque flywheel and first, second, third high-torque flywheel；First counteraction flyback is parallel and in opposite direction with the torque outbound course of the first high-torque flywheel, by that analogy；Start flywheel and export torque in the same direction；After judgement reaches specified posture, the reverse output torque of high-torque flywheel；Counteraction flyback exports racemization torque and control moment；Judge whether the rotating speed absolute value of high-torque flywheel is dropped within 10rpm；High-torque flywheel stops output torque, counteraction flyback output gesture stability torque.Present invention control difficulty is low, agility and stability are high.
Description
Technical field
The present invention relates to field of aerospace technology, and in particular to a kind of quick small satellite attitude fast reserve control method.
Background technology
With the continuous enhancing of the development of satellite technology, video and imaging function, the gesture stability of satellite is proposed
Higher requirement, lifting the agility of satellite turns into the emphasis of this area research.
The configuration of satellite gravity anomaly executing agency and the use of strategy is the basic link of control design case.Existing little Wei
Star attitude control actuator composition be flywheel and magnetic torquer, is that flywheel output torque is fine the advantages of this configuration, controls
Stability is good, and precision is high, while flywheel accumulation angular momentum is steadily unloaded using magnetic torquer；Shortcoming is that conventional counteraction flyback is difficult
To provide larger torque, the posture agility of moonlet is poor.
Control-moment gyro (CMG) starts to be applied to moonlet in recent years, and scholars and aerospace industry department it is also proposed
The allocation plans such as flywheel+CMG, CMG pyramid, 5 pyramids, have carried out in-orbit experiment, and moonlet obtains larger machine
Kinetic force, but because the lifting of CMG Gimbal servo precision has bottleneck, the precision of CMG output torques and itself disturbance torque
Control to whole star generates larger disturbance, and the stability after satellite fast reserve is difficult lifting.It is proposed that speed change control
The scheme of moment gyro (VSCMG) processed, but the operating difficulty of this executing agency is big, and its reliability is not also in Practical Project
Carry out permanently effective checking.
The content of the invention
In order to solve the problems, such as to control difficulty height existing for existing executing agency, agility is poor, stability is low, and the present invention carries
For a kind of quick small satellite attitude fast reserve control method.
The present invention is that technical scheme is as follows used by solving technical problem：
A kind of quick small satellite attitude fast reserve control method of the present invention, comprises the following steps：
Step 1: four counteraction flybacks and four high-torque flywheels are installed in place；
Torque outbound course phase between first counteraction flyback, the second counteraction flyback and the 3rd counteraction flyback three
Mutual angle is 90 °；4th counteraction flyback and the first counteraction flyback, the second counteraction flyback, the 3rd counteraction flyback three
Between angle all same；
Torque outbound course phase between first high-torque flywheel, the second high-torque flywheel and the third-largest torque flywheel three
Mutual angle is 90 °；The fourth-largest torque flywheel and the first high-torque flywheel, the second high-torque flywheel, the third-largest torque flywheel three
Between angle all same；
First counteraction flyback is parallel and in opposite direction with the torque outbound course of the first high-torque flywheel, the second reaction
Flywheel is parallel and in opposite direction with the torque outbound course of the second high-torque flywheel, and the 3rd counteraction flyback flies with the third-largest torque
The torque outbound course of wheel is parallel and in opposite direction, and the torque outbound course of the 4th counteraction flyback and the fourth-largest torque flywheel is put down
Go and in opposite direction；
Step 2: starting four counteraction flybacks and four high-torque flywheels according to control instruction, controling power in the same direction is exported
Square；
Step 3: after judging that quick moonlet reaches specified posture, four high-torque flywheels export Reverse Turning Control torque；
Step 4: four counteraction flyback output racemization torques and control moment；
Step 5: judge whether the rotating speed absolute value of four high-torque flywheels is all dropped within 10rpm, if so, then
Step 6 is performed, if it is not, then continuing executing with step 4；
Step 6: the wholly off output control torque of four high-torque flywheels, and four counteraction flybacks then export posture
Control moment, complete quick small satellite attitude fast reserve.
Further, the 4th counteraction flyback and the first counteraction flyback, the second counteraction flyback, the 3rd reaction
Angle between flywheel three refers to the space angle between flywheel mounting plane normal vector.
