CN108020360B - High-precision semi-physical testing method for on-satellite interference torque compensation - Google Patents
High-precision semi-physical testing method for on-satellite interference torque compensation Download PDFInfo
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- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
- G01L3/1407—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs
- G01L3/1428—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers
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Abstract
The invention provides a high-precision semi-physical testing method for on-satellite disturbance torque compensation, which comprises the following steps of: firstly, measuring a load motion mechanism, a moment compensation wheel rotational inertia and a satellite rotational inertia actually; establishing a mathematical model of motion disturbance moment of a load motion mechanism; connecting a load motion mechanism and a torque compensation wheel power supply and communication cable according to the normal test state of the satellite; connecting the load motion mechanism interface and the torque compensation wheel ground test interface with high-speed high-precision acquisition equipment through cables; and step four, carrying out differential processing on the corner data of the load motion mechanism and the rotating speed data of the compensating wheel received by the simulator. In the conventional test process of a satellite factory, the dynamic characteristic test of interference torque compensation on the satellite is realized, the design correctness of a compensation system is verified, the torque compensation precision is tested, the index requirements are met, and the accuracy can be ensured to be more than 95%.
Description
Technical Field
The invention relates to the field of satellite space remote sensing, in particular to a high-precision semi-physical testing method for on-satellite interference torque compensation.
Background
The requirement of high-precision remote sensing satellite imaging on satellite attitude stability indexes is higher and higher, and the satellite attitude stability and pointing precision can be seriously influenced by interference torque generated by a load motion mechanism, so that the satellite imaging quality can also be influenced. For this purpose, the moment compensation wheels are used to compensate for the disturbances generated by the load kinematics in order to reduce disturbances in the satellite attitude. When the load movement mechanism works, the compensation wheel generates a control moment which is equal to the disturbance moment generated by the load movement in magnitude and opposite in direction, and the disturbance moment generated by the movement of the mechanism is compensated (counteracted). The satellite adopts the compensation system, and needs to meet two requirements: firstly, the compensation torque of a torque compensation wheel needs to be matched with the motion of a mechanism in the size and direction, and the precision meets the requirement; secondly, the motion of the compensation wheel needs to have strict synchronism with the motion of the mechanism. In order to verify the correctness of the design of the on-satellite compensation system and the conformity of the compensation indexes, a ground test is required before the satellite is launched. Because the satellite is always in the ground standing constraint state in the factory building test process, the difference between the satellite and the free motion state in orbit is large, and the compensation effect of the compensation system cannot be judged through the real attitude motion change of the satellite. Aiming at the situation, a single-shaft or three-shaft air-floating platform test special test is often adopted for testing in the satellite development process, but the air-floating platform test has high cost, long period and high test difficulty, and the risk of hoisting and colliding satellite products and the like exists, so that the on-satellite interference torque compensation dynamic characteristic testing method combined with the conventional test is adopted, and the method is of great importance.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a high-precision semi-physical test method for on-satellite interference torque compensation, which realizes dynamic characteristic test of on-satellite interference torque compensation, verifies the correctness of the design of a compensation system, tests the torque compensation precision, meets the index requirement and ensures the accuracy to be more than 95% in the conventional test process of a satellite factory.
