CN109649693A - A kind of pure magnetic control spin Direct to the sun method - Google Patents
A kind of pure magnetic control spin Direct to the sun method Download PDFInfo
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- CN109649693A CN109649693A CN201910052069.1A CN201910052069A CN109649693A CN 109649693 A CN109649693 A CN 109649693A CN 201910052069 A CN201910052069 A CN 201910052069A CN 109649693 A CN109649693 A CN 109649693A
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- 239000013598 vector Substances 0.000 claims abstract description 43
- 238000013016 damping Methods 0.000 claims description 10
- 238000004422 calculation algorithm Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 abstract description 2
- 238000004088 simulation Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000002715 modification method Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
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Abstract
The present invention proposes a kind of pure magnetic control spin Direct to the sun method, by, to control celestial body posture, including the following steps: that (1) base area magnetic vector and solar vector determine celestial body angular velocity vector to magnetic torquer output control moment；(2) according to celestial body angular velocity vector, judge whether to need to damp；(3) it according to solar vector and celestial body face normal vector, determines solar angle, and calculates control moment first item；(4) according to the size of solar angle, judge the mode for calculating control moment Section 2；(5) control moment Section 3 is calculated；(6) according to the corresponding desired output magnetic moment of desired control torque inverse magnetic torquer；(7) according to desired output magnetic moment, magnetic torquer work is driven, gesture stability is carried out.The present invention judges whether the torque item in desired control torque needs to be modified and how to correct according to the size of solar angle, and completes to correct by corresponding calculation formula, to realize the magnetic control spin Direct to the sun under omnimax, total state.
Description
Technical field
The present invention relates to a kind of Direct to the sun method more particularly to a kind of pure magnetic control spin Direct to the sun methods, belong to boat
Its device attitude control technology field.
Background technique
The Direct to the sun of satellite is most important for energy acquisition, for low-orbit satellite, using working performance phase
The Direct to the sun of satellite, which is related to the life security of satellite, to be realized to reliable sun sensor, magnetometer and magnetic torquer.It examines
Magnetic control effect is considered always perpendicular to local magnetic line of force direction, and the attitude stabilization of pure magnetic control satellite is actually the control of drive lacking
System.Current relatively effective method is that celestial body (solar array) in most cases may be implemented using the method for spinning stability to refer to
To stable state ground day.But the program will be unable to be formed in some cases magnetic control to day, even there are a significant deficiency
It can realize reversely to day, i.e. the back side of solar array is towards the sun.
Summary of the invention
The technical problems to be solved by the present invention are: to it is existing, only measured with sun sensor and magnetometer and
Adaptability amendment only is carried out with the scheme that magnetic torquer carries out celestial body Direct to the sun control, realizes the magnetic control of omnimax, total state
Day is stablized in spin.
In order to solve the above-mentioned technical problem, the present invention proposes a kind of effective control modification method, and this method is according to the sun
The solar angle that sensor measures is judged, it is determined whether to be modified to the torque item in corresponding desired control torque.
It is particularly suitable for realizing the pure magnetic control appearance of celestial body solar array Direct to the sun only with sun sensor, magnetometer and magnetic torquer
State control.
Modification method proposed by the present invention, desired control torque first item are without any changes；Desired control torque third
Item is determined using the angular velocity vector under track system；When solar angle is smaller, desired control torque Section 3 is according to front and back two
The cross product for clapping solar vector is determined；Solar angle 90 ° nearby when, control moment Section 2 according to solar angle Difference Terms into
Row determines that direction is same with first item；When solar angle is larger, desired control torque Section 2 claps solar vector according to front and back two
Cross product is determined, and relative to the smaller situation of solar angle, respective component symbol is set instead.Specific technical solution is as follows:
A kind of pure magnetic control spins Direct to the sun method, by exporting control moment to magnetic torquer to control celestial body posture,
Control moment TdesiredIt is calculated according to following formula:
Wherein, VSFor specified celestial body face normal vector, SbFor the solar vector measured, ε is solar angle, εdotFor solar angle
Variable quantity, ωboFor the celestial body angular velocity vector under inertial system, ωdesiredFor desired celestial body angular velocity vector, k1、k2、k3
For torque term coefficient, in addition
Calculating process includes the following steps:
(1) base area magnetic vector and solar vector SbDetermine celestial body angular velocity vector ωbo；
(2) according to celestial body angular velocity vector ωbo, judge whether to need to damp；
(3) according to solar vector SbWith celestial body face normal vector VS, determine solar angle ε, and calculate control moment first item
T1；
(4) according to the size of solar angle ε, judge to calculate control moment Section 2 T2Mode；
(5) control moment Section 3 T is calculated3；
(6) according to the corresponding desired output magnetic moment of desired control torque inverse magnetic torquer；
(7) according to desired output magnetic moment, magnetic torquer work is driven, gesture stability is carried out.
