CN107856883B - A kind of angular motion amount compensation process of satellite rotatable parts - Google Patents
A kind of angular motion amount compensation process of satellite rotatable parts Download PDFInfo
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- CN107856883B CN107856883B CN201710842041.9A CN201710842041A CN107856883B CN 107856883 B CN107856883 B CN 107856883B CN 201710842041 A CN201710842041 A CN 201710842041A CN 107856883 B CN107856883 B CN 107856883B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
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- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of angular motion amount compensation process of satellite rotatable parts, belongs to satellite gravity anomaly technical field, includes the following steps: that (1) obtains the corresponding compensation angular momentum of satellite rotatable parts；(2) satellite is obtained in the axis of rolling, pitch axis, the corresponding control angular momentum of yaw axis according to the attitude angle of satellite；(3) the corresponding angular momentum control instruction of each momenttum wheel is generated in the axis of rolling, pitch axis, the corresponding control angular momentum of yaw axis according to the corresponding compensation angular momentum of the satellite rotatable parts and satellite；(4) it is deflected according to the corresponding angular momentum control instruction control momenttum wheel of each momenttum wheel.
Description
Technical field
The invention belongs to satellite gravity anomaly technical fields, are related to a kind of angular motion amount compensation process of satellite rotatable parts.
Background technique
After satellite enters stable state wheel control mode, in big angular momentum rotatable parts load start process, need to keep over the ground
It holds position while compensating rotatable parts rotation bring interference, during the operation of satellite long-term steady-state, it is also desirable to compensation rotation
Component angular momentum influences to keep holding position over the ground.
At present in rotation load start process, compensation rotatable parts rotation bring interference is eliminated using gas puff Z-pinch,
Then it during rotatable parts long-term work, is rotated backward using momenttum wheel to compensate the disturbance of the angular momentum of rotatable parts.So
And since propellant can be consumed over time, to restrict the lifetime of satellite；Simultaneously because existing momenttum wheel is only
The angular momentum of rotatable parts can be compensated, it is also necessary to which additional configuration carries out the momenttum wheel of stable state control to the attitude of satellite, makes
More, the control system higher cost at the configuration quantity of momenttum wheel.
Summary of the invention
Technology of the invention solves the problems, such as: overcome the deficiencies in the prior art, can solve due to propellant can with when
Between passage consumed, so that the configuration quantity for restricting the lifetime of satellite and momenttum wheel is more, control system higher cost
Problem.
The technical solution of the invention is as follows: a kind of angular motion amount compensation process of satellite rotatable parts includes the following steps:
(1) the corresponding compensation angular momentum of satellite rotatable parts is obtained；
(2) satellite is obtained in the axis of rolling, pitch axis, the corresponding control angular motion of yaw axis according to the attitude angle of satellite
Amount；
(3) according to the corresponding compensation angular momentum of the satellite rotatable parts and satellite in the axis of rolling, pitch axis, yaw axis
Corresponding control angular momentum generates the angular momentum control instruction of the corresponding momenttum wheel of satellite rotatable parts；
(4) momenttum wheel is controlled according to the angular momentum control instruction of momenttum wheel to be deflected.
Further, the method for the corresponding compensation angular momentum of satellite rotatable parts is obtained in the step (1) are as follows:
According to formula hs=Js×ωs/ 180* π is calculated, wherein hsTo compensate angular momentum, JsIt is corresponding for rotatable parts
Rotary inertia, ωsFor the corresponding load angular momentum of rotatable parts.
Further, satellite is obtained in the step (2) in the axis of rolling, pitch axis, the corresponding pilot angle of yaw axis
The method of momentum are as follows:
According to formulaIt is calculated, wherein RcxIt is corresponding for the axis of rolling
Control angular momentum, RcyFor the corresponding control angular momentum of pitch axis, RczFor the corresponding control angular momentum of yaw axis,θ, ψ difference
For the roll angle of satellite, pitch angle and yaw angle, omg is satellite orbit angular speed, and hxx, hzz are respectively the axis of rolling, yaw axis
In the control angular momentum that upper a cycle is calculated, Kp1,Ki1For axis of rolling control parameter, Kp2、Ki2It controls and joins for pitch axis
Number, Kp3,Ki3For yaw axis control parameter.