According to one aspect of the invention, a high-precision semi-physical testing method for on-satellite disturbance torque compensation is provided, which is characterized by comprising the following steps:
step one, actually measuring a load motion mechanism, moment compensation wheel rotational inertia and satellite rotational inertia JMechanism、JCompensating wheel、JSatellite(ii) a Establishing a mathematical model of the motion disturbance moment of the load motion mechanism, which is as follows:
Tmechanism＝JMechanism·αMechanism
Wherein, αMechanismThe angular acceleration of the mechanism motion is obtained according to the motion data of the load motion mechanism;
establishing a moment compensation wheel disturbance moment mathematical model as follows:
Tcompensating wheel＝JCompensating wheel·αCompensating wheel
Wherein, αCompensating wheelAngular acceleration of the moment compensation wheel is obtained according to rotation data of the compensation wheel;
establishing a satellite attitude dynamics model as follows:
∫Tmechanismdt-∫TCompensating wheeldt＝JSatellite·ωSatellite
t is the working time, omegaSatelliteThe angular velocity of the satellite, namely the attitude stability;
establishing a residual disturbance moment mathematical model as follows:
Tresidue of＝TMechanism-TCompensating wheel
Loading the mathematical model to a simulation machine;
connecting a load motion mechanism, a torque compensation wheel power supply and communication cable according to a normal test state of the satellite so that the load motion mechanism and the torque compensation wheel power supply and communication cable can work normally; setting a load motion mechanism interface and a torque compensation wheel ground test interface, and respectively synchronously transmitting the current corner data of the load motion mechanism and the rotating speed data of the compensation wheel in real time, wherein the data updating frequency is 100 Hz;
connecting the load motion mechanism interface and the torque compensation wheel ground test interface with high-speed high-precision acquisition equipment through cables; converting the corner data of the load motion mechanism and the rotating speed data of the compensating wheel into a unified digital quantity format by using high-speed high-precision acquisition equipment, and sending the unified digital quantity format to a simulator through a network UDP (user Datagram protocol) protocol; the acquisition time synchronization precision of the high-speed high-precision acquisition equipment is better than 1ms, the acquisition precision of the corner data of the load motion mechanism is better than 3', and the acquisition precision of the rotating speed data of the compensating wheel is better than 1 rpm;
step four, carrying out differential processing on the corner data of the load motion mechanism and the rotating speed data of the compensating wheel received by the simulator to obtain the angular acceleration α of the mechanism motionMechanismAngular acceleration α of moment compensated wheelCompensating wheelThe data is sent into a simulation model to obtain the attitude stability omega of the satelliteSatelliteResidual disturbance torque TResidue ofEvaluating the residual disturbance torque and the satellite attitude stability after compensation and carrying out real-time evaluationAnd displaying by the display software.
Preferably, the second step adopts an RS422 serial interface.
Preferably, the load motion mechanism, the torque compensation wheel real object and the dynamic mathematical simulation model are combined to form a semi-physical test system, the compensated residual disturbance torque and the satellite attitude stability are calculated in real time, the satellite dynamic characteristics are tested, and the torque compensation precision is verified.
Preferably, the motion information in the load motion mechanism and the moment compensation wheel ground test interface is acquired in real time by adopting high-speed and high-precision acquisition equipment.
Preferably, the load motion mechanism interface and the moment compensation wheel ground test interface output motion information thereof, and the motion information needs to be synchronous with real motion to represent real physical dynamic characteristics.
Compared with the prior art, the invention has the following beneficial effects: the invention converts the real physical motions such as the motion of a load motion mechanism, the motion of a torque compensation wheel and the like into mathematical models, combines the satellite attitude dynamics, verifies the design correctness of a compensation system and tests the torque compensation precision in the conventional test process of a satellite factory building, meets the index requirement, and can ensure the accuracy to be more than 95%.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a high-precision semi-physical testing method for on-board disturbance torque compensation according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in FIG. 1, the high-precision semi-physical testing method for the on-board disturbance torque compensation comprises the following steps:
step one, actually measuring a load motion mechanism, moment compensation wheel rotational inertia and satellite rotational inertia JMechanism、JCompensating wheel、JSatellite(ii) a Establishing a load motion mechanism motion disturbance moment mathematical model as the following formula (1):
Tmechanism＝JMechanism·αMechanism……(1)
Wherein, αMechanismThe angular acceleration of the mechanism motion is obtained according to the motion data of the load motion mechanism;
establishing a moment compensation wheel disturbance moment mathematical model as the following formula (2):
Tcompensating wheel＝JCompensating wheel·αCompensating wheel……(2)
Wherein, αCompensating wheelAngular acceleration of the moment compensation wheel is obtained according to rotation data of the compensation wheel;
establishing a satellite attitude dynamics model as the following formula (3):
∫Tmechanismdt-∫TCompensating wheeldt＝JSatellite·ωSatellite……(3)
t is the working time, omegaSatelliteThe angular velocity of the satellite, namely the attitude stability;
establishing a residual disturbance moment mathematical model as the following formula (4):
Tresidue of＝TMechanism-TCompensating wheel……(4)
And loading the mathematical model to a simulation machine.
