CN108664035B - Multi-actuator aircraft distribution control method and system - Google Patents
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Abstract
The invention discloses a multi-actuator aircraft distribution control method, which is operated on an aircraft with a calculation period of T, wherein an actuator of the aircraft comprises a flywheel and a thruster, and the method comprises the following steps: acquiring angular momentum p required by an aircraft; if the norm of the p/T is smaller than a torque threshold value F, selecting a flywheel as an actuating mechanism, otherwise, selecting a thruster as the actuating mechanism; according to the angular momentum output in the time T of the flywheel, carrying out angular momentum p distribution; and distributing the angular momentum p according to the output moment vector of the thruster. The invention also discloses a multi-actuator aircraft distribution control system which comprises an angular momentum instruction module, an actuator selection module and a control instruction output module. The technical scheme provided by the invention solves the optimization problem of multi-actuating mechanism continuous distribution control of the spacecraft; the electric quantity consumption can be saved and the total angular momentum can be balanced aiming at the flywheel control; the control efficiency can be increased and the fuel consumption can be reduced for the jet control.
Description
Technical Field
The invention relates to a multi-actuator aircraft distribution control method and a multi-actuator aircraft distribution control system, in particular to attitude control in the field of aerospace aircraft.
Background
For ordinary aerospace vehicles, especially large aerospace vehicles, more actuating mechanisms are generally equipped, such as thrusters, flywheels, magnetic torquers and the like. These actuators achieve attitude stabilization or attitude maneuver by applying a reaction force to the spacecraft itself. The control mechanism of the thruster is to release a certain mass of substance to the outside to achieve the acquisition of control torque, and the thruster has the advantages of high speed and high thrust and has the defect of incapability of being used for a long time due to limited fuel storage. The mechanism of flywheel control is that angular momentum exchange with the spacecraft is realized through rotation of the flywheel, so that control torque is generated, the flywheel control has the advantages of continuity, stability and no fuel quality consumption, the rotation speed can be increased or reduced only through electric energy, the flywheel control has the defects that the torque is generally limited, quick attitude maneuver cannot be executed, the control quality is poor when the rotation speed passes zero, and the rotation speed is easy to saturate. The mechanism of the magnetic torquer control is to interact with the earth magnetic field to generate control torque, which has the advantages of high reliability, no fuel consumption and smaller control torque and long control period.
In the continuous high-frequency calculation scene, optimal distribution control of respective execution mechanisms on the aircraft according to the characteristics of the respective execution mechanisms needs to be realized, so that a method and a system for performing continuous distribution control of the angular momentum of the aircraft are needed.
Disclosure of Invention
In order to alleviate the disadvantages of the prior art, the invention aims to provide a multi-actuator aircraft distribution control method and system.
In a first aspect, the invention provides a distribution control method for a multi-actuator aircraft, which operates on an aircraft with a computation cycle T, wherein an actuator of the aircraft comprises a flywheel and a thrusterThe method comprises the following steps: acquiring angular momentum p required by an aircraft; if it is not
Is less than the moment threshold F, i.e.
Selecting a flywheel as an actuating mechanism, otherwise, selecting a thruster as the actuating mechanism; according to the angular momentum output in the time T of the flywheel, carrying out angular momentum p distribution; and distributing the angular momentum p according to the output moment vector of the thruster.
Further, the method for acquiring the angular momentum p required by the aircraft comprises the following steps: calculating and obtaining the attitude information of the aircraft; or according to the contents of the aircraft remote control commands.
Further, the method for determining the torque threshold value F comprises the following steps: the torque threshold value F is smaller than or equal to the maximum torque output by the flywheel in the T time; and the magnitude of the torque threshold F is limited by the maximum or minimum rotational speed of the flywheel.
Further, the method for performing the angular momentum p by using the flywheel comprises the following steps: angular momentum vectors output by all flywheels contained in the aircraft within T time form a matrix M; selecting three vectors in matrix M to form matrix B, i.e. B ═ Mi，Mj，Mk]，MiIs the angular momentum vector, M, output by the flywheel with sequence number i during time TjIs the angular momentum vector, M, output by the flywheel with sequence number j during time TkThe angular momentum vector is output by the flywheel with the sequence number k within T time; setting cB ═ 1, 1]，cN＝[1，1...，1]cN has the same number of columns as the matrix M, i, j, k columns of M, cB are set to zero, and μ ═ B is set-1*p，θ＝cB*B-1M-cN, if the components of mu are all greater than or equal to 0 and the components of theta are all less than or equal to 0, then the components of mu are the flywheel angular momentum distribution coefficients with serial numbers i, j, k; if there is a component of μ less than 0 or a component of θ greater than 0, the three vectors are reselected in matrix M to form matrix B until the components of μ are all greater than or equal to 0 and the components of θ are all less than or equal to 0.
