CN108983637A - A kind of satellite control system semi-physical simulation method using reaction wheel - Google Patents

A kind of satellite control system semi-physical simulation method using reaction wheel Download PDF

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Publication number
CN108983637A
CN108983637A CN201811024108.9A CN201811024108A CN108983637A CN 108983637 A CN108983637 A CN 108983637A CN 201811024108 A CN201811024108 A CN 201811024108A CN 108983637 A CN108983637 A CN 108983637A
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CN
China
Prior art keywords
reaction wheel
torgue measurement
semi
output
measurement
Prior art date
Application number
CN201811024108.9A
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Chinese (zh)
Inventor
秦贵军
林宝军
武国强
白涛
熊淑杰
颜艳腾
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上海微小卫星工程中心
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Priority to CN201811024108.9A priority Critical patent/CN108983637A/en
Publication of CN108983637A publication Critical patent/CN108983637A/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00Systems involving the use of models or simulators of said systems
    • G05B17/02Systems involving the use of models or simulators of said systems electric

Abstract

The present invention relates to a kind of satellite control system semi-physical simulation methods using reaction wheel, include the following steps: the power output using torgue measurement systematic survey reaction wheel and determine output torque, wherein the torgue measurement system includes force snesor and uniaxial air-bearing;In the case where the steady working condition of emulation, the deviation of torgue measurement system is determined using mean algorithm and is compensated;And it is emulated using the output result of torgue measurement system.The invention further relates to a kind of semi-physical systems for satellite control system.By means of the present invention or system, the error between the output torque of reaction wheel and the in real time measured output torque and actual torque of compensation reaction wheel can accurately be measured, thus reaction wheel hypervelocity rotation is avoided, and improves the validity and accuracy of l-G simulation test.

Description

A kind of satellite control system semi-physical simulation method using reaction wheel
Technical field
Present invention is generally directed to Aerospace Control fields, control in particular to a kind of satellite using reaction wheel System semi-physical simulation method.Moreover, it relates to a kind of semi-physical system for satellite control system.
Background technique
Semi-physical simulation for Satellite attitude and orbit control is the important method of the Attitude and orbit control system design of verifying satellites. Semi-physical system is that distinguish analog satellite track, attitude dynamics, satellite using more real-time simulation computers in-orbit Running environment, spaceborne computer, attitude sensor, executing agency etc., and it is able to achieve the electrical property interface simulation of each single machine.Complete After portion's single machine is delivered, material object is cooperated into simulator, former real-time simulation machine is replaced, accesses closed loop, form engine bench test.And reaction The important executing agency as satellite gravity anomaly is taken turns, can make to test more adjunction after being introduced into semi-physical simulation closed loop Nearly real system, to preferably test the design of each rail control subsystem.However, in conventional satellite rail control l-G simulation test In, reaction wheel is only introduced into closed loop using telemetry-acquisition revolving speed, or dynamical model closed loop is made and anti-using cross spider Effect wheel open loop only receives telemetry command, and both methods delay is big, big to system dynamic effects.To obtain better real-time To improve the consistency of simulation result and real system, at present use high-precision force sensor measurement reaction wheel output torque with Reaction wheel is introduced into semi-physical simulation closed-loop test.
But during using high-precision force sensor measurement reaction wheel output torque, due to initially exporting presence Appreciable error, therefore cause measuring system finally to feed back to the real-time torque of the reaction wheel in dynamical model and occur partially Difference, to cause have moment of face introducing in kinetic model.Stabilization work after semi physical test enters long-time satellite over the ground Make the stage, in order to offset the interference of moment of face, in the case where satellite attitude stabilization, the revolving speed of reaction wheel is but added with certain Speed is accelerated, and revolving speed is caused to rise along a direction, until exceeding rotary speed threshold value, influences the test of semi physical closed-loop simulation Validity, and easily reaction wheel is damaged.There are larger defect, nothings for usually used artificial manual initial calibration method Method judges when torque measuring system reaches steady output, and calibration need to be repeated, and biggish output is be easy to cause to vibrate, into And influence the result of semi-physical simulation.
Summary of the invention
From the prior art, the task of the present invention is provide a kind of satellite control system semi physical using reaction wheel Emulation mode and a kind of semi-physical system for satellite control system can be accurate by this method or the system Ground measures the output torque of reaction wheel and is compensated measured by reaction wheel in real time between output torque and actual torque Error, thus avoid reaction wheel hypervelocity rotation, and improve the validity and accuracy of l-G simulation test.
In the first aspect of the present invention, foregoing task is imitative by a kind of satellite control system semi physical using reaction wheel True method solves, and this method includes the following steps:
Power output and determining output torque using torgue measurement systematic survey reaction wheel, wherein the torgue measurement System includes force snesor and uniaxial air-bearing;
In the case where the steady working condition of emulation, the deviation of torgue measurement system is determined using mean algorithm and is mended It repays;And
It is emulated using the output result of torgue measurement system.
Provided in a preferred embodiment of the invention, using torgue measurement systematic survey reaction wheel power output and Determine that output torque includes the following steps:
Disturbance torque is provided by air-bearing;
By the power output of force sensor measuring reaction wheel;And
Output torque is determined according to the power output and centre of gyration radius.
By the preferred embodiment, it can be accurately determined the initial output torque of reaction wheel, so that simulation accuracy is improved, This is because gravity can be reliably offset by supporting reaction wheel by uniaxial air-bearing, so that its rotating accuracy and non- Ideal force torque meets system requirements.
It provides in another preferred embodiment of the invention, deviation and the progress of torgue measurement system is determined using mean algorithm Compensation includes the following steps:
In the scheduled time interval of institute, the output torque and reaction of torgue measurement system are calculated in multiple sampling instants Difference between the rotational speed difference moment of components of wheel, wherein rotational speed difference moment of components is existed according to reaction wheel rotary inertia, reaction wheel What the difference and use time interval of the revolving speed at currently employed moment and the revolving speed for using the moment upper one determined;And
The difference of multiple sampling instants is averaged to obtain mean difference.
By the preferred embodiment, can in time, accurately compensate for the deviation of torgue measurement system, to prevent well anti- Effect wheel hypervelocity, and guarantee the precision of analogue system.
It provides, is divided between the sampling instant 1 second in an expansion scheme of the invention, and every 500 are sampled The difference at moment is averaged.
It is provided in another expansion scheme of the present invention, method further includes the following steps:
The output result of torgue measurement system is transferred to semi-physical system by optical fiber.
In the second aspect of the present invention, foregoing task by a kind of semi-physical system for satellite control system come It solves, which includes:
Reaction wheel is configured to supply corresponding reaction force;
Torgue measurement system is configured as the power output of measurement reaction wheel, wherein the torgue measurement system includes Force snesor and uniaxial air-bearing, and wherein uniaxial air-bearing supports reaction wheel to offset gravity;And
Controller is configured as
Output torque is determined according to the power output of reaction wheel;And
The deviation of torgue measurement system is determined and according to described using mean algorithm in the case where the steady working condition of emulation Deviation compensates.
It is provided in a preferred embodiment of the invention, the precision of force snesor is 1.12 to 3.37 milli- newtons.Due to power The radius of sensor to the centre of gyration is fixed value 89mm, therefore in the feelings that the precision of force snesor is 1.12 to 3.37 milli- newtons Under condition, it is ensured that guarantee the measurement accuracy of output torque in 0.1 milli- newton rice to 0.3 milli- newton rice (mNm).
The present invention is at least up to following the utility model has the advantages that by utilizing high-precision force sensor measurement reaction wheel power output Output torque measuring signal can be obtained multiplied by centre of gyration radius in size, and inclined to measurement constant value by rolling average algorithm Difference, which carries out introducing semi physical after online compensation, tests closed loop, can obtain better real-time, improves simulation result and true The consistency of system.
Detailed description of the invention
With reference to specific embodiment, the present invention is further explained with reference to the accompanying drawing.
Fig. 1 shows the process of the satellite control system semi-physical simulation method according to the present invention using reaction wheel Figure;
Fig. 2 shows the schematic diagrames of the semi-physical system according to the present invention for satellite control system;And
Fig. 3-7 shows the test result of the operating condition in orbit using certain of the method for the present invention or system model satellite.
Specific embodiment
It should be pointed out that each component in each attached drawing may be shown in which be exaggerated in order to illustrate, and it is not necessarily ratio Example is correctly.In the drawings, identical appended drawing reference is equipped with to the identical component of identical or function.
In the present invention, unless otherwise indicated, " on being arranged in ... ", " being arranged in ... top " and " on being arranged in ... " Do not exclude the case where there are intermediaries therebetween.
In the present invention, each embodiment is intended only to illustrate the solution of the present invention, and is understood not to restrictive.
In the present invention, unless otherwise indicated, quantifier "one", " one " and the scene for not excluding element.
It is also noted herein that in an embodiment of the present invention, for it is clear, for the sake of simplicity, might show only one Sub-unit or component, but those skilled in the art are it is understood that under the teachings of the present invention, it can be according to concrete scene Need to add required component or component.
It is also noted herein that within the scope of the invention, the wording such as " identical ", " equal ", " being equal to " are not meant to The two numerical value is absolutely equal, but allows certain reasonable error, that is to say, that the wording also contemplated " substantially phase Together ", " being essentially equal ", " being substantially equal to ".
In addition, the number of the step of each method of the invention limit the method step execute sequence.Unless special It does not point out, the method step can be executed with different order.
Fig. 1 shows the stream of the satellite control system semi-physical simulation method 100 according to the present invention using reaction wheel Cheng Tu, wherein dotted line frame indicates optional step.
Power output and determining output torque in step 102, using torgue measurement systematic survey reaction wheel.The power Square measuring system includes force snesor and uniaxial air-bearing, and wherein uniaxial air-bearing supports reaction wheel to offset weight Power, so that the rotating accuracy of reaction wheel, non-ideal torque (0.2mNm) meet system requirements.Determine the process example of output torque Such as are as follows: provide disturbance torque by air-bearing;By the power output of force sensor measuring reaction wheel;And according to the power output Output torque is determined with centre of gyration radius.The radius of high-precision force sensor to the centre of gyration is fixed value (89mm), according to System requirements measurement accuracy chooses measurement range and meets the force snesor of condition, the power size of the reaction wheel measured multiplied by The radius of high-precision force sensor to the centre of gyration obtains output torque measuring signal, and torgue measurement precision is up to 0.2mNm.It is high Precision force sensor signals are faint, therefore can amplify to this signal, then reach sampling computer, by torgue measurement system Software carries out the operation such as data processing, graphical display, data distribution.
In step 104, in the case where the steady working condition of emulation, the deviation of torgue measurement system is determined using mean algorithm And it compensates.The process of determination deviation is for example are as follows: in the scheduled time interval of institute, calculates torque in multiple sampling instants and surveys Difference between the output torque of amount system and the rotational speed difference moment of components of reaction wheel, wherein rotational speed difference moment of components is made according to anti- It in the revolving speed at currently employed moment and the difference for the revolving speed for using the moment upper one and is used with wheel rotary inertia, reaction wheel What time interval determined;And the difference of multiple sampling instants is averaged to obtain mean difference.That is, using movement Average algorithm carries out online compensation to the constant value deviation of torgue measurement system, i.e., defeated in real time to a period of time moment of resistance measuring system It is average with difference obtained by reaction wheel Real-time Feedback rotational speed difference moment of components out, it is per second to be utilized averagely using sliding window average mode Difference carries out supplement calibration to the output of torgue measurement system, to guarantee that torgue measurement system data accurately exports.Specific method It is real-time acquisition torgue measurement system output data, exports wheel speed in conjunction with reaction wheel, calculate the deviation of real-time measurement system. The process can be characterized by following formula:
Tder=Tout-Jwnowpre)/Δt
Wherein TderFor torgue measurement system output errors, ToutFor torgue measurement system output value, JwFor reaction rotation Dynamic inertia, ωnow、ωpreFor current time or more sampling instant reaction revolving speed, Δ t is sampling interval duration.
Calculate torgue measurement system output bias value in real time according to above-mentioned formula, for example, every 500 seconds to 500 acquisitions per second Torgue measurement system output bias value be averaged, by obtained Mean Deviation value to system output compensate calibration, from And guarantees system data and accurately export.
In optional step 106, the output result of torgue measurement system is transferred to semi-physical system by optical fiber.It is logical The signal transmission for crossing fiber optic network, is remarkably improved the real-time of semi-physical simulation.It should be pointed out that other transmission modes It is conceivable.
In step 108, emulated using the output result of torgue measurement system.Torque signals after calibration are introduced half Physical simulation system, such as the semi-physical simulation dynamics simulation cycle of operation are 5ms, such as reaction wheel torgue measurement system Driving frequency can achieve 100Hz.
Fig. 2 shows the schematic diagrames of the semi-physical system 200 according to the present invention for satellite control system.
As shown in Fig. 2, semi-physical system 200 mainly includes multiple reaction wheels, by force snesor and uniaxial air bearing The torgue measurement system of bearing composition, controller (such as spaceborne computer), emulation platform.
By the torque of torgue measurement systematic survey reaction wheel, and it is transferred to spaceborne computer, spaceborne computer calculates anti- Act on wheel error, spaceborne computer determined by the interaction with each computer and sensor revolving speed, torque command so as to Error is compensated.Rail control semi-physical simulation platform is emulated using the output torque for the reaction wheel being corrected.
Fig. 3-7 shows the test knot of the operating condition in orbit of certain model satellite using method or system of the invention Fruit.As shown in fig. 3 to 7, satellite is after entering steady running condition, and reaction wheel stabilization of speed is in claimed range, the attitude of satellite Stablize, satellite x, y-axis direction moment of face error are respectively less than 0.002Nm, it is seen that use high-precision reaction wheel torgue measurement system Semi-physical simulation result is completed closer to real system.
Although some embodiments of the present invention are described in present specification, those skilled in the art Member is it is understood that these embodiments are merely possible to shown in example.Those skilled in the art can under guidance of the invention To expect numerous variant schemes, alternative solution and improvement project without beyond the scope of this invention.The appended claims purport It is limiting the scope of the invention, and is covering the method in the range of these claims itself and its equivalents and knot whereby Structure.

Claims (7)

1. a kind of satellite control system semi-physical simulation method using reaction wheel, including the following steps:
Power output and determining output torque using torgue measurement systematic survey reaction wheel, wherein the torgue measurement system Including force snesor and uniaxial air-bearing;
In the case where the steady working condition of emulation, the deviation of torgue measurement system is determined using mean algorithm and is compensated;With And
It is emulated using the output result of torgue measurement system.
2. according to the method described in claim 1, wherein using torgue measurement systematic survey reaction wheel power output and really Determine output torque to include the following steps:
Disturbance torque is provided by air-bearing;
By the power output of force sensor measuring reaction wheel;And
Output torque is determined according to the power output and centre of gyration radius.
3. according to the method described in claim 1, wherein determining the deviation of torgue measurement system using mean algorithm and being mended It repays and includes the following steps:
In the scheduled time interval of institute, the output torque and reaction wheel of torgue measurement system are calculated in multiple sampling instants Difference between rotational speed difference moment of components, wherein rotational speed difference moment of components is according to reaction wheel rotary inertia, reaction wheel current It is determined using the revolving speed at moment and upper one using the difference of the revolving speed at moment and using time interval;And
The difference of multiple sampling instants is averaged to obtain mean difference.
4. according to the method described in claim 3, being wherein divided between the sampling instant 1 second, and to every 500 sampling instants Difference be averaged.
5. according to the method described in claim 1, further including the following steps:
The output result of torgue measurement system is transferred to semi-physical system by optical fiber.
6. a kind of semi-physical system for satellite control system, comprising:
Reaction wheel is configured to supply corresponding reaction force;
Torgue measurement system is configured as the power output of measurement reaction wheel, wherein the torgue measurement system includes that power passes Sensor and uniaxial air-bearing, and wherein uniaxial air-bearing supports reaction wheel to offset gravity;And
Controller is configured as
Output torque is determined according to the power output of reaction wheel;And
The deviation of torgue measurement system is determined and according to the deviation using mean algorithm in the case where the steady working condition of emulation It compensates.
7. semi-physical system according to claim 6, wherein the precision of force snesor is 1.12 to 3.37 milli- newtons.
CN201811024108.9A 2018-09-04 2018-09-04 A kind of satellite control system semi-physical simulation method using reaction wheel CN108983637A (en)

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