Connecting a load motion mechanism, a torque compensation wheel power supply and communication cable according to a normal test state of the satellite so that the load motion mechanism and the torque compensation wheel power supply and communication cable can work normally; a load motion mechanism interface and a torque compensation wheel ground test interface are arranged, an RS422 serial interface can be adopted, the current corner data of the load motion mechanism and the rotation speed data of the compensation wheel are synchronously transmitted in real time respectively, and the data updating frequency is 100 Hz. The load motion mechanism interface and the moment compensation wheel ground test interface output motion information (the load motion mechanism outputs corner information and the moment compensation wheel outputs rotating speed information), and the motion information needs to be synchronous with real motion and represents real physical dynamic characteristics.
Connecting the load motion mechanism interface and the torque compensation wheel ground test interface with high-speed high-precision acquisition equipment through cables; converting the corner data of the load motion mechanism and the rotating speed data of the compensating wheel into a unified digital quantity format by using high-speed high-precision acquisition equipment, and sending the unified digital quantity format to a simulator through a network UDP (user Datagram protocol) protocol; the acquisition time synchronization precision of the high-speed high-precision acquisition equipment is better than 1ms, the acquisition precision of the corner data of the load motion mechanism is better than 3', and the acquisition precision of the rotating speed data of the compensating wheel is better than 1 rpm;
step four, carrying out differential processing on the corner data of the load motion mechanism and the rotating speed data of the compensating wheel received by the simulator to obtain the angular acceleration α of the mechanism motionMechanismAngular acceleration α of moment compensated wheelCompensating wheelThe data is sent into a simulation model to obtain the attitude stability omega of the satelliteSatelliteResidual disturbance torque TResidue ofAnd the method is used for evaluating the compensated residual disturbance torque and satellite attitude stability and displaying the residual disturbance torque and the satellite attitude stability through real-time display software. And step four, combining the load motion mechanism, the torque compensation wheel real object and the dynamic mathematical simulation model to form a semi-physical test system, calculating the residual disturbance torque and the satellite attitude stability after compensation in real time, testing the dynamic characteristic of the satellite, and verifying the torque compensation precision.
The attitude stability and the residual disturbance moment of the satellite obtained by the test of the method are compared with the in-orbit actual measurement data of the satellite, as shown in the following table 1, the data in the table shows that the error of the test of the method is not more than 5%, and the accuracy of the method is verified.
TABLE 1
| Item | Factory test results | On-orbit actual measurement result | Error rate |
| Satellite attitude stability | 1.2×10-4°/s | 1.15×10-4°/s | 4.17％ |
| Residual disturbing moment | 0.0049Nm | 0.0051Nm | 4.08％ |
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (3)
1. A high-precision semi-physical testing method for on-satellite disturbance torque compensation is characterized by comprising the following steps:
step one, actually measuring a load motion mechanism, moment compensation wheel rotational inertia and satellite rotational inertia JMechanism、JCompensating wheel、JSatellite(ii) a Establishing a mathematical model of the motion disturbance moment of the load motion mechanism, which is as follows:
wherein, αMechanismAngular acceleration of mechanism motionThe degree is obtained according to the motion data of the load motion mechanism;
establishing a moment compensation wheel disturbance moment mathematical model as follows:
wherein, αCompensating wheelAngular acceleration of the moment compensation wheel is obtained according to rotation data of the compensation wheel;
establishing a satellite attitude dynamics model as follows:
t is the working time, omegaSatelliteThe angular velocity of the satellite, namely the attitude stability;
establishing a residual disturbance moment mathematical model as follows:
loading the mathematical model to a simulation machine;
connecting a load motion mechanism, a torque compensation wheel power supply and communication cable according to a normal test state of the satellite so that the load motion mechanism and the torque compensation wheel power supply and communication cable can work normally; setting a load motion mechanism interface and a torque compensation wheel ground test interface, and respectively synchronously transmitting the current corner data of the load motion mechanism and the rotating speed data of the compensation wheel in real time, wherein the data updating frequency is 100 Hz;
connecting the load motion mechanism interface and the torque compensation wheel ground test interface with high-speed high-precision acquisition equipment through cables; converting the corner data of the load motion mechanism and the rotating speed data of the compensating wheel into a unified digital quantity format by using high-speed high-precision acquisition equipment, and sending the unified digital quantity format to a simulator through a network UDP (user Datagram protocol) protocol; the acquisition time synchronization precision of the high-speed high-precision acquisition equipment is better than 1ms, the acquisition precision of the corner data of the load motion mechanism is better than 3', and the acquisition precision of the rotating speed data of the compensating wheel is better than 1 rpm;
step four, carrying out differential processing on the corner data of the load motion mechanism and the rotating speed data of the compensating wheel received by the simulator to obtain the angular acceleration α of the mechanism motionMechanismAngular acceleration α of moment compensated wheelCompensating wheelThe data is sent into a simulation model to obtain the attitude stability omega of the satelliteSatelliteResidual disturbance torque TResidue ofThe satellite attitude stability evaluation module is used for evaluating the compensated residual disturbance torque and satellite attitude stability and displaying the residual disturbance torque and the satellite attitude stability through real-time display software;
combining the load motion mechanism, the torque compensation wheel real object and the dynamic mathematical simulation model to form a semi-physical test system, calculating the compensated residual interference torque and satellite attitude stability in real time, testing the dynamic characteristic of the satellite, and verifying the torque compensation precision;
the load motion mechanism interface and the moment compensation wheel ground test interface output motion information, and the motion information needs to be synchronous with real motion and represents real physical dynamic characteristics.