Further onThe method for performing the angular momentum p by using the thruster comprises the following steps: the moment vectors output by all thrusters included in the aircraft form a matrix M; selecting three vectors in matrix M to form matrix B, i.e. B ═ Mi，Mj，Mk]，MiIs the moment vector of the thruster output with sequence number i, MjIs the moment vector of the thruster output with serial number j, MkThe moment vector is output by the thruster with the sequence number k; setting cB ═ 1, 1]，cN＝[1，1...，1]cN has the same number of columns as the matrix M, i, j, k columns of M, cB are set to zero, and μ ═ B is set-1*p，θ＝cB*B-1M-cN, if the components of mu are all greater than or equal to 0 and the components of theta are all less than or equal to 0, the components of mu are the working time of the thrusters with serial numbers i, j and k; if the component of mu is greater than or equal to T, the thruster corresponding to the set component works, otherwise, the thruster corresponding to the set component does not work. If there is a component of μ less than 0 or a component of θ greater than 0, the three vectors are reselected in matrix M to form matrix B until the components of μ are all greater than or equal to 0 and the components of θ are all less than or equal to 0.
Optionally, selecting three vectors to form the matrix B includes: the three vectors are linearly independent; and is selected according to the working state of the flywheel or the accumulated working time of the thruster.
In a second aspect, the present invention provides a multi-actuator aircraft distribution control system, for operating on an aircraft having a computation cycle T, wherein the actuators of the aircraft comprise a flywheel and a thruster, the control system comprising: the angular momentum instruction module is used for acquiring the angular momentum p required by the aircraft; an actuator selection module, if
Is less than the moment threshold F, i.e.
Selecting a flywheel as an actuating mechanism, otherwise, selecting a thruster as the actuating mechanism; the control command output module is used for distributing the angular momentum p according to the angular momentum output within the time of the flywheel T; root of herbaceous plantAnd according to the output moment vector of the thruster, carrying out angular momentum p distribution.
The technical scheme provided by the invention can have the following beneficial effects: the optimization problem of the continuous distribution control of multiple actuating mechanisms of the spacecraft is solved. The electric quantity consumption can be saved and the total angular momentum can be balanced aiming at the flywheel control; the control efficiency can be increased and the fuel consumption can be reduced for the jet control.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are one embodiment of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for controlling the distribution of a multi-actuator aircraft according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a multi-actuator aircraft distribution control system according to a second embodiment of the invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and the described embodiments are some, but not all embodiments of the present invention.
The first embodiment is as follows:
fig. 1 is a flowchart of a method for controlling the distribution of a multi-actuator aircraft according to a first embodiment of the invention, and as shown in fig. 1, the method comprises the following three steps. It should be noted that the method is performed on an aircraft with a calculation period T, and an actuator of the aircraft includes a flywheel and a thruster.
Step S101: and acquiring the angular momentum required by the aircraft. Specifically, the method for acquiring the angular momentum p required by the aircraft comprises the following steps: calculating and obtaining the attitude information of the aircraft; or according to the contents of the aircraft remote control commands.
In an alternative embodiment, the current attitude information of the aircraft is obtained by a sensor installed on the aircraft, and when the current attitude of the aircraft is different from the target attitude, the angular momentum p is required to drive the aircraft to adjust to the target attitude.
In another alternative embodiment, the current attitude of the aircraft is adjusted to the attitude specified by the instruction content according to the content of the remote control instruction received by the aircraft, and the angular momentum p is also required to drive the aircraft to adjust to the target attitude.
Step S102: and selecting an actuating mechanism according to the angular momentum and the moment threshold value. In particular, if
Is less than the moment threshold F, i.e.
