CN108984840B - Method and system for modeling vertical rod equivalent satellite attitude motion in unfolding process of loop antenna - Google Patents

Method and system for modeling vertical rod equivalent satellite attitude motion in unfolding process of loop antenna Download PDF

Info

Publication number
CN108984840B
CN108984840B CN201810622424.XA CN201810622424A CN108984840B CN 108984840 B CN108984840 B CN 108984840B CN 201810622424 A CN201810622424 A CN 201810622424A CN 108984840 B CN108984840 B CN 108984840B
Authority
CN
China
Prior art keywords
loop antenna
vertical rod
satellite
motion
coordinate system
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.)
Active
Application number
CN201810622424.XA
Other languages
Chinese (zh)
Other versions
CN108984840A (en
Inventor
林波
曾海波
邱乐德
武云丽
沈莎莎
刘江
张银
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Control Engineering
Original Assignee
Beijing Institute of Control Engineering
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Control Engineering filed Critical Beijing Institute of Control Engineering
Priority to CN201810622424.XA priority Critical patent/CN108984840B/en
Publication of CN108984840A publication Critical patent/CN108984840A/en
Application granted granted Critical
Publication of CN108984840B publication Critical patent/CN108984840B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation

Abstract

The invention discloses a method and a system for modeling the attitude motion of a vertical rod equivalent satellite in the unfolding process of a loop antenna, wherein the method comprises the following steps: establishing a coordinate system for describing each quadrilateral unit in the loop type antenna main body structure and a loop type antenna coordinate system; establishing a relative position equation of each vertical rod in the loop antenna main body structure in a loop antenna coordinate system; all the vertical rods are connected with a satellite motion equation to form a coupling motion equation of the annular antenna and the satellite; establishing a motion constraint relation equation of the radius of the large-scale loop antenna and the vertical rod; establishing a control relation equation between motion constraint and control force; and solving a coupled motion equation of the annular antenna and the satellite and a control relation equation between motion constraint and control force by adopting a numerical integration method to obtain the motion information of the satellite and the annular antenna. The method can ensure the calculation precision of the antenna unfolding process, greatly improve the calculation rapidity and reduce the modeling complexity.