Further, the fourth-largest torque flywheel and the first high-torque flywheel, the second high-torque flywheel, the third-largest torque
Angle between flywheel three refers to the space angle between flywheel mounting plane normal vector.
The beneficial effects of the invention are as follows：
Present invention is mainly used for the control for the executing agency for instructing quick small satellite attitude fast reserve control and user
Method.It is proposed by the present invention strategy in principle, in the complexity of control, better than CMG schemes；Better than anti-on controllable velocity
Act on the scheme of flywheel；Maintain an equal level in terms of stability is controlled with counteraction flyback scheme, better than CMG schemes.
A kind of quick small satellite attitude fast reserve control method of the present invention, by setting four high-torque flywheels and four
Individual counteraction flyback, the difficulty of quick small satellite attitude control is reduced, control difficulty is low, simultaneously as four high-torques fly
The synergy of wheel and four counteraction flybacks, improve the agility and stability of quick small satellite attitude control.
Brief description of the drawings
Fig. 1 is that high-torque flywheel and counteraction flyback configure block diagram.
Fig. 2 is high-torque flywheel and counteraction flyback control strategy flow chart.
Fig. 3 is celestial body angular speed schematic diagram.
Fig. 4 is the partial enlarged drawing of the celestial body angular speed shown in Fig. 3.
In figure：1st, the first counteraction flyback, the 2, second counteraction flyback, the 3, the 3rd counteraction flyback, the 4, the 4th reaction
Flywheel, the 5, first high-torque flywheel, the 6, second high-torque flywheel, 7, the third-largest torque flywheel, 8, the fourth-largest torque flywheel.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The present invention proposes a kind of reaction for a series of problems in current quick Micro-Satellite Attitude Control executing agency application
The combination control method of flywheel and high-torque flywheel.
As shown in figure 1, in a kind of quick small satellite attitude fast reserve control method of the present invention, on quick moonlet
Four high-torque flywheels and four counteraction flybacks are installed.Four high-torque flywheels and four counteraction flybacks use 3 respectively
Orthogonal, 1 angle mount mounting means.Specifically：In space coordinates XYZ, quick moonlet is centrally located at space coordinates
XYZ origin, the first counteraction flyback 1, the second counteraction flyback 2, the torque outbound course of the 3rd counteraction flyback 3 mutually press from both sides
Angle is 90 °, i.e. the mutual angle of torque outbound course of the first counteraction flyback 1 and the second counteraction flyback 2 is 90 °, and first is anti-
The mutual angle of torque outbound course for acting on the counteraction flyback 3 of flywheel 1 and the 3rd is 90 °, the second counteraction flyback 2 and the 3rd anti-
The mutual angle of torque outbound course for acting on flywheel 3 is 90 °.
Between 4th counteraction flyback 4 and the first counteraction flyback 1 angle (refer to flywheel mounting plane normal vector it
Between space angle), the angle between the 4th counteraction flyback 4 and the second counteraction flyback 2 (refer to flywheel mounting plane method
Space angle between vector), the angle between the 4th counteraction flyback 4 and the 3rd counteraction flyback 3 (refer to that flywheel is installed
Space angle between plane normal vector) all same.
Similarly, the torque outbound course phase of the first high-torque flywheel 5, the second high-torque flywheel 6, the third-largest torque flywheel 7
Mutual angle is 90 °, i.e. the mutual angle of torque outbound course of the first high-torque flywheel 5 and the second high-torque flywheel 6 is 90 °, the
The mutual angle of torque outbound course of one high-torque flywheel 5 and the third-largest torque flywheel 7 is 90 °, the second high-torque flywheel 6 and the
The mutual angle of torque outbound course of three high-torque flywheels 7 is 90 °.
Between the fourth-largest high-torque flywheel 5 of torque flywheel 8 and first angle (refer to flywheel mounting plane normal vector it
Between space angle), the angle between the high-torque flywheel 6 of the fourth-largest torque flywheel 8 and second (refer to flywheel mounting plane method
Space angle between vector), the angle between the fourth-largest torque flywheel 8 and the third-largest torque flywheel 7 (refer to that flywheel is installed
Space angle between plane normal vector) all same.
Meanwhile first counteraction flyback 1 it is parallel and in opposite direction with the torque outbound course of the first high-torque flywheel 5；The
Two counteraction flybacks 2 are parallel and in opposite direction with the torque outbound course of the second high-torque flywheel 6；3rd counteraction flyback 3 with
The torque outbound course of the third-largest torque flywheel 7 is parallel and in opposite direction；4th counteraction flyback 4 and the fourth-largest torque flywheel 8
Torque outbound course it is parallel and in opposite direction.