And selecting the flywheel as an actuating mechanism, otherwise, selecting the thruster as the actuating mechanism. The method for determining the torque threshold value F comprises the following steps: the torque threshold value F is smaller than or equal to the maximum torque output by the flywheel in the T time; and the magnitude of the torque threshold F is limited by the maximum or minimum rotational speed of the flywheel.
It should be noted that the flywheel provides less capability to control angular momentum than the thruster, and therefore the torque threshold F is set to be less than or equal to the maximum torque that the flywheel outputs during time T. On the other hand, because the flywheel has a saturated working state when working, that is, there is a maximum upper limit of the rotation speed, and if the rotation speed of the flywheel crosses the zero point, the control quality is deteriorated, so the torque threshold F also needs to be determined according to the current rotation speed of the flywheel. If the rotation speed of the flywheel is close to saturation or zero point, the maximum torque which can be output by the flywheel is limited and is lower than the normal working state. For example, if the moment of inertia of the flywheel is J and the maximum change in rotational speed during T is Δ ω, the maximum angular momentum provided by the flywheel during T is J × Δ ω, and if the current rotational speed of the flywheel isω0Near the maximum speed of rotation omega of the flywheelmaxAt this time, ω is the maximum rotation speed variation that can be provided in the flywheel acceleration directionmax-ω0< Δ ω, then the angular momentum provided by the flywheel in the direction of acceleration is subject to a maximum rotational speed ωmaxThe limit of (2). The same limitation of the variation of the angular momentum occurs also in order to ensure the quality of the control, near the zero point of the flywheel rotation speed.
Step S103: and carrying out angular momentum distribution according to the actuating mechanism.
Specifically, the method for distributing the angular momentum p according to the angular momentum output in the time of the flywheel T comprises the following steps: angular momentum vectors output by all flywheels contained in the aircraft within T time form a matrix M; selecting three vectors in matrix M to form matrix B, i.e. B ═ Mi，Mj，Mk]，MiIs the angular momentum vector, M, output by the flywheel with sequence number i during time TjIs the angular momentum vector, M, output by the flywheel with sequence number j during time TkThe angular momentum vector is output by the flywheel with the sequence number k within T time; setting cB ═ 1, 1]，cN＝[1，1...，1]cN has the same number of columns as the matrix M, i, j, k columns of M, cB are set to zero, and μ ═ B is set-1*p，θ＝cB*B-1M-cN, if the components of mu are all greater than or equal to 0 and the components of theta are all less than or equal to 0, then the components of mu are the flywheel angular momentum distribution coefficients with serial numbers i, j, k; if there is a component of μ less than 0 or a component of θ greater than 0, the three vectors are reselected in matrix M to form matrix B until the components of μ are all greater than or equal to 0 and the components of θ are all less than or equal to 0.
In addition, θ ═ cB ═ B-1M-cN, where θ characterizes the efficiency of the combination of three vectors selected in the matrix M, and if there is a component of θ greater than 0, it indicates that there is a more efficient combination of vectors in M for the control of the distribution of angular momentum. In the flywheel distribution control, the three components of μ represent distribution coefficients of flywheel angular momentum numbered i, j, k, i.e., the proportion of the workload on the flywheels numbered i, j, k.
In particular, according to thrustersThe method for distributing the angular momentum p comprises the following steps: the moment vectors output by all thrusters included in the aircraft form a matrix M; selecting three vectors in matrix M to form matrix B, i.e. B ═ Mi，Mj，Mk]，MiIs the moment vector of the thruster output with sequence number i, MjIs the moment vector of the thruster output with serial number j, MkThe moment vector is output by the thruster with the sequence number k; setting cB ═ 1, 1]，cN＝[1，1...，1]cN has the same number of columns as the matrix M, i, j, k columns of M, cB are set to zero, and μ ═ B is set-1*p，θ＝cB*B-1M-cN, if the components of mu are all greater than or equal to 0 and the components of theta are all less than or equal to 0, the components of mu are the working time of the thrusters with serial numbers i, j and k; if the component of mu is greater than or equal to T, the thruster corresponding to the set component works, otherwise, the thruster corresponding to the set component does not work. If there is a component of μ less than 0 or a component of θ greater than 0, the three vectors are reselected in matrix M to form matrix B until the components of μ are all greater than or equal to 0 and the components of θ are all less than or equal to 0.
It should be noted that a thruster is the same as a flywheel as the actuator in that θ represents the efficiency of the combination of the three vectors selected in the matrix M. The difference is that the thruster can not be continuously adjusted, and only can be in two states of working and non-working. Therefore, on the aircraft with the calculation period T, the operation and the non-operation can be selected only in the time T, and further, if the component of mu is smaller than T, the thruster corresponding to the component is set to be not operated.
In an alternative embodiment, selecting three vectors to form matrix B includes: the three vectors are linearly independent; and is selected according to the working state of the flywheel or the accumulated working time of the thruster.
It should be noted that the three vectors are linearly independent such that B is-1There is efficient vector synthesis in the physical sense. The working state of the flywheel comprises the rotating speed and the rotating direction, and the current working allowance of the flywheel is determined according to the relative values of the flywheel and the maximum and minimum rotating speedsTo determine whether to use the flywheel. The service life of the thrusters also has the problem of service life in the working process, and the service time of each thruster is uniformly distributed according to the accumulated service time of each thruster, so that the service life of the system can be prolonged.
Example two:
the embodiment of the invention also provides a multi-actuator aircraft distribution control system, which is mainly used for executing the multi-actuator aircraft distribution control method provided by the embodiment of the invention, and the distribution control system provided by the embodiment of the invention is specifically described below.
Fig. 2 is a schematic structural diagram of a multi-actuator aircraft distribution control system according to a second embodiment of the invention. As shown in fig. 2, the multi-actuator aircraft distribution control system 20 includes:
the angular momentum instruction module 201 is used for acquiring the angular momentum p required by the aircraft;
the actuator selection module 202, if
Is less than the moment threshold F, i.e.
Selecting a flywheel as an actuating mechanism, otherwise, selecting a thruster as the actuating mechanism;
the control command output module 203 is used for distributing the angular momentum p according to the angular momentum output in the time of the flywheel T; and distributing the angular momentum p according to the output moment vector of the thruster.
It should be noted that the system runs on an aircraft with a calculation period T, and an actuator of the aircraft includes a flywheel and a thruster to cooperate with the implementation of the above system to perform angular momentum distribution control of the aircraft.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A multi-actuator aircraft distribution control method runs on an aircraft with a calculation period T, and actuators of the aircraft comprise a flywheel and a thruster, and the method is characterized by comprising the following steps:
acquiring angular momentum p required by the aircraft;
if it is not
Is less than the moment threshold F, i.e.
Selecting the flywheel as an actuating mechanism, and distributing the angular momentum p according to the angular momentum output by the flywheel within T time; otherwise, selecting the thruster as an execution mechanism, and distributing the angular momentum p according to the output moment vector of the thruster;
according to the angular momentum output in the time of the flywheel T, the angular momentum p is distributed, and the distribution method comprises the following steps:
angular momentum vectors output by all flywheels contained in the aircraft within T time form a matrix M;
selecting three vectors in the matrix M to form a matrix B, namely B ═ Mi，Mj，Mk]Said M isiIs the angular momentum vector output by the flywheel with sequence number i in time T, MjIs the angular momentum vector output by the flywheel with sequence number j in time TSaid M iskThe angular momentum vector is output by the flywheel with the sequence number k within T time;
setting cB ═ 1, 1]，cN＝[1，1…，1]The column number of cN is the same as that of the matrix M, the i, j, k columns of M, cB are set to zero, and μ ═ B is set-1*p，θ＝cB*B-1M-cN, if the components of μ are all greater than or equal to 0 and the components of θ are all less than or equal to 0, then the components of μ are the flywheel angular momentum distribution coefficients numbered i, j, k;
if the component of mu is less than 0 or the component of theta is greater than 0, reselecting three vectors in the matrix M to form a matrix B until the components of mu are all greater than or equal to 0 and the components of theta are all less than or equal to 0;
and according to the output moment vector of the thruster, carrying out the distribution of the angular momentum p, wherein the distribution method comprises the following steps: the moment vectors output by all thrusters included in the aircraft form a matrix M;
selecting three vectors in the matrix M to form a matrix B, namely B ═ Mi，Mj，Mk]Said M isiIs the moment vector of the thruster output with sequence number i, MjIs the moment vector of the thruster output with serial number j, MkThe moment vector is output by the thruster with the sequence number k;
setting cB ═ 1, 1]，cN＝[1，1…，1]The column number of cN is the same as that of the matrix M, the i, j, k columns of M, cB are set to zero, and μ ═ B is set-1*p，θ＝cB*B-1M-cN, if the components of μ are all greater than or equal to 0 and the components of θ are all less than or equal to 0, then the components of μ are the working times of the thrusters numbered i, j, k;
if the component of the mu is larger than or equal to T, setting the thruster corresponding to the component to work, otherwise, setting the thruster corresponding to the component to not work;
and if the component of the mu is less than 0 or the component of the theta is greater than 0, reselecting three vectors in the matrix M to form a matrix B until the components of the mu are all greater than or equal to 0 and the components of the theta are all less than or equal to 0.
