CN108945527A - A kind of safe spacing method of vector regulating mechanism - Google Patents
A kind of safe spacing method of vector regulating mechanism Download PDFInfo
- Publication number
- CN108945527A CN108945527A CN201810634420.3A CN201810634420A CN108945527A CN 108945527 A CN108945527 A CN 108945527A CN 201810634420 A CN201810634420 A CN 201810634420A CN 108945527 A CN108945527 A CN 108945527A
- Authority
- CN
- China
- Prior art keywords
- sliding block
- regulating mechanism
- vector regulating
- vector
- displacement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000006073 displacement reaction Methods 0.000 claims abstract description 28
- 238000004590 computer program Methods 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Classifications
-
- 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
A kind of safe spacing method of vector regulating mechanism, the current angular error of vector regulating mechanism is calculated first, and then obtain the required displacement of vector regulating mechanism sliding block, then the single maximum moving distance of acquisition vector regulating mechanism sliding block, soft limit range, the displacement of vector regulating mechanism sliding block is modified, it is finally mobile until meeting required precision according to the Bit andits control sliding block of revised vector regulating mechanism sliding block.The present invention is compared with prior art, soft limit is designed by limiting inside firmly, slide position is estimated before every secondary control, if exceeding soft limit, then adjusting control amount stops control slide block movement i.e. to soft spacing place, to ensure that vector regulating mechanism moves in safe range, does not touch hard limit switch, mechanical damage is avoided, there is good use value.
Description
Technical field
The present invention relates to Mechatronics control field, especially a kind of safe spacing method of vector regulating mechanism.
Background technique
DFH-3B platform can be used electric propulsion system and complete 15 years north and south position guarantor, and electric propulsion system includes electric thruster and confession
Distribution processing unit, storage are lighted a fire by electric thruster for system and control module etc. and provide thrust needed for satellite north and south position is protected.Electricity
The thruster daily operation on orbit time is longer, does caused by thrust direction deviation celestial body mass center to reduce in thruster ignition process
Disturb torque influence, electric propulsion subsystem configures vector regulating mechanism, as electric thruster support and adjust the side of electric thruster
To the thrust vectoring of thruster passes through whole star mass center in guarantee life cycle management.
In order to avoid sliding block exceeds safe range during the motion, stuck or vector regulating mechanism mechanical damage is caused
Wound, needs to design limit measure.Existing limit method is to be equipped with hardware limit switch at the sliding block both ends of vector regulating mechanism, when
When sliding block touches hard limit switch, control software, which sends instruction, stalls vector regulating mechanism.
When using existing limit method, since control parameter is that the complex nonlinear model of vector regulating mechanism is carried out line
Property obtain, there are overshoot in control process, sliding block usually needs to be shaken adjustment several times around target position
It is able to achieve precision index, there are overshoot processes, and in the corresponding slide position of target angle close to when hard limit, sliding block may be missed
It boldly confronts a powerful opponent limit, causes mechanism to stall, cannot achieve accurate control, in addition, repeatedly touching hard limit also will increase mechanical damage
Risk.
Summary of the invention
Technical problem solved by the present invention is having overcome the deficiencies of the prior art and provide a kind of peace of vector regulating mechanism
Full limit method reduces the overshoot when movement of vector regulating mechanism, and guarantees that vector regulating mechanism stops in safe range
Movement, does not touch hard limit switch, avoids mechanical damage.
The technical solution of the invention is as follows: a kind of safe spacing method of vector regulating mechanism includes the following steps:
(1) vector regulating mechanism target angle is calculated, the error of vector regulating mechanism current angular is Δ α=αc-α,Δβ
=βc- β, and then obtain the displacement d of the first sliding block of vector regulating mechanism1, the second sliding block displacement d2, wherein αc、βcFor arrow
Measure regulating mechanism target angle；
(2) the single maximum moving distance Δ d of the first sliding block of vector regulating mechanism, the second sliding block is obtainedmax, to vector tune
Save the displacement d of the first sliding block of mechanism1, the second sliding block displacement d2It is modified；
(3) according to the first sliding block of vector regulating mechanism, the current location d of the second sliding block1, d2, first is sliding after estimation control
Block, the second sliding block practical slide position be respectively d1p, d2p；
(4) the soft limit range for obtaining the first sliding block of vector regulating mechanism is [d1min,d1max], the soft limit of the second sliding block
Range is [d2min,d2max], and to the displacement d of the first sliding block of vector regulating mechanism1, the second sliding block displacement d2It is repaired
Just；
(5) according to the displacement d of revised the first sliding block of vector regulating mechanism1, the second sliding block displacement d2Control the
One sliding block, the second sliding block are mobile, so obtain the first sliding block of vector regulating mechanism, the current location of the second sliding block is respectively
(6) arrow is calculated in the current location of the first sliding block of vector regulating mechanism, the second sliding block that are obtained according to step (5)
Regulating mechanism corresponding current angle value α, β are measured, and then the current angular error that vector regulating mechanism is calculated is respectively Δ α
=αc- α, Δ β=βc- β, if meeting required precision, the control of vector regulating mechanism terminates, if being unsatisfactory for required precision, obtains arrow
It measures regulating mechanism maximum and controls the number of iterations, if vector regulating mechanism control number not up to sets number, return step
(1), if vector regulating mechanism control number reaches setting number, the control of vector regulating mechanism terminates.