Description

Method and system for modeling vertical rod equivalent satellite attitude motion in unfolding process of loop antenna
Technical Field
The invention belongs to the technical field of spacecraft dynamics modeling and calculation, and particularly relates to a vertical rod equivalent satellite attitude motion modeling method and system in the unfolding process of a loop antenna.
Background
In order to meet the robust control requirement of a satellite carrying a large flexible antenna on orbit during deployment and the attitude control strategy analysis during deployment, a dynamic model of a dynamic deployment process needs to be established so as to analyze the stability of the deployment process and evaluate the influence of the deployment process on the attitude. The dynamic model of the existing satellite carrying the large flexible loop antenna is complex when the loop antenna is unfolded, the large loop antenna generally has a plurality of parallelogram units and more moving rods, and if each moving rod is modeled, the modeling is complex, and the calculation efficiency and the calculation speed are greatly reduced.
Disclosure of Invention
The invention solves the technical problems that: the method and the system for modeling the equivalent satellite attitude motion of the vertical rod in the unfolding process of the loop antenna overcome the defects of the prior art, the equivalent method of the vertical rod motion is provided by analyzing the antenna motion in the unfolding process, the unfolding characteristic of the loop antenna is utilized, and the parallelogram vertical rod motion is utilized for equivalence, so that the calculation precision in the unfolding process of the antenna can be ensured, the calculation rapidity can be greatly improved, the modeling complexity is reduced, and the method and the system are more suitable for the analysis of the unfolding process of the loop antenna and the on-orbit attitude forecast in the satellite development process.
The purpose of the invention is realized by the following technical scheme: according to one aspect of the invention, a method for modeling the posture motion of a vertical rod equivalent satellite in the unfolding process of a loop antenna is provided, and the method comprises the following steps: (1) Establishing a coordinate system for describing each quadrilateral unit in the loop type antenna main body structure and a loop type antenna coordinate system; (2) Establishing a relative position equation of each vertical rod in the loop antenna main body structure in a loop antenna coordinate system; (3) Connecting all the vertical rods with a satellite motion equation to form a coupling motion equation of the annular antenna and the satellite; (4) Establishing a motion constraint relation equation of the radius of the large-scale loop antenna and the vertical rod; (5) Establishing a control relation equation between motion constraint and control force; (6) And solving a coupled motion equation of the annular antenna and the satellite and a control relation equation between motion constraint and control force by adopting a numerical integration method to obtain the motion information of the satellite and the annular antenna.
In the modeling method for the posture motion of the vertical rod equivalent satellite in the unfolding process of the loop antenna, in the step (1), the main body structure of the loop antenna is composed of n parallelogram units with the same structure, and the parallelogram units are connected into a closed polygonal loop through hinges with a fixed included angle of theta =360 DEG/n.
In the method for modeling the equivalent satellite attitude motion of the vertical rod in the unfolding process of the annular antenna, in the step (1), the coordinate system of each quadrilateral unit is o i x i y i z i Wherein the cross bar after being completely unfolded in place is defined as-y of a quadrilateral unit i The axis, the vertical bar, being defined as z of a quadrilateral unit i Axis, x i If the axes accord with the right-hand rule, the included angle between the x axes of two adjacent quadrilateral units is theta, i =0, 1, 8230, n.
In the above modeling method for equivalent satellite attitude motion of the vertical rod during the unfolding process of the loop antenna, in the step (1), the coordinate system of the loop antenna is o 0 x 0 y 0 z 0 Where the origin is the same as the origin of the 1 st quadrilateral unit coordinate system, o 0 x 0 Axis is directed to the center of a circle circumscribed by the loop antenna, o 0 z 0 Coordinate system o of axis and 1 st quadrilateral unit 1 z 1 The axes are overlapped; the origin of the loop antenna coordinate system is fixedly connected with the unfolding arm of the satellite.
In the above modeling method for equivalent satellite attitude motion of vertical rod in the unfolding process of the loop antenna, in the step (2), the ith vertical rod A of each vertical rod in the main body structure of the loop antenna i In a loop antenna coordinate system o 0 x 0 y 0 z 0 The relative position equation in (1) is:
Figure BDA0001698366320000021
wherein the content of the first and second substances,
Figure BDA0001698366320000022
Figure BDA0001698366320000023
Figure BDA0001698366320000024
Figure BDA0001698366320000025
Figure BDA0001698366320000026
is the ith vertical bar A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 Position vector of (1), x oi Is the ith vertical bar A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 The position component on the x-axis, y oi Is the ith vertical rod A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 The position component on the y-axis in (1), z oi Is the ith vertical rod A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 A position component on the z-axis in (1), L being the crossbar B in the parallelogram unit i In the length of (b), in combination with>
Figure BDA0001698366320000039
As a parallelogram unit middle cross bar B i At o 0 x 0 y 0 z 0 In the coordinate system with x 0 o 0 y 0 The angle of the plane.
In the above modeling method for equivalent attitude motion of a vertical rod satellite in the unfolding process of the loop antenna, in step (3), the equation of coupled motion between the loop antenna and the satellite is:
Figure BDA0001698366320000031
wherein the content of the first and second substances,
Figure BDA0001698366320000032
Figure BDA0001698366320000033
m f is the total mass of the loop antenna, m is the total mass of the whole satellite, r c Is the center of mass of the whole star,
Figure BDA0001698366320000034
is a loop antenna coordinate system o 0 x 0 y 0 z 0 Coordinate vector antisymmetric matrix with origin in satellite coordinate system, J o Is a whole-satellite inertia matrix except for a ring antenna, F i To act on the ith montant unit with equal effect, J cc Is a whole star relative centroid inertia matrix->
Figure BDA0001698366320000035
Is the coupling moment coefficient of the ith vertical rod to the satellite, m i For a mass assigned to the ith stem, <' >>
Figure BDA0001698366320000036
Is the whole star centroid r c Of an antisymmetric matrix of m ii Is the equivalent mass on the ith vertical rod, J a An inertia matrix of the whole satellite relative to the mechanical coordinate system, J i Is the inertia matrix of the ith vertical rod, m ij Is the coupling coefficient between the ith vertical rod and the jth vertical rod, m j For a mass assigned to the jth montant>
Figure BDA0001698366320000037
As a satelliteDerivative of angular velocity, M b Is a moment vector acting on the satellite, r i Is the ith vertical rod on-line coordinate system o 0 x 0 y 0 z 0 Position vector in (1), in>
Figure BDA0001698366320000038
Is r i Of an inverse-symmetric matrix r i Is "as i The second derivative of (a).
In the above modeling method for equivalent satellite attitude motion of the vertical rod during the unfolding process of the loop antenna, in step (4), the motion constraint relation equation between the radius of the large loop antenna and the vertical rod is as follows:
Figure BDA0001698366320000041
wherein R is the radius of the loop antenna, R ci Is the expected position vector, r 'of the ith vertical bar' ci Is r ci I.e. the desired velocity vector of the ith vertical bar.
In the above modeling method for equivalent satellite attitude motion of the vertical rod during the unfolding process of the loop antenna, in the step (5), the control relation equation between the motion constraint and the control force is as follows: f i ＝-K di ·(r i ′-r′ ci )-K pi ·(r i -r ci ) (ii) a Wherein r is i Is the ith vertical rod on-line coordinate system o 0 x 0 y 0 z 0 Position vector of (1), r ci Is the desired position vector of the ith vertical bar, K di Is the speed regulation coefficient of the ith vertical rod, K pi The position adjustment coefficient of the ith vertical rod is shown.
According to another aspect of the present invention, there is also provided a vertical rod equivalent satellite attitude motion modeling system during deployment of a loop antenna, including: the first module is used for establishing a coordinate system for describing each quadrilateral unit in the loop antenna main body structure and a loop antenna coordinate system; the second module is used for establishing a relative position equation of each vertical rod in the loop antenna main body structure in a loop antenna coordinate system; the third module is used for connecting all the vertical rods with a satellite motion equation to form a coupling motion equation of the annular antenna and the satellite; the fourth module is used for establishing a motion constraint relation equation of the radius of the annular antenna and the vertical rod; a fifth module for establishing a control relationship equation between the motion constraint and the control force; and the sixth module is used for solving a coupled motion equation of the annular antenna and the satellite and a control relation equation between motion constraint and control force by adopting a numerical integration method to obtain motion information of the satellite and the annular antenna.
According to yet another aspect of the invention, one or more machine-readable media are provided having instructions stored thereon which, when executed by one or more processors, cause an apparatus to perform a method of one or more of the aspects of the invention.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a vertical rod motion equivalent method by analyzing the antenna motion in the unfolding process, utilizes the unfolding characteristics of the loop antenna and utilizes the parallelogram vertical rod motion for equivalence, thereby not only ensuring the calculation precision in the antenna unfolding process, but also greatly improving the calculation rapidity, reducing the modeling complexity and being more suitable for the analysis of the loop antenna unfolding process and the on-orbit attitude forecast in the satellite development process.
Drawings
Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic diagram of a satellite and a large loop antenna according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a relationship between a loop antenna coordinate system and a quadrilateral unit coordinate system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The embodiment provides a method for modeling the attitude motion of a vertical rod equivalent satellite in the unfolding process of a loop antenna, which comprises the following steps:
(1) A coordinate system describing the movement of the loop type antenna main body structure is first established. The main structure is composed of n parallelogram units with the same structure, and the units are connected into a closed polygonal ring through hinges with a fixed included angle theta =360o/n, as shown in fig. 1. The following two coordinate systems are respectively established:
coordinate system o of ith quadrilateral element i x i y i z i A cross bar (C) after being completely unfolded in place i Rod) is defined as-y of the ith quadrilateral i The axis, vertical bar (A-bar) being defined by z of a quadrilateral i Axis, x i If the axes meet the right-hand rule, the included angle between the x axes of two adjacent quadrangles is theta.
Loop antenna coordinate system o 0 x 0 y 0 z 0 The origin is the same as the origin of the 1 st quadrilateral element coordinate system, o 0 x 0 Axis is directed to the center of a circle circumscribed by the loop antenna, o 0 z 0 Coordinate system o of axis and 1 st quadrilateral unit 1 z 1 The axes are overlapped; the origin of the coordinate system of the loop antenna is fixedly connected with the unfolding arm of the satellite.