As shown in Fig. 2 a kind of quick small satellite attitude fast reserve control method of the present invention, the detailed process of this method
It is as follows：
Step 1: according to the mounting means of above-mentioned four high-torque flywheels and four counteraction flybacks, by executing agency
(four high-torque flywheels and four counteraction flybacks) are installed in place；
Step 2: according to control instruction, start four high-torque flywheels and four counteraction flybacks, four high-torque flywheels
Control moment in the same direction is exported with four counteraction flybacks.
Step 3: after judging that quick moonlet reaches specified posture, four high-torque flywheels are according to design reversely output control
Torque processed.
Step 4: four counteraction flybacks are according to design output racemization torque and stability contorting torque.
Step 5: persistently judge whether the rotating speed absolute value of four high-torque flywheels is all dropped within 10rpm, if
If being, then step 6 is performed.
Step 6: the wholly off output control torque of four high-torque flywheels；Four counteraction flybacks are only defeated according to designing
Go out pose stabilization control torque.
After the quick small satellite attitude of completion is motor-driven, quick moonlet enters stable work area, and now four high-torques fly
Momentum is reduced to zero by wheel with certain racemization torque, and four counteraction flybacks synchronously absorb the angular motion of four high-torque flywheels
Amount, and gesture stability torque is provided.In the process, satellite is operated with three-axis stabilization attitude control mode.
Embodiment one
By taking certain satellite as an example, in four high-torque flywheels and four counteraction flyback tasks used at the same time, motor-driven
When, X-axis, Y-axis high-torque flywheel and respective shaft on counteraction flyback simultaneously gesture stability torque is provided, when motor-driven end
Afterwards, the angular momentum of high-torque flywheel is absorbed using the counteraction flyback on corresponding axle, gives the rotary speed instruction of high-torque flywheel zero, is made big
Torque flywheel keeps zero-turn speed, but not to its power-off shutdown.
In three-axis stabilization pushes away the task of sweeping over the ground, the angular momentum of high-torque flywheel is absorbed to counteraction flyback after motor-driven end
Carry out simulation analysis.
After motor-driven end, the counteraction flyback on the designed time, corresponding axle starts to absorb the angle of high-torque flywheel
Momentum, high-torque flywheel export the opposing torque of a certain design moment, and now, the reaction on corresponding parallel output torque axle flies
Take turns it is each need output size identical torque, until the rotating speed of high-torque flywheel is reduced to zero, high-torque flywheel will always thereafter
It is stable fast in zero-turn.
When can be seen that counteraction flyback absorption high-torque flywheel angular momentum from Fig. 3 and Fig. 4 simulation result, to celestial body
Stability influences to be 1 × 10-4°/s magnitudes.Therefore, a kind of quick small satellite attitude fast reserve controlling party proposed by the present invention
Method, after large angle maneuver is carried out, there is preferable control effect.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of quick small satellite attitude fast reserve control method, it is characterised in that comprise the following steps：
Step 1: four counteraction flybacks and four high-torque flywheels are installed in place；
Torque output between first counteraction flyback (1), the second counteraction flyback (2) and the 3rd counteraction flyback (3) three
The mutual angle in direction is 90 °；4th counteraction flyback (4) and the first counteraction flyback (1), the second counteraction flyback (2), the 3rd
Angle all same between counteraction flyback (3) three；
Torque output between first high-torque flywheel (5), the second high-torque flywheel (6) and the third-largest torque flywheel (7) three
The mutual angle in direction is 90 °；The fourth-largest torque flywheel (8) and the first high-torque flywheel (5), the second high-torque flywheel (6), the 3rd
Angle all same between high-torque flywheel (7) three；
First counteraction flyback (1) is parallel and in opposite direction with the torque outbound course of the first high-torque flywheel (5), the second anti-work
It is parallel and in opposite direction with the torque outbound course of the second high-torque flywheel (6) with flywheel (2), the 3rd counteraction flyback (3) with
The torque outbound course of the third-largest torque flywheel (7) is parallel and in opposite direction, and the 4th counteraction flyback (4) flies with the fourth-largest torque
The torque outbound course for taking turns (8) is parallel and in opposite direction；
Step 2: starting four counteraction flybacks and four high-torque flywheels according to control instruction, control moment in the same direction is exported；
Step 3: after judging that quick moonlet reaches specified posture, four high-torque flywheels export Reverse Turning Control torque；
Step 4: four counteraction flyback output racemization torques and control moment；
Step 5: judge whether the rotating speed absolute value of four high-torque flywheels is all dropped within 10rpm, if so, then performing
Step 6, if it is not, then continuing executing with step 4；
Step 6: the wholly off output control torque of four high-torque flywheels, and four counteraction flybacks then export gesture stability
Torque, complete quick small satellite attitude fast reserve.