The single maximum moving distance Δ of the first sliding block of vector regulating mechanism, the second sliding block is obtained in the step (2)
dmax, to the displacement d of the first sliding block of vector regulating mechanism1, the second sliding block displacement d2The method being modified are as follows:
If Δ d1>Δdmax, enable Δ d1=Δ dmaxIf Δ d1<-Δdmax, enable Δ d1=-Δ dmaxIf Δ d2>Δ
dmax, enable Δ d2=Δ dmaxIf Δ d2<-Δdmax, enable Δ d2=-Δ dmax。
The first sliding block after controlling is estimated in the step (3), the practical slide position of the second sliding block is respectively d1p, d2p
Method are as follows:
To the displacement d to the first sliding block of vector regulating mechanism in the step (4)1, the second sliding block displacement d2Into
The modified method of row are as follows:
If d1p>d1max, enable Δ d1=d1max-d1If d1p<d1min, enable Δ d1=d1min-d1If d2p>d2max, enable
Δd2=d2max-d2If d2p<d2min, enable Δ d2=d2min-d2。
A kind of computer readable storage medium, the computer-readable recording medium storage has computer program, described
Computer program the step of the method as any such as claim 1- claim 4 is realized when being executed by processor
A kind of safe spacing of vector regulating mechanism controls equipment, including memory, processor and is stored in described deposit
In reservoir and the computer program that can run on the processor, the processor execute real when the computer program
Now the step of the method as any such as claim 1- claim 4.
The advantages of the present invention over the prior art are that:
(1) compared with prior art, the present invention reducing vector regulating mechanism slide block movement by carrying out clipping to control amount
Overshoot in the process；
(2) present invention designs soft limit by limit inside firmly, estimates slide position before every secondary control, if exceeding soft limit
Position, then adjusting control amount stops control slide block movement i.e. to soft spacing place, to ensure that vector regulating mechanism in safe model
Interior movement is enclosed, hard limit switch is not touched, avoids mechanical damage.
(3) compared with prior art, the present invention by controlling the combination that control amount carries out clipping and increases soft limit,
Overshoot is reduced, avoids and stops control before reaching expectation quality, improve control precision.
Detailed description of the invention
Fig. 1 is vector regulating mechanism structure chart；
Fig. 2 is simplified vector regulating mechanism structural schematic diagram；
Fig. 3 is vector regulating mechanism safe spacing method flow diagram.
Specific embodiment
The structure of vector regulating mechanism is as shown in Figure 1, simplified schematic diagram is as shown in Figure 2.Pass through motor driven two
The angular adjustment of both direction may be implemented in slide block movement.
Vector regulating mechanism is a complicated nonlinear system, considers in-orbit applying working condition, in order to save resource on star,
Software reliability is improved, linear simplified control algorithm is used to the control of vector regulating mechanism.By vector regulating mechanism model
It is reduced to linear system, according to corner α and β and target angle αc、βcSliding block is calculated and needs mobile distance, delta d1And Δ
d2, the mobile adjusting to realize target angle of control sliding block:
Wherein, COEFFICIENT K is to carry out the information that linear fit obtains, angular error according to vector regulating mechanism nonlinear model
Δ α=αc- α, Δ β=βc- β calculates the difference between corner α and β and target angle after Primary regulation, wants if not meeting precision
It asks, repeats the above process until precision meets the requirements or the number of iterations is beyond defined maximum value.