Further, the method for the corresponding angular momentum control instruction of each momenttum wheel is generated in the step (3)
Are as follows:
According to formula X=Rcx+(Rcz-hs) * tan (α), Y=RcyWith Zb=(Rcz-hs)/cos (α) is calculated, wherein
X is to roll the corresponding angular momentum control instruction of momenttum wheel configured in axis direction, and Y is the momenttum wheel pair configured in pitching axis direction
The angular momentum control instruction answered, Zb are that a momenttum wheel is corresponding in two momenttum wheels configured by center symmetry axis of yaw axis
Angular momentum control instruction, α be in two momenttum wheels configured by center symmetry axis of yaw axis momenttum wheel and yaw axis it
Between angle.
Further, the method for the corresponding angular momentum control instruction of each momenttum wheel is generated in the step (3)
Are as follows:
According to formula X=Rcx-(Rcz-hs) * tan (α), Y=RcyWith Za=(Rcz-hs)/cos (α), wherein X is to roll
The corresponding angular momentum control instruction of the momenttum wheel configured in axis direction, Y are the corresponding angle of momenttum wheel configured in pitching axis direction
Momentum control instruction, Za are the corresponding angular motion of another momenttum wheel in two momenttum wheels configured by center symmetry axis of yaw axis
Control instruction is measured, α is one between momenttum wheel and yaw axis in two momenttum wheels configured by center symmetry axis of yaw axis
Angle.
Further, the method for the corresponding angular momentum control instruction of each momenttum wheel is generated in the step (3)
Are as follows:
According to formula Y=Rcy, Za=Rcx/2/sin(α)+(Rcz-hs)/2/cos (α) and Zb=-Rcx/2/sin(α)+
(Rcz-hs)/2/cos (α) is calculated, wherein Y is that the corresponding angular momentum control of momenttum wheel configured in pitching axis direction refers to
It enables, Za, Zb are two momenttum wheels configured by center symmetry axis of yaw axis, and α is to configure using yaw axis as center symmetry axis
An angle between momenttum wheel and yaw axis in two momenttum wheels.
Compared with prior art, advantages and beneficial effects are the technology that the present invention uses: the present invention is rotated by satellite
The corresponding compensation angular momentum of component and satellite generate every in the axis of rolling, pitch axis, the corresponding control angular momentum of yaw axis
The corresponding angular momentum control instruction of one momenttum wheel, i.e., combine angular momentum compensation factor and angle in angular momentum control instruction
Momentum stable state governing factor can make each momenttum wheel that can both mend to the corresponding angular momentum of satellite rotatable parts
It repays, and stable state control can be carried out to the attitude of satellite, so as to reduce the configuration quantity of momenttum wheel, and then reduce control system
Cost of implementation.
Detailed description of the invention
Fig. 1 is the angular motion amount compensation process flow chart of satellite rotatable parts provided by the invention；
Fig. 2 is momenttum wheel configuration schematic diagram one provided by the invention；
Fig. 3 is momenttum wheel configuration schematic diagram two provided by the invention.
Specific embodiment
Step of the invention is described in detail below with reference to Fig. 1:
1) the angular momentum situation for needing to compensate according to rotation load, configuration gesture stability and angular momentum compensate momenttum wheel, and
Its mounting configuration is designed, it can be as shown in Figure 2.
Specifically, using centroid of satellite as the center of circle, the axis of rolling is x-axis, pitch axis is y-axis, yaw axis is z-axis configuration, in x-axis
One momenttum wheel of upper configuration, to configure a momenttum wheel in y-axis, using z-axis as symmetry axis, α is that established angle configures two momenttum wheels.
2) compensation angular momentum is calculated.
Rotate load angle momentum calculation are as follows:
hs=Js×ωs/180*π
3) according to the corresponding compensation angular momentum of the satellite rotatable parts and satellite in the axis of rolling, pitch axis, yaw axis
Corresponding control angular momentum generates the corresponding angular momentum control instruction of each momenttum wheel.