2. The method according to claim 1, characterized in that the method of obtaining the angular momentum p required by the aircraft comprises:
calculating and obtaining the attitude information of the aircraft; or
And obtaining the remote control command content of the aircraft.
3. The method of claim 1, wherein the torque threshold F is determined by a method comprising:
the moment threshold value F is smaller than or equal to the maximum angular momentum output by the flywheel in the T time; and is
The magnitude of the torque threshold F is limited by the maximum or minimum rotational speed of the flywheel.
4. The method of claim 1, wherein selecting three vectors to form a matrix B comprises:
the three vectors are linearly independent; and is
And selecting according to the working state of the flywheel or the accumulated working time of the thruster.
5. A multi-actuator aircraft distribution control system for operation on an aircraft having a computation cycle T, the actuators of the aircraft including a flywheel and a thruster, comprising:
the angular momentum instruction module is used for acquiring the angular momentum p required by the aircraft;
an actuator selection module, if
Is less than the moment threshold F, i.e.
Selecting the flywheel as an actuating mechanism according to the angular motion output by the flywheel within T timeQuantity, performing said angular momentum p distribution; otherwise, selecting the thruster as an execution mechanism, and distributing the angular momentum p according to the output moment vector of the thruster;
and the control command output module is used for distributing the angular momentum p according to the angular momentum output in the time of the flywheel T, and the distribution method comprises the following steps: angular momentum vectors output by all flywheels contained in the aircraft within T time form a matrix M;
selecting three vectors in the matrix M to form a matrix B, namely B ═ Mi，Mj，Mk]Said M isiIs the angular momentum vector output by the flywheel with sequence number i in time T, MjIs the angular momentum vector output by the flywheel with sequence number j during time T, MkThe angular momentum vector is output by the flywheel with the sequence number k within T time;
setting cB ═ 1, 1]，cN＝[1，1…，1]The column number of cN is the same as that of the matrix M, the i, j, k columns of M, cB are set to zero, and μ ═ B is set-1*p，θ＝cB*B-1M-cN, if the components of μ are all greater than or equal to 0 and the components of θ are all less than or equal to 0, then the components of μ are the flywheel angular momentum distribution coefficients numbered i, j, k;
if the component of mu is less than 0 or the component of theta is greater than 0, reselecting three vectors in the matrix M to form a matrix B until the components of mu are all greater than or equal to 0 and the components of theta are all less than or equal to 0;
and according to the output moment vector of the thruster, carrying out the distribution of the angular momentum p, wherein the distribution method comprises the following steps: the moment vectors output by all thrusters included in the aircraft form a matrix M;
selecting three vectors in the matrix M to form a matrix B, namely B ═ Mi，Mj，Mk]Said M isiIs the moment vector of the thruster output with sequence number i, MjIs the moment vector of the thruster output with serial number j, MkThe moment vector is output by the thruster with the sequence number k;
the value of cB is set to 1,1]，cN＝[1，1…，1]the column number of cN is the same as that of the matrix M, the i, j, k columns of M, cB are set to zero, and μ ═ B is set-1*p，θ＝cB*B-1M-cN, if the components of μ are all greater than or equal to 0 and the components of θ are all less than or equal to 0, then the components of μ are the working times of the thrusters numbered i, j, k;
if the component of the mu is larger than or equal to T, setting the thruster corresponding to the component to work, otherwise, setting the thruster corresponding to the component to not work;
and if the component of the mu is less than 0 or the component of the theta is greater than 0, reselecting three vectors in the matrix M to form a matrix B until the components of the mu are all greater than or equal to 0 and the components of the theta are all less than or equal to 0.
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