(2) Building vertical rod at 0 x 0 y 0 z 0 Relative position equation of coordinate system. The movement of two adjacent cells during deployment is shown in FIG. 2, A during deployment i ,B i ,C i ,D i The four rods are always in one plane, so that the motion of any parallelogram unit is adjacentThe movement of the two vertical rods is determined. Then the ith vertical rod A of the loop antenna i At o 0 x 0 y 0 z 0 The relative position in the coordinate system is described as:
Figure BDA0001698366320000061
wherein the content of the first and second substances,
Figure BDA0001698366320000062
Figure BDA0001698366320000063
Figure BDA0001698366320000064
Figure BDA0001698366320000065
Figure BDA0001698366320000066
is the ith vertical rod A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 Position vector of (1), x oi Is the ith vertical rod A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 The position component on the x-axis, y oi Is the ith vertical rod A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 The position component on the y-axis in (1), z oi Is the ith vertical rod A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 A position component on the z-axis in (1), L being the crossbar B in the parallelogram unit i In the length of (b), in combination with>
Figure BDA0001698366320000067
As a parallelogram unit middle cross bar B i At o 0 x 0 y 0 z 0 In the coordinate system with x 0 o 0 y 0 The angle of the plane.
(3) All the vertical rod units are connected with a satellite motion equation to form a coupling motion equation of the loop antenna and the satellite, which is as follows:
Figure BDA0001698366320000071
wherein the content of the first and second substances,
Figure BDA0001698366320000072
Figure BDA0001698366320000073
m f is the total mass of the loop antenna, m is the total mass of the whole satellite, r c Is the center of mass of the whole star,
Figure BDA0001698366320000074
is a loop antenna coordinate system o 0 x 0 y 0 z 0 Coordinate vector antisymmetric matrix with origin in satellite coordinate system, J o Is a whole-satellite inertia matrix except for a ring antenna, F i Is an equivalent force acting on the ith vertical rod unit. J is a unit of cc For whole star relative centroid inertia matrix, <' > based on>
Figure BDA0001698366320000075
Is the coupling moment coefficient of the ith vertical rod to the satellite, m i For a mass assigned to the ith stem, <' >>
Figure BDA0001698366320000076
Is the whole star centroid r c Of an antisymmetric matrix of m ii Is the equivalent mass on the ith vertical rod, J a An inertia matrix of the whole satellite relative to the mechanical coordinate system, J i Is the inertia matrix of the ith vertical rod, m ij Is the coupling coefficient between the ith vertical rod and the jth vertical rod, m j For a mass assigned to the jth vertical lever>
Figure BDA0001698366320000077
As derivatives of satellite angular velocity, M b Is a moment vector acting on the satellite, r i Is the ith vertical rod on-line coordinate system o 0 x 0 y 0 z 0 Is selected, and the position vector in>
Figure BDA0001698366320000078
Is r of i Of the antisymmetric matrix r i Is "r i The second derivative of (a).
(4) Establishing a motion constraint relation between the radius of the reflector and the vertical rod, which comprises the following steps:
Figure BDA0001698366320000079
wherein the radius R can be obtained by experimental measurement. r is a radical of hydrogen ci Is the expected position vector of the ith vertical bar, r' ci Is r ci I.e. the desired velocity vector of the ith vertical bar.
(5) Establishing a control relation between the motion constraint and the control force, which is specifically as follows:
F i ＝-K di ·(r i ′-r′ ci )-K pi ·(r i -r ci )
wherein r is i Is an ith vertical rod on-line coordinate system o 0 x 0 y 0 z 0 Position vector of (1), r ci Is the expected position vector of the ith vertical rod, K di Is the speed regulation coefficient of the ith vertical rod, K pi For the position adjustment coefficient of the ith vertical rod
(6) And (5) solving the equations formed in the step (3) and the step (5) by adopting a numerical integration method to obtain the motion information of the satellite and the loop antenna.
This embodiment also provides a loop antenna development process montant equivalent satellite attitude motion modeling system, includes: the first module is used for establishing a coordinate system for describing each quadrilateral unit in the loop antenna main body structure and a loop antenna coordinate system; the second module is used for establishing a relative position equation of each vertical rod in the loop antenna main body structure in a loop antenna coordinate system; the third module is used for connecting all the vertical rods with a satellite motion equation to form a coupling motion equation of the annular antenna and the satellite; the fourth module is used for establishing a motion constraint relation equation of the radius of the annular antenna and the vertical rod; the fifth module is used for establishing a control relation equation between the motion constraint and the control force; and the sixth module is used for solving a coupled motion equation of the loop antenna and the satellite and a control relation equation between motion constraint and control force by adopting a numerical integration method to obtain the motion information of the satellite and the loop antenna.
According to the method, the antenna motion in the unfolding process is analyzed to provide the equivalent method of the vertical rod motion, the unfolding characteristics of the loop antenna are utilized, the parallelogram vertical rod motion is utilized for carrying out equivalence, the calculation precision in the antenna unfolding process can be guaranteed, the calculation rapidity can be greatly improved, the modeling complexity is reduced, and the method is more suitable for analysis of the loop antenna unfolding process and on-orbit attitude forecast in the satellite development process.
The above-described embodiments are merely preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.

Claims (10)

1. A method for modeling the attitude motion of a vertical rod equivalent satellite in the unfolding process of a loop antenna is characterized by comprising the following steps:
(1) Establishing a coordinate system for describing each quadrilateral unit in the loop type antenna main body structure and a loop type antenna coordinate system;
(2) Establishing a relative position equation of each vertical rod in the loop antenna main body structure in a loop antenna coordinate system;
(3) Connecting all the vertical rods with a satellite motion equation to form a coupling motion equation of the annular antenna and the satellite;
(4) Establishing a motion constraint relation equation of the radius of the large-scale annular antenna and the vertical rod;
(5) Establishing a control relation equation between motion constraint and control force;
(6) And solving a coupled motion equation of the loop antenna and the satellite and a control relation equation between motion constraint and control force by adopting a numerical integration method to obtain the motion information of the satellite and the loop antenna.
2. The method for modeling vertical rod equivalent satellite attitude motion during the unfolding process of a loop antenna according to claim 1, wherein: in step (1), the loop antenna body structure is composed of n parallelogram units with the same structure, and the units are connected into a closed polygonal loop by a hinge with a fixed included angle theta =360 DEG/n.
3. The method for modeling vertical rod equivalent satellite attitude motion during the unfolding process of a loop antenna according to claim 2, wherein: in step (1), the coordinate system of each quadrilateral unit is o i x i y i z i Wherein the cross bar after being completely unfolded in place is defined as-y of a quadrilateral unit i The axes, the vertical bars being defined as z of quadrilateral elements i Axis, x i If the axes accord with the right-hand rule, the included angle between the x-axes of two adjacent quadrilateral units is theta, i =0, 1, 8230, n.
4. The modeling method for the attitude motion of the vertical rod equivalent satellite in the unfolding process of the loop antenna according to claim 3, characterized in that: in step (1), the loop antenna coordinate system is o 0 x 0 y 0 z 0 Where the origin is the same as the origin of the 1 st quadrilateral unit coordinate system, o 0 x 0 Axis is directed to the center of a circle circumscribed by the loop antenna, o 0 z 0 Coordinate system o of axis and 1 st quadrilateral unit 1 z 1 The axes are overlapped; the origin of the coordinate system of the loop antenna is fixedly connected with the unfolding arm of the satellite.
5. The modeling method for the attitude motion of the vertical rod equivalent satellite in the unfolding process of the loop antenna according to claim 4, characterized in that: in step (2), the ith vertical rod A of each vertical rod in the loop antenna main body structure i In a loop antenna coordinate system o 0 x 0 y 0 z 0 The relative position equation in (1) is:
Figure QLYQS_1
wherein the content of the first and second substances,
Figure QLYQS_2
Figure QLYQS_3
Figure QLYQS_4
Figure QLYQS_5
Figure QLYQS_6
is the ith vertical rod A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 Position vector of (1), x oi Is the ith vertical bar A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 The position component on the x-axis, y oi Is the ith vertical rod A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 The position component on the y-axis in (1), z oi Is the ith vertical rod A i In a loop antenna coordinate system o 0 x 0 y 0 z 0 On the z-axis of (1)L is the cross bar B in the parallelogram unit i Is greater than or equal to>
Figure QLYQS_7
As a parallelogram unit middle cross bar B i At o 0 x 0 y 0 z 0 In the coordinate system with x 0 o 0 y 0 The angle of the plane.
6. The modeling method for the attitude motion of the vertical rod equivalent satellite in the unfolding process of the loop antenna according to claim 5, wherein the modeling method comprises the following steps: in step (3), the coupled motion equation of the loop antenna and the satellite is:
Figure QLYQS_8