Specifically, according to formulaIt is calculated, wherein RcxTo roll
The corresponding control angular momentum of axis, RcyFor the corresponding control angular momentum of pitch axis, RczFor the corresponding control angular momentum of yaw axis,
θ, ψ are respectively roll angle, pitch angle and the yaw angle of satellite, and omg is satellite orbit angular speed, and hxx, hzz are respectively the axis of rolling
Calculated value, K are clapped on yaw axis instruction angular momentum onep1,Kp2,Kp3,Ki1,Ki2,Ki3Respectively three axis control parameters.
4) according to the corresponding compensation angular momentum of the satellite rotatable parts and satellite in the axis of rolling, pitch axis, yaw axis
Corresponding control angular momentum generates the corresponding angular momentum control instruction of each momenttum wheel.
(a) X+Y+Zb mode is selected；According to formula X=Rcx+(Rcz-hs) * tan (α), Y=RcyWith Zb=(Rcz-hs)/
Cos (α) is calculated, wherein X is to roll the corresponding angular momentum control instruction of momenttum wheel configured in axis direction, and Y is pitch axis
The corresponding angular momentum control instruction of the momenttum wheel configured on direction, Zb are two momentum configured by center symmetry axis of yaw axis
The corresponding angular momentum control instruction of a momenttum wheel in wheel, α are in two momenttum wheels configured by center symmetry axis of yaw axis
One angle between momenttum wheel and yaw axis.
(b) X+Y+Za mode is selected, default selects this mode: according to formula X=Rcx-(Rcz-hs) * tan (α), Y=RcyWith
Za=(Rcz-hs)/cos (α), wherein X is to roll the corresponding angular momentum control instruction of momenttum wheel configured in axis direction, and Y is to bow
The corresponding angular momentum control instruction of the momenttum wheel configured in axis direction is faced upward, Za is two configured by center symmetry axis of yaw axis
The corresponding angular momentum control instruction of another momenttum wheel in momenttum wheel, α are that two configured by center symmetry axis of yaw axis move
An angle between momenttum wheel and yaw axis in amount wheel.
(c) Za+Y+Zb mode is selected: according to formula Y=Rcy, Za=Rcx/2/sin(α)+(Rcz-hs)/2/cos (α) and
Zb=-Rcx/2/sin(α)+(Rcz-hs)/2/cos (α) is calculated, wherein Y is the momenttum wheel pair configured in pitching axis direction
The angular momentum control instruction answered, Za, Zb are two momenttum wheels configured by center symmetry axis of yaw axis, and α is to be with yaw axis
An angle between momenttum wheel and yaw axis in two momenttum wheels of central symmetry axis configuration.
Further, two momenttum wheels can also be configured on the y axis, as shown in figure 3, also wrapping at this point, above-mentioned Y becomes Ya
Include Three models:
(d) X+Yb+Zb mode is selected, according to formula X=Rcx+(Rcz-hs) * tan (α), Yb=Rcy, Zb=(Rcz-hs)/
Cos (α) is calculated.
(e) X+Yb+Za mode is selected, default selects this mode, according to formula X=Rcx-(Rcz-hs) * tan (α), Yb=Rcy,
Za=(Rcz-hs)/cos (α) is calculated.
(f) Za+Yb+Zb mode is selected, according to formula Yb=Rcy, Za=Rcx/2/sin(α)+(Rcz-hs)/2/cos (α),
Zb instructs angular momentum=- Rcx/2/sin(α)+(Rcz-hs)/2/cos (α) is calculated.
5) it is deflected according to the corresponding angular momentum control instruction control momenttum wheel of each momenttum wheel.It both can be right
The corresponding angular momentum of satellite rotatable parts compensates, and can carry out stable state control to the attitude of satellite.
Unspecified part belongs to the common knowledge of those skilled in the art in description of the invention.
