CN108639384A - A kind of satellite booster agent management method based on the multiplexing of attitude control thruster - Google Patents
A kind of satellite booster agent management method based on the multiplexing of attitude control thruster Download PDFInfo
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- CN108639384A CN108639384A CN201810290136.9A CN201810290136A CN108639384A CN 108639384 A CN108639384 A CN 108639384A CN 201810290136 A CN201810290136 A CN 201810290136A CN 108639384 A CN108639384 A CN 108639384A
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- thruster
- control
- attitude
- jet
- multiplexing
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- 238000007726 management method Methods 0.000 title claims abstract description 43
- 239000003380 propellant Substances 0.000 claims abstract description 24
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 23
- 239000007788 liquid Substances 0.000 claims abstract description 9
- 230000005611 electricity Effects 0.000 claims 1
- 239000007921 spray Substances 0.000 claims 1
- 210000001367 artery Anatomy 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
-
- 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
- B64G1/40—Arrangements or adaptations of propulsion systems
Abstract
The invention discloses a kind of satellite booster agent management methods based on the multiplexing of attitude control thruster, including：S1 calculates control moment using attitude angular velocity, attitude angle valuation and controller parameter；S2 calculates attitude control thruster and needs the control pulsewidth sent；S3, the thruster according to the control pulsewidth that attitude control thruster needs to send, and for Propellant Management select situation, calculate the jet instruction being assigned on every thruster；S4 is instructed according to the jet of calculating, and valve switch control is completed to the thruster solenoid valve that needs are connected；S5 repeats the above steps, and realizes satellite booster agent management.The present invention can realize propellant tank liquid management and gesture stability using multiplexing control technology only with same group of thruster by needing the control moment generated to carry out accurate calculating Propellant Management and gesture stability.
Description
Technical field
The present invention relates to Propellant Management technology, more particularly to a kind of satellite booster agent pipe based on the multiplexing of attitude control thruster
Reason method.
Background technology
For geostationary orbit satellite after being detached with the carrier rocket completion satellite and the rocket, satellite is in the transfer rail under micro- heavy environment
Road section, after multiple transfer orbital control need to being carried out, into geostationary orbit, before becoming rail every time, to ensure that orbit maneuver motor opens again
It is dynamic, it is necessary to resolve Propellant Management problem.Satellite attitude and orbit control system need to establish kick-in-the-apogee posture simultaneously, in order to establish and
Posture is kept, needs to carry out gesture stability using attitude control thruster.The executing agency that usual Satellite attitude and orbit control system uses includes
Two kinds of rail control thruster and attitude control thruster, rail control thruster are used for orbits controlling in geo-stationary orbit section, and in transfer orbit section
It is sunk to the bottom for propellant tank liquid, attitude control thruster is used for normal pose stabilization control, and disadvantage is carrying out propellant
While sinking to the bottom control, torque caused by thruster jet can generate celestial body additional outer disturbance torque, and attitude control is needed to push away
Power device goes to compensate, and on the other hand, when attitude control thruster works, additional power can be generated to propellant tank, and then influence to push away
Into the agent efficiency of management.Therefore, a kind of satellite booster agent management method based on the multiplexing of attitude control thruster is designed, propulsion how is improved
The efficiency of agent management effectively reduces and causes outer disturbance torque by a large amount of propellant liquid sloshings during becoming rail, completes satellite and becomes
Rail controls, it appears extremely important.
Invention content
The object of the present invention is to provide a kind of satellite booster agent management methods based on the multiplexing of attitude control thruster, only with same
Group thruster, using multiplexing control technology, by needing the control moment generated to carry out essence Propellant Management and gesture stability
Close calculating realizes propellant tank liquid management and gesture stability, only generates necessary power or torque to celestial body, improves satellite and pushes away
Into the agent efficiency of management, is promoted and become rail efficiency and attitude control accuracy.
In order to achieve the goal above, the present invention is achieved by the following technical solutions：
A kind of satellite booster agent management method based on the multiplexing of attitude control thruster, its main feature is that, including：
S1 calculates control moment using attitude angular velocity, attitude angle valuation and controller parameter；
S2 calculates attitude control thruster and needs the control pulsewidth sent；
S3, the thruster according to the control pulsewidth that attitude control thruster needs to send, and for Propellant Management select feelings
Condition calculates the jet instruction being assigned on every thruster；
S4 is instructed according to the jet of calculating, and valve switch control is completed to the thruster solenoid valve that needs are connected；
S5 repeats the above steps, and realizes satellite booster agent management.
The step S1 includes：
Execute PD control algorithm, control moment Tci(i=x, y, z) is indicated, is calculated as follows：
In formula, KPi,KDi(i=x, y, z) device parameter in order to control；
For attitude angle valuation；
For attitude angular velocity.
The step S2 includes：
Control pulsewidth is calculated, T is usedoni(i=x, y, z) is indicated, is calculated as follows：
Wherein, TsPeriod in order to control, i=x, y, z..
The step S3 includes：
Step S3.1 executes gesture stability instruction distribution：
Normal attitude controls jet and instructs TJi(i=1 .., 6) calculates as follows：
Step S3.2 is required according to note number instruction, is carried out propellant and sink to the bottom management, sprayed to the attitude control thruster for sinking to the bottom
Gas instruction is calculated as：
It is assumed that thruster J1, thruster J2 sink to the bottom management for propellant, then thruster J1, J2 jets instruction is：
It is assumed that thruster J3, thruster J4 are sunk to the bottom for liquid, then thruster J3, the instruction of thruster J4 jets is：
The step S4 includes：
Jet width is usedIt indicates, calculates as follows：
In formula, TJi(i=1 .., 6) instructs for jet；KZTFor jet instruction encoding resolution ratio；
When the jet for distributing to corresponding thruster instructs TJiWhen (i=1 .., 6) is more than 0, then select to connect corresponding thrust
Device solenoid valve, and valve is opened, jet widthAccordingly successively decrease；When jet time length reaches jet width,
That is jet widthWhen being 0, then corresponding thruster solenoid valve is closed；When the control arteries and veins for distributing to corresponding thruster
It is wide when being equal to 0, then close the solenoid valve of corresponding thruster.
Compared with prior art, the present invention haing the following advantages：
The present invention is only with same group of thruster, using multiplexing control technology, by being needed to Propellant Management and gesture stability
The control moment to be generated carries out accurate calculating, realizes propellant tank liquid management and gesture stability, only must to celestial body generation
The power or torque wanted improve the satellite booster agent efficiency of management, are promoted and become rail efficiency and attitude control accuracy.
Description of the drawings
Fig. 1 is a kind of flow chart of the satellite booster agent management method based on the multiplexing of attitude control thruster of the present invention.
Specific implementation mode
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
As shown in Figure 1, a kind of satellite booster agent management method based on the multiplexing of attitude control thruster, including：
S1 calculates control moment using attitude angular velocity, attitude angle valuation and controller parameter；
S2 calculates attitude control thruster and needs the control pulsewidth sent；
S3, the thruster according to the control pulsewidth that attitude control thruster needs to send, and for Propellant Management select feelings
Condition calculates the jet instruction being assigned on every thruster；
S4 is instructed according to the jet of calculating, and valve switch control is completed to the thruster solenoid valve that needs are connected；
S5 repeats the above steps, and realizes satellite booster agent management.
The step S1 includes：
Execute PD control algorithm, control moment Tci(i=x, y, z) is indicated, is calculated as follows：
In formula, KPi,KDi(i=x, y, z) device parameter in order to control；
For attitude angle valuation；
For attitude angular velocity.
The step S2 includes：
Control pulsewidth is calculated, T is usedoni(i=x, y, z) is indicated, is calculated as follows：
Wherein, TsPeriod in order to control, i=x, y, z..
The step S3 includes：
Step S3.1 executes gesture stability instruction distribution：
Normal attitude controls jet and instructs TJi(i=1 .., 6) calculates as follows：
Step S3.2 is required according to note number instruction, is carried out propellant and sink to the bottom management, to being used to sink to the bottom
Attitude control thruster jet instruction be calculated as：
It is assumed that thruster J1, thruster J2 sink to the bottom management for propellant, then thruster J1, J2 jets instruction is：
It is assumed that thruster J3, thruster J4 are sunk to the bottom for liquid, then thruster J3, the instruction of thruster J4 jets is：
The step S4 includes：
Jet width is usedIt indicates, calculates as follows：
In formula, TJi(i=1 .., 6) instructs for jet；KZTFor jet instruction encoding resolution ratio；
When the jet for distributing to corresponding thruster instructs TJiWhen (i=1 .., 6) is more than 0, then select to connect corresponding thrust
Device solenoid valve, and valve is opened, jet widthAccordingly successively decrease；When jet time length reaches jet width,
That is jet widthWhen being 0, then corresponding thruster solenoid valve is closed；When the control arteries and veins for distributing to corresponding thruster
It is wide when being equal to 0, then close the solenoid valve of corresponding thruster.
Thruster solenoid valve Ji(i=1 .., 6) is indicated, control result such as following table：
1 thruster solenoid valve control table of table
In conclusion a kind of satellite booster agent management method based on the multiplexing of attitude control thruster of the present invention, only with same group
Thruster is accurate by needing the control moment generated to carry out Propellant Management and gesture stability using multiplexing control technology
It calculates, realizes propellant tank liquid management and gesture stability, necessary power or torque only are generated to celestial body, improve satellite booster
The agent efficiency of management is promoted and becomes rail efficiency and attitude control accuracy.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. a kind of satellite booster agent management method based on the multiplexing of attitude control thruster, which is characterized in that include：
S1 calculates control moment using attitude angular velocity, attitude angle valuation and controller parameter；
S2 calculates attitude control thruster and needs the control pulsewidth sent；
S3, the thruster according to the control pulsewidth that attitude control thruster needs to send, and for Propellant Management select situation, meter
Point counting is fitted on the instruction of the jet on every thruster；
S4 is instructed according to the jet of calculating, and valve switch control is completed to the thruster solenoid valve that needs are connected；
S5 repeats the above steps, and realizes satellite booster agent management.
2. the satellite booster agent management method as described in claim 1 based on the multiplexing of attitude control thruster, which is characterized in that described
Step S1 include：
Execute PD control algorithm, control moment Tci(i=x, y, z) is indicated, is calculated as follows：
In formula, KPi,KDi(i=x, y, z) device parameter in order to control；
For attitude angle valuation；
For attitude angular velocity.
3. the satellite booster agent management method as described in claim 1 based on the multiplexing of attitude control thruster, which is characterized in that described
Step S2 include：
Control pulsewidth is calculated, T is usedoni(i=x, y, z) is indicated, is calculated as follows：
Wherein, TsPeriod in order to control, i=x, y, z.