wherein the content of the first and second substances,
Figure QLYQS_9
Figure QLYQS_10
m f is the total mass of the loop antenna, m is the total mass of the whole satellite, r c Is the center of mass of the whole star,
Figure QLYQS_11
is a loop antenna coordinate system o 0 x 0 y 0 z 0 Coordinate vector antisymmetric matrix with origin in satellite coordinate system, J o Is a whole-satellite inertia matrix except for a ring antenna, F i For an equivalent effect on the ith montant unit, J cc Is a whole star relative centroid inertia matrix->
Figure QLYQS_12
Is the coupling moment coefficient of the ith vertical rod to the satellite, m i For a mass assigned to the i-th montant>
Figure QLYQS_13
Is the whole star centroid r c M of an antisymmetric matrix of ii Is the equivalent mass on the ith vertical rod, J a An inertia matrix of the whole satellite relative to the mechanical coordinate system, J i Is the inertia matrix of the ith vertical rod, m ij Is the coupling coefficient between the ith vertical rod and the jth vertical rod, m j For a mass assigned to the jth montant>
Figure QLYQS_14
As derivative of angular velocity of the satellite, M b As moment vectors acting on the satellite, r i Is the ith vertical rod on-line coordinate system o 0 x 0 y 0 z 0 Is selected, and the position vector in>
Figure QLYQS_15
Is r i Of an inverse-symmetric matrix r i Is "r i The second derivative of (c).
7. The modeling method for the attitude motion of the vertical rod equivalent satellite in the unfolding process of the loop antenna according to claim 6, characterized in that: in the step (4), the motion constraint relation equation of the radius of the large loop antenna and the vertical rod is as follows:
Figure QLYQS_16
wherein R is the radius of the loop antenna, R ci Is the desired position vector of the ith vertical bar, r c ′ i Is r of ci I.e. the desired velocity vector of the ith vertical rod.
8. The method for modeling vertical rod equivalent satellite attitude motion during deployment of a loop antenna of claim 7, wherein: in step (5), the control relation equation between the motion constraint and the control force is as follows: f i ＝-K di ·(r i ′-r′ ci )-K pi ·(r i -r ci ) (ii) a Wherein r is i Is the ith vertical rod on-line coordinate system o 0 x 0 y 0 z 0 Position vector of (1), r ci Is the desired position vector of the ith vertical bar, K di Is the speed regulation factor of the ith vertical rod, K pi The position adjustment coefficient of the ith vertical rod is shown.
9. The utility model provides a montant equivalence satellite attitude motion modeling system of loop antenna development process which characterized in that includes:
the first module is used for establishing a coordinate system for describing each quadrilateral unit in the loop antenna main body structure and a loop antenna coordinate system;
the second module is used for establishing a relative position equation of each vertical rod in the loop antenna main body structure in a loop antenna coordinate system;
the third module is used for connecting all the vertical rods with a satellite motion equation to form a coupling motion equation of the annular antenna and the satellite;
the fourth module is used for establishing a motion constraint relation equation of the radius of the annular antenna and the vertical rod;
the fifth module is used for establishing a control relation equation between the motion constraint and the control force;
and the sixth module is used for solving a coupled motion equation of the annular antenna and the satellite and a control relation equation between motion constraint and control force by adopting a numerical integration method to obtain motion information of the satellite and the annular antenna.
10. One or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform the method of one or more of claims 1-8.
CN201810622424.XA 2018-06-15 2018-06-15 Method and system for modeling vertical rod equivalent satellite attitude motion in unfolding process of loop antenna Active CN108984840B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810622424.XA CN108984840B (en) 2018-06-15 2018-06-15 Method and system for modeling vertical rod equivalent satellite attitude motion in unfolding process of loop antenna

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810622424.XA CN108984840B (en) 2018-06-15 2018-06-15 Method and system for modeling vertical rod equivalent satellite attitude motion in unfolding process of loop antenna

Publications (2)

Publication Number Publication Date
CN108984840A CN108984840A (en) 2018-12-11
CN108984840B true CN108984840B (en) 2023-04-14

Family

ID=64541384

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810622424.XA Active CN108984840B (en) 2018-06-15 2018-06-15 Method and system for modeling vertical rod equivalent satellite attitude motion in unfolding process of loop antenna

Country Status (1)

Country Link
CN (1) CN108984840B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110085964B (en) * 2019-04-30 2020-12-15 西安电子科技大学 Net-shaped annular deployable antenna and antenna truss
CN111276785B (en) * 2020-02-14 2022-07-19 北京工业大学 Single-degree-of-freedom symmetric space RURURUR deployable unit and space deployable mechanism based on same

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104122899A (en) * 2014-07-28 2014-10-29 西安电子科技大学 Satellite-antenna dynamics coupling based deploying process track designing method of deployable antenna
CN105843074A (en) * 2016-03-28 2016-08-10 北京空间飞行器总体设计部 Dynamics modeling method for obtaining antenna on-track vibration influence
WO2017000396A1 (en) * 2015-06-30 2017-01-05 中国空间技术研究院 Truss antenna reflector deployment dynamics modelling method based on multi-body analysis test
CN107194077A (en) * 2017-05-25 2017-09-22 北京空间飞行器总体设计部 A kind of computational methods for obtaining antenna arm vibration suppression response

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104122899A (en) * 2014-07-28 2014-10-29 西安电子科技大学 Satellite-antenna dynamics coupling based deploying process track designing method of deployable antenna
WO2017000396A1 (en) * 2015-06-30 2017-01-05 中国空间技术研究院 Truss antenna reflector deployment dynamics modelling method based on multi-body analysis test
CN105843074A (en) * 2016-03-28 2016-08-10 北京空间飞行器总体设计部 Dynamics modeling method for obtaining antenna on-track vibration influence
CN107194077A (en) * 2017-05-25 2017-09-22 北京空间飞行器总体设计部 A kind of computational methods for obtaining antenna arm vibration suppression response

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
Long Shen,Zhenbang Gong, Liang Liu, Liang Liu, Shiliang Yang .Dynamic modeling and analysis of large-scale antenna structure.《Fifth International Symposium on Instrumentation Science and Technology》.2009,全文. *
徐虎荣.周边桁架式可展开天线展开过程动力学分析、控制与实验.《中国优秀硕士学位论文全文数据库》.2016,全文. *
李团结 ; 张琰 ; 段宝岩 ; .周边桁架可展开天线展开过程运动分析及控制.西安电子科技大学学报.2007,(第06期),全文. *
杨一岱 ; 荆武兴 ; 刘 ; .挠性航天器浮动质心动力学建模.哈尔滨工业大学学报.2015,(第05期),全文. *
柳翠翠 ; 葛东明 ; 邓润然 ; 邹元杰 ; 史纪鑫 ; .星载大型反射面天线的刚柔姿控一体化在轨振动分析方法.深空探测学报.2017,(第04期),全文. *

Also Published As

Publication number Publication date
CN108984840A (en) 2018-12-11

Similar Documents

Publication Publication Date Title
Jehle et al. Applied tracking control for kite power systems
CN101320524B (en) Multiprocessor real-time simulation platform
Maddio et al. An optimized form-finding method of an asymmetric large deployable reflector
CN106945020A (en) A kind of space double mechanical arms system motion control method for coordinating
CN108984840B (en) Method and system for modeling vertical rod equivalent satellite attitude motion in unfolding process of loop antenna
CN110027678A (en) A kind of mixed connection based on wave Active Compensation, which is stepped on, seizes the opportunity structure motion planning method
CN104331547A (en) Space mechanical arm structure parameter optimization method based on operability
CN109702751A (en) A kind of location class of seven freedom series connection mechanical arm is against solution method
CN111123976A (en) Unmanned aerial vehicle cluster path planning processing method based on artificial potential field and unmanned aerial vehicle
CN104570736A (en) Kinetic parameter on-orbit identification method and device of satellite-arm coupling system
CN112937918B (en) Satellite attitude maneuver planning method under multiple constraints based on reinforcement learning
CN105912007A (en) Differential geometry nonlinear control method of spatial mechanical arm anti-interference attitude stabilization
CN105843074A (en) Dynamics modeling method for obtaining antenna on-track vibration influence
Kuo et al. Vector thrust multi-rotor copter and its application for building inspection
CN110371325B (en) Failure satellite self-adaptive envelope capture method based on super-redundant mechanical arm
CN103921954A (en) Digitizing correction method for aircraft panel assembling deformation based on triaxial numerical control locator
CN105116905A (en) Aircraft attitude control method
CN107016179B (en) Shape finding method for string structure
CN108520137B (en) Plane node coupling processing method suitable for space truss structure
Livne et al. Aeroservoelastic aspects of wing/control surface planform shape optimization
CN115285380A (en) Microsatellite magnetic torquer attitude control method based on neural network
CN108958276A (en) Scanning pendulum len moves the appraisal procedure influenced on the attitude of satellite
CN107065547B (en) A kind of autonomous rendezvous strategy of noncooperative target based on kernel method
CN110321598A (en) A kind of Spacecraft Relative Motion Analytical Solution method under J2 perturbation conditions
Yao et al. Collaborative Simulation of Mechanical Structure and Control Systems of Leighton Chajnantor Telescope

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