2. a kind of quick small satellite attitude fast reserve control method according to claim 1, it is characterised in that described
Four counteraction flybacks (4) and the first counteraction flyback (1), the second counteraction flyback (2), the 3rd counteraction flyback (3) three it
Between angle refer to space angle between flywheel mounting plane normal vector.
3. a kind of quick small satellite attitude fast reserve control method according to claim 1, it is characterised in that described
Four high-torque flywheels (8) and the first high-torque flywheel (5), the second high-torque flywheel (6), the third-largest torque flywheel (7) three it
Between angle refer to space angle between flywheel mounting plane normal vector.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131942A (en) * | 2018-10-29 | 2019-01-04 | 上海微小卫星工程中心 | A kind of method for the rotary body progress despun control to satellite and corresponding racemization device |
| CN111460634A (en) * | 2020-03-18 | 2020-07-28 | 长光卫星技术有限公司 | Multi-target design method for micro-satellite magnetic torquer |
| CN112046795A (en) * | 2020-08-31 | 2020-12-08 | 长光卫星技术有限公司 | Small satellite orbit control optimization method based on orbit control deviation moment coefficient calibration |
| CN113968362A (en) * | 2021-11-16 | 2022-01-25 | 长光卫星技术有限公司 | Satellite on-orbit autonomous three-axis quick maneuvering control method |
| CN114115305A (en) * | 2021-11-01 | 2022-03-01 | 武汉大学 | Control system design method of high-precision remote sensing small satellite with fast maneuvering posture |
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| CN106828980A (en) * | 2016-11-21 | 2017-06-13 | 上海卫星工程研究所 | The big disturbance torque real-time compensation method of payload sweep mechanism on star |
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| US20060032985A1 (en) * | 2004-04-06 | 2006-02-16 | Monty Smith | Clutch driven reaction wheel steering unit |
| CN101219714A (en) * | 2007-12-26 | 2008-07-16 | 北京航空航天大学 | Double-frame magnetic suspension control moment gyro |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131942A (en) * | 2018-10-29 | 2019-01-04 | 上海微小卫星工程中心 | A kind of method for the rotary body progress despun control to satellite and corresponding racemization device |
| CN111460634A (en) * | 2020-03-18 | 2020-07-28 | 长光卫星技术有限公司 | Multi-target design method for micro-satellite magnetic torquer |
| CN111460634B (en) * | 2020-03-18 | 2023-05-23 | 长光卫星技术股份有限公司 | Multi-target design method for micro-micro star magnetic torquer |
| CN112046795A (en) * | 2020-08-31 | 2020-12-08 | 长光卫星技术有限公司 | Small satellite orbit control optimization method based on orbit control deviation moment coefficient calibration |
| CN114115305A (en) * | 2021-11-01 | 2022-03-01 | 武汉大学 | Control system design method of high-precision remote sensing small satellite with fast maneuvering posture |
| CN113968362A (en) * | 2021-11-16 | 2022-01-25 | 长光卫星技术有限公司 | Satellite on-orbit autonomous three-axis quick maneuvering control method |
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Address after: No. 1299, Mingxi Road, Beihu science and Technology Development Zone, Changchun City, Jilin Province Patentee after: Changguang Satellite Technology Co.,Ltd. Address before: No.1759 Mingxi Road, Gaoxin North District, Changchun City, Jilin Province Patentee before: CHANG GUANG SATELLITE TECHNOLOGY Co.,Ltd. |
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Denomination of invention: A Fast Maneuver Control Method for Agile Small Satellite Attitude Granted publication date: 20190524 Pledgee: Jilin credit financing guarantee Investment Group Co.,Ltd. Pledgor: Changguang Satellite Technology Co.,Ltd. Registration number: Y2024220000032 |