4. the satellite booster agent management method as described in claim 1 based on the multiplexing of attitude control thruster, which is characterized in that described
Step S3 include：
Step S3.1 executes gesture stability instruction distribution：
Normal attitude controls jet and instructs TJi(i=1 .., 6) calculates as follows：
Step S3.2 is required according to note number instruction, is carried out propellant and sink to the bottom management, refer to the attitude control thruster jet for sinking to the bottom
Order is calculated as：
It is assumed that thruster J1, thruster J2 sink to the bottom management for propellant, then thruster J1, J2 jets instruction is：
It is assumed that thruster J3, thruster J4 are sunk to the bottom for liquid, then thruster J3, the instruction of thruster J4 jets is：
5. the satellite booster agent management method as described in claim 1 based on the multiplexing of attitude control thruster, which is characterized in that described
Step S4 include：
Jet width is usedIt indicates, calculates as follows：
In formula, TJi(i=1 .., 6) instructs for jet；KZTFor jet instruction encoding resolution ratio；
When the jet for distributing to corresponding thruster instructs TJiWhen (i=1 .., 6) is more than 0, then select to connect corresponding thruster electricity
Magnet valve, and valve is opened, jet widthAccordingly successively decrease；When jet time length reaches jet width, that is, spray
Gas widthWhen being 0, then corresponding thruster solenoid valve is closed；When the control pulsewidth etc. for distributing to corresponding thruster
When 0, then the solenoid valve of corresponding thruster is closed.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316402A (en) * | 2019-06-03 | 2019-10-11 | 上海航天控制技术研究所 | A kind of satellite attitude control method under formation control mode |
| CN112078832A (en) * | 2020-08-04 | 2020-12-15 | 上海航天控制技术研究所 | Method for determining on-orbit residual fuel |
| CN113928598A (en) * | 2021-12-16 | 2022-01-14 | 亚太卫星宽带通信（深圳）有限公司 | Method and device for realizing satellite drift of synchronous orbit satellite |
| CN114313309A (en) * | 2020-08-12 | 2022-04-12 | 中国科学院微小卫星创新研究院 | Autonomous orbit transfer method for small high-orbit satellite |
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| US5646847A (en) * | 1995-08-25 | 1997-07-08 | Martin Marietta Corp. | Universal thruster selection logic for spacecraft attitude control |
| CN105620792A (en) * | 2016-02-05 | 2016-06-01 | 上海微小卫星工程中心 | Method for controlling attitude and orbit of satellite by adopting obliquely-arranged thrusters |
| CN105883008A (en) * | 2014-12-15 | 2016-08-24 | 中国空间技术研究院 | Satellite thruster layout method |
| CN106882398A (en) * | 2017-02-15 | 2017-06-23 | 上海航天控制技术研究所 | A kind of control method of attitude control thruster |
| CN107103152A (en) * | 2017-05-16 | 2017-08-29 | 上海航天控制技术研究所 | A kind of thruster mounting arrangement method for being conducive to suppressing liquid sloshing |
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| CN107628273A (en) * | 2017-09-27 | 2018-01-26 | 上海航天控制技术研究所 | A kind of satellite attitude control method based on variable controlling cycle |
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| US5646847A (en) * | 1995-08-25 | 1997-07-08 | Martin Marietta Corp. | Universal thruster selection logic for spacecraft attitude control |
| CN105883008A (en) * | 2014-12-15 | 2016-08-24 | 中国空间技术研究院 | Satellite thruster layout method |
| CN105620792A (en) * | 2016-02-05 | 2016-06-01 | 上海微小卫星工程中心 | Method for controlling attitude and orbit of satellite by adopting obliquely-arranged thrusters |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316402A (en) * | 2019-06-03 | 2019-10-11 | 上海航天控制技术研究所 | A kind of satellite attitude control method under formation control mode |
| CN112078832A (en) * | 2020-08-04 | 2020-12-15 | 上海航天控制技术研究所 | Method for determining on-orbit residual fuel |
| CN114313309A (en) * | 2020-08-12 | 2022-04-12 | 中国科学院微小卫星创新研究院 | Autonomous orbit transfer method for small high-orbit satellite |
| CN114313309B (en) * | 2020-08-12 | 2023-08-04 | 中国科学院微小卫星创新研究院 | Autonomous orbit changing method for small high orbit satellite |
| CN113928598A (en) * | 2021-12-16 | 2022-01-14 | 亚太卫星宽带通信（深圳）有限公司 | Method and device for realizing satellite drift of synchronous orbit satellite |
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Application publication date: 20181012 |