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
The limit value d of given two sliding blocks1min, d1max, d2min, d2max, the corresponding position of four limits values is in corresponding hard limit
Position inside, design control method move sliding block in limit range.In addition, clipping is carried out to control amount in order to reduce overshoot,
Regulation single maximum moving distance is Δ dmax。
The main flow of vector regulating mechanism safe spacing method is as shown in figure 3, specific implementation step is as follows:
(1) error delta α=α between target angle and current angular is calculatedc- α, Δ β=βc- β, according to former control algolithm
Calculate the displacement d of sliding block 1 and 21With Δ d2:
(2) judge | Δ d1| and | Δ d2| it whether is more than single maximum moving distance Δ dmaxIf Δ d1>Δdmax, enable Δ
d1=Δ dmaxIf Δ d1<-Δdmax, enable Δ d1=-Δ dmaxIf Δ d2>Δdmax, enable Δ d2=Δ dmaxIf Δ d2
<-Δdmax, enable Δ d2=-Δ dmax。
(3) according to current slide position d1, d2, estimate the practical slide position after controlling:
(4) judge d1p, d2pWhether beyond the soft limit being arranged, control amount is adjusted if beyond soft limit: if
d1p>d1max, enable Δ d1=d1max-d1；If d1p<d1min, enable Δ d1=d1min-d1；If d2p>d2max, enable Δ d2=d2max-d2；
If d2p<d2min, enable Δ d2=d2min-d2。
(5) sliding block moving displacement Δ d is controlled1、Δd2, obtain current location:
(6) corresponding angle value α and β at this time is calculated according to the accurate model of vector regulating mechanism, calculates angle and misses
Poor Δ α=αc- α, Δ β=βc- β judges whether to meet required precision, if satisfied, control terminates；If not satisfied, the maximum control of setting
The number of iterations processed is nmax, judge to control whether number reaches setting frequency nmaxIf not up to nmax, return step (1), if reaching
To nmax, control terminates.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (6)
1. a kind of safe spacing method of vector regulating mechanism, it is characterised in that include the following steps:
(1) vector regulating mechanism target angle is calculated, the error of vector regulating mechanism current angular is Δ α=αc- α, Δ β=βc-
β, and then obtain the displacement d of the first sliding block of vector regulating mechanism1, the second sliding block displacement d2, wherein αc、βcFor vector tune
Save institution aim angle；
(2) the single maximum moving distance Δ d of the first sliding block of vector regulating mechanism, the second sliding block is obtainedmax, machine is adjusted to vector
The displacement d of the first sliding block of structure1, the second sliding block displacement d2It is modified；
(3) according to the first sliding block of vector regulating mechanism, the current location d of the second sliding block1, d2, the first sliding block, the after estimation control
The practical slide position of two sliding blocks is respectively d1p, d2p；
(4) the soft limit range for obtaining the first sliding block of vector regulating mechanism is [d1min,d1max], the soft limit range of the second sliding block
For [d2min,d2max], and to the displacement d of the first sliding block of vector regulating mechanism1, the second sliding block displacement d2It is modified；
(5) according to the displacement d of revised the first sliding block of vector regulating mechanism1, the second sliding block displacement d2Control first is sliding
Block, the second sliding block are mobile, so obtain the first sliding block of vector regulating mechanism, the current location of the second sliding block is respectively
(6) vector tune is calculated in the current location of the first sliding block of vector regulating mechanism, the second sliding block that are obtained according to step (5)
Save mechanism corresponding current angle value α, β, so the current angular error that vector regulating mechanism is calculated be respectively Δ α=
αc- α, Δ β=βc- β, if meeting required precision, the control of vector regulating mechanism terminates, if being unsatisfactory for required precision, obtains vector
Regulating mechanism maximum controls the number of iterations, if vector regulating mechanism control number not up to sets number, return step
(1), if vector regulating mechanism control number reaches setting number, the control of vector regulating mechanism terminates.
2. a kind of safe spacing method of vector regulating mechanism according to claim 1, it is characterised in that: the step
(2) the single maximum moving distance Δ d of the first sliding block of vector regulating mechanism, the second sliding block is obtained inmax, to vector regulating mechanism
The displacement d of first sliding block1, the second sliding block displacement d2The method being modified are as follows:
If Δ d1>Δdmax, enable Δ d1=Δ dmaxIf Δ d1<-Δdmax, enable Δ d1=-Δ dmaxIf Δ d2>Δdmax,
Enable Δ d2=Δ dmaxIf Δ d2<-Δdmax, enable Δ d2=-Δ dmax。
3. a kind of safe spacing method of vector regulating mechanism according to claim 3, it is characterised in that: the step
(3) the first sliding block after controlling is estimated in, the practical slide position of the second sliding block is respectively d1p, d2pMethod are as follows:
4. a kind of safe spacing method of vector regulating mechanism according to claim 3, it is characterised in that: the step
(4) to the displacement d to the first sliding block of vector regulating mechanism in1, the second sliding block displacement d2The method being modified are as follows:
If d1p>d1max, enable Δ d1=d1max-d1If d1p<d1min, enable Δ d1=d1min-d1If d2p>d2max, enable Δ d2=
d2max-d2If d2p<d2min, enable Δ d2=d2min-d2。
5. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, feature
It is, the step such as any the method for claim 1- claim 4 is realized when the computer program is executed by processor
Suddenly.