Further, Tdesired=T1+T2+T3。
Further, in step (2), if meeting | | ωbo||>ωthreshold, wherein ωthresholdFor preset critical angle
Speed then determining that magnetic torquer exports magnetic moment according to rate damping algorithm, and is exported and is executed to magnetic torquer.
Further, in step (2), if being unsatisfactory for | | ωbo||>ωthreshold, execute step (3), according to following formula
Calculate T1:
Further, in step (4), if 80 ° of solar angle ε <, control moment Section 2 T is calculated as follows2:
T2=k2·(Sb -×Sb)
Further, in step (4), if 80 °≤ε≤100 ° of solar angle, control moment Section 2 T is calculated as follows2:
Further, in step (4), if solar angle ε > 100 °, control moment Section 2 T is calculated as follows2:
T2=-k2·(Sb -×Sb)
Further, in step (5), control moment Section 3 T is calculated according to the following formula3:
T3=k3·(ωbi-ωdesired)
Further, in step (6), expectation is calculated according to the following formula and inputs magnetic moment m:
Wherein, m is desired output magnetic moment, BbMagnetic vector under celestial body system.
Beneficial effects of the present invention: it is only being measured with sun sensor and magnetometer and is only being controlled with magnetic torquer
In the case where system, existing spin Direct to the sun scheme can be carried out perfect using the present invention, Guarantee control system can be limited
Direct to the sun is realized in time.The invention need not configure other sensing units or executing agency, carry out only with sun sensor
Solar angle determines, is determined judge whether the torque item in desired control torque is repaired according to the size of solar angle
Just and how to correct, and complete to correct by corresponding calculation formula, to realize the magnetic control spin pair under omnimax, total state
Day orients.
Detailed description of the invention
Fig. 1 is the magnetic control spin Direct to the sun control flow chart in the present invention；
Fig. 2 be in the prior art spacecraft magnetic control to celestial body angular speed change curve during day；
Fig. 3 be in the prior art spacecraft magnetic control to celestial body angular speed change curve during day；
Fig. 4 be in the prior art spacecraft magnetic control to solar angle change curve during day；
Fig. 5 be in the present invention spacecraft magnetic control to celestial body angular speed change curve during day；
Fig. 6 be in the present invention spacecraft magnetic control to celestial body angular speed change curve during day；
Fig. 7 be in the present invention spacecraft magnetic control to solar angle change curve during day.
Specific embodiment
Existing magnetic control spin Direct to the sun method is described as follows:
In the lesser situation of celestial body angular speed, magnetic control is given to corresponding desired control torque is directed toward day using following formula
It is fixed:
In above formula (1), VSFor specified celestial body face normal vector, SbWith SbdotFor the solar vector and its change rate measured.
S in formulabIt is upper to add a bit, as herein Sbdot, similar below；ε is solar angle, ωbiFor the angular velocity vector under inertial system,
ωdesiredFor desired angular velocity vector, can be obtained, k as determining posture information difference determined by appearance single machine1、k2And k3Respectively
Coefficient corresponding to three torque items.Section 3 coefficient k30 is set (when e.g., being greater than 45 °) when solar angle is larger.
The modified control law of the present invention is given are as follows:
Wherein,
Invention is further described in detail with example with reference to the accompanying drawing.
It is as shown in Figure 1 improved magnetic control spin Direct to the sun control flow chart, as seen from the figure, omnimax, total state
Under magnetic control spin Direct to the sun control can be achieved by the steps of:
Step 1, base area magnetic vector and solar vector determine celestial body angular speed:
Appearance scheme is determined according to double vectors first and determines celestial body attitude matrix, later according to the posture square of track system to celestial body system
Battle array CobIt can determine celestial body three-axis attitude quaternary number q=[q1,q2,q3,q4]T.Posture information is finally clapped according to front and back two and determines star
Body angular speed:
Wherein, qk+1, qkFor the adjacent quaternary number exported twice, matrix G (q) is writeable are as follows:
The celestial body angular speed that step 2, basis are calculated, judges whether to need to damp.If meeting:
||ωbi| | > ωthreshold (6)
Celestial body rate damping should be then carried out first.Output B is currently clapped according to magnetometer firstb, determine current bat earth's magnetic field
Change rate vector:
Secondly according to BdotDamping algorithm determines the desired output magnetic moment of magnetic torquer:
And execute step 7；Otherwise, step 3 is executed.
In formula (8), mx, my, mzThree components of respectively magnetic moment vector m, the expectation for respectively corresponding three magnetic torquers are defeated
Out；mmaxFor the maximum output magnetic moment of magnetic torquer, coefficient 0.5 indicates the duty ratio of magnetic torquer work.
Step 3, according to solar vector and celestial body given side normal vector, determine solar angle, and determine desired control torque
Middle first itemSolar angle, which is clapped, according to front and back two determines sun angular rate of changeIts
In, ε and ε—Respectively current bat and previous bat solar angle.
Step 4, the size according to solar angle judge the mode of amendment expectation control moment Section 2.If meeting:
80 ° of ε < (9)
Then desired control torque Section 2 is taken as:
T2=k2·(Sb -×Sb) (10)
If meeting:
80°≤ε≤100° (11)
Then desired control torque Section 2 is taken as:
If meeting:
ε>100° (13)
Then desired control torque Section 2 is taken as:
T2=-k2·(Sb -×Sb) (14)
Step 5, desired control torque Section 3 determine as the following formula:
T3=k3·(ωbi-ωdesired) (15)
Step 6, according to the corresponding desired output magnetic moment of desired control torque inverse magnetic torquer
Wherein, m is desired output magnetic moment, BbMagnetic vector under celestial body system.
Step 7, according to desired output magnetic moment, drive magnetic torquer work, carry out gesture stability.In the case of necessary,
Amplitude limiting processing can be carried out to desired output magnetic moment according to magnetic torquer ability.
It is verified below by way of numerical simulation:
(1) spacecraft initial angular velocity is set are as follows:
Yaw rate: 1 °/s
Rate of pitch: 4 °/s
Angular velocity in roll: 1 °/s
(2) it is expected spin angle velocity are as follows: [0-2 0] °/s
(3) spacecraft initial attitude are as follows:
Yaw angle: 0 °
Pitch angle: 0 °
Roll angle: 0 °
(4) spacecraft inertia parameter are as follows:
Rotary inertia Ixx:0.5kgm2
Rotary inertia Iyy:0.5kgm2
Rotary inertia Izz:0.5kgm2
Product of inertia Ixy:0.01kgm2
Product of inertia Ixz:0.01kgm2
Product of inertia Iyz:-0.01kgm2
(5) spacecraft orbit parameter are as follows:
Height is the morning and evening track of 500km
(6) spacecraft solar array direction:
Solar array plane is parallel with celestial body-face Y.
(7) spacecraft magnetic control parameter are as follows:
X is to magnetic torquer maximum output magnetic moment: 3Am2
Y-direction magnetic torquer maximum output magnetic moment: 3Am2
Z-direction magnetic torquer maximum output magnetic moment: 3Am2
X exports magnetic moment: 0.015Am to magnetic torquer minimum2
Y-direction magnetic torquer minimum exports magnetic moment: 0.015Am2
Z-direction magnetic torquer minimum exports magnetic moment: 0.015Am2
The damping control period: 1s
Damping control duty ratio: 0.5
Fig. 2~Fig. 4 is the simulation result of existing scheme.Simulation result shows: under certain primary condition, although algorithm can
To guarantee that celestial body spins, but due to the defect of algorithm itself, satellite may be reversely to spin to day.Existing scheme desired control power
Torque item in square can be divided into along solar angle durection component and perpendicular to solar angle durection component two parts, the former is used for the sun
Damping in the control of angle, the latter are used for the damping of celestial body angular speed.When solar angle is close to 90 °, existing scheme desired control power
Torque item in square will drop near as low as 0, and the part for being used for solar angle damping is almost 0, and solar angle control is vibrated；?
When solar angle is greater than 90 °, sign modification occurs for the part in torque item for solar angle damping, reversed due to torque item at this time
Effect, solar angle the more will be controlled the more big, eventually settle at reversely upward to Japanese side；Hereafter solar angle control proportional and torque item point
Amount is mutually kept in check, and solar angle can not will be reduced in a small amount forever.Can effectively it be evaded using improved magnetic control spin Direct to the sun scheme
The possibility of diverging is controlled in existing scheme, solar angle can steadily control near small amount grade, it is ensured that the abundance of the energy on star
Supply.
Fig. 5~Fig. 7 is the corresponding simulation result of improvement project in the present invention.Simulation result shows: using improved magnetic control
Spin Direct to the sun scheme can effectively evade the possibility that diverging is controlled in existing scheme, and solar angle can be controlled steadily in small amount grade
Near, it is ensured that the sufficient supply of the energy on star.
As it can be seen that successfully solving the diverging of solar angle control in special circumstances in existing scheme using the method for the invention
Problem is, it can be achieved that the solar angle in the case of omnimax, total state controls.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (9)
- A kind of Direct to the sun method 1. pure magnetic control spins, by exporting control moment to magnetic torquer to control celestial body posture, It is characterized in that, the control moment TdesiredIt is calculated according to following formula:Wherein, VSFor specified celestial body face normal vector, SbFor the solar vector measured, ε is solar angle, εdotFor the change of solar angle Change amount, ωboFor the celestial body angular velocity vector under inertial system, ωdesiredFor desired celestial body angular velocity vector, k1、k2、k3For power Square term coefficient, in additionCalculating process includes the following steps:(1) base area magnetic vector and solar vector SbDetermine celestial body angular velocity vector ωbo；(2) according to celestial body angular velocity vector ωbo, judge whether to need to damp；(3) according to solar vector SbWith celestial body face normal vector VS, determine solar angle ε, and calculate control moment first item T1；(4) according to the size of solar angle ε, judge to calculate control moment Section 2 T2Mode；(5) control moment Section 3 T is calculated3；(6) according to the corresponding desired output magnetic moment of desired control torque inverse magnetic torquer；(7) according to desired output magnetic moment, magnetic torquer work is driven, gesture stability is carried out.
- The Direct to the sun method 2. a kind of pure magnetic control according to claim 1 spins, which is characterized in that Tdesired=T1+T2+ T3。
- The Direct to the sun method 3. a kind of pure magnetic control according to claim 2 spins, which is characterized in that in step (2), if full Foot | | ωbo||>ωthreshold, wherein ωthresholdFor preset critical angular velocity, then determining magnetic according to rate damping algorithm Torquer exports magnetic moment, and exports and execute to magnetic torquer.
- The Direct to the sun method 4. a kind of pure magnetic control according to claim 3 spins, which is characterized in that in step (2), if not Meet | | ωbo||>ωthreshold, execute step (3), calculate T according to following formula1:。
- The Direct to the sun method 5. a kind of pure magnetic control according to claim 4 spins, which is characterized in that in step (4), if too Control moment Section 2 T is then calculated as follows in 80 ° of external corner ε <2:T2=k2·(Sb -×Sb) 。
- The Direct to the sun method 6. a kind of pure magnetic control according to claim 4 spins, which is characterized in that in step (4), if too Control moment Section 2 T is then calculated as follows in 80 °≤ε≤100 ° of external corner2:。
- The Direct to the sun method 7. a kind of pure magnetic control according to claim 4 spins, which is characterized in that in step (4), if too Control moment Section 2 T is then calculated as follows in external corner ε > 100 °2:T2=-k2·(Sb -×Sb) 。
- 8. according to a kind of described in any item pure magnetic control spin Direct to the sun methods of claim 5~7, which is characterized in that step (5) in, control moment Section 3 T is calculated according to the following formula3:T3=k3·(ωbi-ωdesired) 。
- The Direct to the sun method 9. a kind of pure magnetic control according to claim 8 spins, which is characterized in that in step (6), according to Following formula calculates expectation and inputs magnetic moment m:Wherein, m is desired output magnetic moment, BbMagnetic vector under celestial body system.
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| CN202111429293.1A CN113955152B (en) | 2019-01-21 | 2019-01-21 | Star sun-to-day directional control method |
| CN201910052069.1A CN109649693B (en) | 2019-01-21 | 2019-01-21 | Pure magnetic control spinning sun-facing orientation method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113353292A (en) * | 2021-06-26 | 2021-09-07 | 山东航天电子技术研究所 | Magnetic control non-spinning sun-facing orientation method |
| CN115817856A (en) * | 2022-11-21 | 2023-03-21 | 清华大学 | Satellite sun-spinning stable attitude control method and device based on pure magnetic control mode |
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| CN109649693B (en) * | 2019-01-21 | 2021-12-14 | 上海微小卫星工程中心 | Pure magnetic control spinning sun-facing orientation method |
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| CN113955152A (en) | 2022-01-21 |
| CN113955152B (en) | 2024-03-01 |
| CN109649693B (en) | 2021-12-14 |
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