Claims (1)
1. a kind of angular motion amount compensation process of satellite rotatable parts, which comprises the steps of:
(1) the corresponding compensation angular momentum of satellite rotatable parts is obtained, wherein obtain the corresponding compensation angular momentum of satellite rotatable parts
Method are as follows:
According to formula hs=Js×ωs/ 180* π is calculated, wherein hsTo compensate angular momentum, JsIt is corresponding turn of rotatable parts
Dynamic inertia, ωsFor the corresponding load angular momentum of rotatable parts；
(2) satellite is obtained in the axis of rolling, pitch axis, the corresponding control angular momentum of yaw axis according to the attitude angle of satellite,
In, satellite is obtained in the method for the axis of rolling, pitch axis, the corresponding control angular momentum of yaw axis are as follows:
According to formulaIt is calculated, wherein RcxFor the corresponding control of the axis of rolling
Angular momentum processed, RcyFor the corresponding control angular momentum of pitch axis, RczFor the corresponding control angular momentum of yaw axis,θ, ψ are respectively to defend
Roll angle, pitch angle and the yaw angle of star, omg are satellite orbit angular speed, and hxx, hzz are respectively the axis of rolling, yaw axis upper
The control angular momentum that a cycle is calculated, Kp1,Ki1For axis of rolling control parameter, Kp2、Ki2For pitch axis control parameter,
Kp3,Ki3For yaw axis control parameter；
(3) distinguished according to the corresponding compensation angular momentum of the satellite rotatable parts and satellite in the axis of rolling, pitch axis, yaw axis
Corresponding control angular momentum generates the angular momentum control instruction of the corresponding momenttum wheel of satellite rotatable parts, wherein generates satellite and turns
The method of the angular momentum control instruction of the corresponding momenttum wheel of dynamic component are as follows:
According to formula X=Rcx+(Rcz-hs) * tan (α), Y=RcyWith Zb=(Rcz-hs)/cos (α) is calculated, wherein X is rolling
The corresponding angular momentum control instruction of the momenttum wheel configured on moving axis direction, Y are corresponding for the momenttum wheel configured in pitching axis direction
Angular momentum control instruction, Zb are the corresponding angular motion of a momenttum wheel in two momenttum wheels configured by center symmetry axis of yaw axis
Control instruction is measured, α is one between momenttum wheel and yaw axis in two momenttum wheels configured by center symmetry axis of yaw axis
Angle；
According to formula X=Rcx-(Rcz-hs) * tan (α), Y=RcyWith Za=(Rcz-hs)/cos (α), wherein X is to roll axis direction
The corresponding angular momentum control instruction of the momenttum wheel of upper configuration, Y are the corresponding angular momentum control of momenttum wheel configured in pitching axis direction
System instruction, Za are the corresponding angular momentum control of another momenttum wheel in two momenttum wheels configured by center symmetry axis of yaw axis
Instruction, α is an angle between momenttum wheel and yaw axis in two momenttum wheels configured by center symmetry axis of yaw axis；
According to formula Y=Rcy, Za=Rcx/2/sin(α)+(Rcz-hs)/2/cos (α) and Zb=-Rcx/2/sin(α)+(Rcz-
hs)/2/cos (α) is calculated, wherein and Y is the corresponding angular momentum control instruction of momenttum wheel that configures in pitching axis direction, Za,
Zb is two momenttum wheels configured by center symmetry axis of yaw axis, and α is that two configured by center symmetry axis of yaw axis move
An angle between momenttum wheel and yaw axis in amount wheel；
(4) momenttum wheel is controlled according to the angular momentum control instruction of momenttum wheel to be deflected.
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| CN108762283B (en) * | 2018-05-08 | 2021-04-13 | 哈尔滨工业大学 | Attitude control method, device and system of satellite platform with rotating load |
| CN109471424B (en) * | 2018-12-04 | 2020-04-21 | 上海航天控制技术研究所 | Ground simulation test system and method for large-angle momentum rotating part |
| CN110104217A (en) * | 2019-03-29 | 2019-08-09 | 上海卫星工程研究所 | The configuration and control method of satellite gravity anomaly and big angle momentum compensation multiplexing flywheel |
| CN113895653A (en) * | 2021-09-30 | 2022-01-07 | 长光卫星技术有限公司 | Flywheel configuration and large-moment flywheel access and exit method and device for satellite rapid side swinging maneuver, computer equipment and storage medium |
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