2. The high-precision semi-physical testing method for on-satellite disturbance torque compensation according to claim 1, wherein an RS422 serial interface is adopted in the second step.
3. The high-precision semi-physical testing method for on-satellite disturbance torque compensation according to claim 1, characterized in that the high-speed high-precision acquisition equipment is adopted to acquire motion information in a load motion mechanism and a torque compensation wheel ground testing interface in real time.
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| WO2012009198A2 (en) * | 2010-07-14 | 2012-01-19 | University Of Florida Research Foundation, Inc. | System and method for assessing the performance of an attitude control system for small satellites |
| CN101886958B (en) * | 2010-07-30 | 2012-03-21 | 哈尔滨工业大学 | Method for automatically testing steady state loss torque of flywheel |
| CN102289211A (en) * | 2011-06-24 | 2011-12-21 | 北京航空航天大学 | Satellite attitude control semiphysical simulation system based on multi-target machine |
| KR20130042337A (en) * | 2011-10-18 | 2013-04-26 | 한국항공우주연구원 | Driving device and driving method for generating 1-axis direction high torque |
| CN103309242B (en) * | 2013-04-24 | 2015-08-05 | 上海卫星工程研究所 | Based on framing and the registration demonstration and verification system and method for real-time simulation platform |
| CN103274059B (en) * | 2013-05-30 | 2015-05-27 | 北京控制工程研究所 | Feedforward torque compensation method of satellite with moved effective load |
| CN104503233B (en) * | 2014-11-27 | 2017-04-12 | 哈尔滨工业大学 | Disturbance torque identification method suitable for satellite attitude control |
| CN105182770B (en) * | 2015-08-27 | 2018-03-09 | 北京控制工程研究所 | A kind of spacecraft semi-physical simulation experimental system and method based on rotor craft |
| CN105259787B (en) * | 2015-11-03 | 2018-06-08 | 中国电子科技集团公司第五十四研究所 | A kind of Integrated Navigation Semi-physical Simulation tests synchronisation control means |
| CN105259793A (en) * | 2015-11-19 | 2016-01-20 | 中国人民解放军国防科学技术大学 | AODV protocol wireless intelligent network-based satellite attitude control simulation system |
| CN106020221B (en) * | 2016-05-30 | 2018-01-19 | 北京航空航天大学 | A kind of anti-interference gesture stability verification platform and verification method based on output feedback |
| CN106828980B (en) * | 2016-11-21 | 2019-06-07 | 上海卫星工程研究所 | The big disturbance torque real-time compensation method of payload sweep mechanism on star |
| CN106681175A (en) * | 2017-02-24 | 2017-05-17 | 上海航天控制技术研究所 | Discretization method for shortening delay generated when reaction wheel is connected into semi-physical system |
| CN106896822B (en) * | 2017-03-13 | 2020-04-24 | 上海航天控制技术研究所 | Method and system for calibrating interference torque of spacecraft movable part |
| CN107168359A (en) * | 2017-07-03 | 2017-09-15 | 上海航天控制技术研究所 | A kind of control method of large-scale flexible satellite high precision high stability degree |
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