6. the safe spacing of vector regulating mechanism a kind of controls equipment, including memory, processor and it is stored in the storage
In device and the computer program that can run on the processor, it is characterised in that: the processor executes the calculating
The step of the method as any such as claim 1- claim 4 is realized when machine program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810634420.3A CN108945527B (en) | 2018-06-20 | 2018-06-20 | Safety limiting method of vector adjusting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810634420.3A CN108945527B (en) | 2018-06-20 | 2018-06-20 | Safety limiting method of vector adjusting mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108945527A true CN108945527A (en) | 2018-12-07 |
| CN108945527B CN108945527B (en) | 2020-07-14 |
Family
ID=64491426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810634420.3A Active CN108945527B (en) | 2018-06-20 | 2018-06-20 | Safety limiting method of vector adjusting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108945527B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6557804B1 (en) * | 2001-12-05 | 2003-05-06 | The Boeing Company | Rotating solar concentrator |
| KR100997902B1 (en) * | 2008-12-31 | 2010-12-02 | 한국항공우주연구원 | Device for assembly of liquid rocket engine's nozzle extension |
| CN103935531A (en) * | 2014-04-15 | 2014-07-23 | 北京控制工程研究所 | Two-dimensional vector adjusting mechanism |
| CN103970149A (en) * | 2014-04-15 | 2014-08-06 | 北京控制工程研究所 | Corner control method of two-dimensional vector regulating mechanism |
| EP3330189A1 (en) * | 2016-12-05 | 2018-06-06 | Airbus Defence and Space GmbH | Pointing mechanism for use in an electric propulsion system of a spacecraft |
-
2018
- 2018-06-20 CN CN201810634420.3A patent/CN108945527B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6557804B1 (en) * | 2001-12-05 | 2003-05-06 | The Boeing Company | Rotating solar concentrator |
| KR100997902B1 (en) * | 2008-12-31 | 2010-12-02 | 한국항공우주연구원 | Device for assembly of liquid rocket engine's nozzle extension |
| CN103935531A (en) * | 2014-04-15 | 2014-07-23 | 北京控制工程研究所 | Two-dimensional vector adjusting mechanism |
| CN103970149A (en) * | 2014-04-15 | 2014-08-06 | 北京控制工程研究所 | Corner control method of two-dimensional vector regulating mechanism |
| EP3330189A1 (en) * | 2016-12-05 | 2018-06-06 | Airbus Defence and Space GmbH | Pointing mechanism for use in an electric propulsion system of a spacecraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108945527B (en) | 2020-07-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhao et al. | A parametric interpolator with minimal feed fluctuation for CNC machine tools using arc-length compensation and feedback correction | |
| Li et al. | Stochastic gradient particle swarm optimization based entry trajectory rapid planning for hypersonic glide vehicles | |
| CN108287471B (en) | Parameter self-tuning method of MIMO offset format model-free controller based on system error | |
| CN105975645B (en) | A kind of aircraft flow field of region containing shock wave quick calculation method based on multistep | |
| CN104020778B (en) | Flexible Satellite Attitude maneuver autopilot method based on tracking time energy consumption optimal control orbit | |
| CN108121856B (en) | Dynamic stability analysis method for full-flight-domain aircraft | |
| JP2020040651A (en) | Smoothed and regularized fischer-burmeister solver for embedded real-time constrained optimal control problems in autonomous systems | |
| US20160229522A1 (en) | Closed loop control of aircraft control surfaces | |
| CN112231632B (en) | Carrier rocket wind estimation method, device, equipment and storage medium | |
| CN105222648A (en) | A kind of linear pseudo-spectrum broad sense mark control miss distance Guidance and control method | |
| Wang et al. | Terminal guidance for a hypersonic vehicle with impact time control | |
| CN116184813B (en) | Method, device, equipment and storage medium for controlling posture of boosting gliding rocket | |
| CN108345213B (en) | Parameter self-tuning method of MIMO (multiple input multiple output) compact-format model-free controller based on system error | |
| Bai et al. | Teardrop hovering formation for elliptical orbit considering J2 perturbation | |
| JP2021051462A (en) | Information processing apparatus and program | |
| CN108945527A (en) | A kind of safe spacing method of vector regulating mechanism | |
| CN103991074A (en) | Space mechanical arm control method and system based on particle filter algorithm | |
| CN109848984A (en) | A kind of visual servo method controlled based on SVM and ratio | |
| KR101832195B1 (en) | Method of adjustment of clutch characteristic curve | |
| Bachtiar et al. | Nonlinear model predictive missile control with a stabilising terminal constraint | |
| CN108287470B (en) | Parameter self-tuning method of MIMO offset format model-free controller based on offset information | |
| CN108132600B (en) | Parameter self-tuning method of MIMO (multiple input multiple output) compact-format model-free controller based on partial derivative information | |
| CN115048612B (en) | Laser peening inherent strain determination method, device, equipment and storage medium | |
| CN108154231B (en) | System error-based parameter self-tuning method for MISO full-format model-free controller | |
| KR101846019B1 (en) | Apparatus and method for computing position of flight vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |