CN109649693B - Pure magnetic control spinning sun-facing orientation method - Google Patents
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Abstract
The invention provides a pure magnetic control spin sun-facing orientation method, which controls the posture of a star body by outputting control torque to a magnetic torquer, and comprises the following steps: (1) determining a star angular velocity vector according to the geomagnetic vector and the sun vector; (2) judging whether damping is needed or not according to the angular velocity vector of the star body; (3) determining a solar angle according to the solar vector and the normal vector of the star surface, and calculating a first term of a control moment; (4) judging a mode of calculating a second term of the control torque according to the magnitude of the solar angle; (5) calculating a third term of the control moment; (6) reversely calculating the expected output magnetic moment corresponding to the magnetic torquer according to the expected control moment; (7) and driving the magnetic torquer to work according to the expected output magnetic moment, and performing attitude control. According to the sun angle, the invention judges whether the torque item in the expected control torque needs to be corrected or not and how to correct the torque item, and completes the correction through a corresponding calculation formula, thereby realizing the magnetic control spin sun-to-sun orientation in the whole day domain and the whole state.
Description
Technical Field
The invention relates to a sun-facing orientation method, in particular to a pure magnetic control spinning sun-facing orientation method, and belongs to the technical field of spacecraft attitude control.
Background
The sun-to-day orientation of the satellite is important for obtaining energy, and for low-orbit satellites, the sun sensor, the magnetometer and the magnetotorquer which have relatively reliable working performance are adopted to realize the sun-to-day orientation of the satellite and relate to the life safety of the satellite. Considering that the magnetic control action is always perpendicular to the local magnetic line of force direction, the attitude stabilization of the pure magnetic control satellite is actually an underactuated control system. The current effective method is to adopt a spin stabilization method to realize the steady-state earth day pointed by the star (solar sailboard) under most conditions. However, this solution has a significant drawback, in some cases it will not be possible to create a magnetically controlled counterglow, and even to achieve a reverse counterglow, i.e. with the back of the solar panel facing the sun.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the existing scheme that only a sun sensor and a magnetometer are used for measurement and only a magnetic torquer is used for star-to-sun directional control is adaptively corrected, and full-field and full-state magnetic control spin-to-sun stability is achieved.
In order to solve the technical problem, the invention provides an effective control correction method, which judges according to the solar angle measured by a sun sensor and determines whether to correct the torque term in the corresponding expected control torque. The method is particularly suitable for realizing the pure magnetic control attitude control of the sun orientation of the star solar sailboard only by adopting a sun sensor, a magnetometer and a magnetic torquer.
According to the correction method provided by the invention, the first term of the expected control moment is not changed; determining a third term of the expected control moment by adopting an angular velocity vector under an orbital system; when the sun angle is smaller, the third term of the expected control moment is determined according to the cross product of the vectors of the two beats of sun; when the solar angle is near 90 degrees, determining a second term of the control moment according to a solar angle difference term, wherein the direction of the second term is the same as that of the first term; when the solar angle is large, the second term of the expected control torque is determined according to the cross product of the vectors of the two-beat sun, and corresponding component symbols are all inverted relative to the case of small solar angle. The specific technical scheme is as follows:
a pure magnetic control spin sun-facing orientation method controls the posture of a star body by outputting a control torque to a magnetic torquer and controls the torque TdesiredCalculated according to the following formula:
wherein, VSFor a given star normal vector, SbFor the measured sun vector, ε is the sun angle, εdotIs the variation of the solar angle, omegaboIs the angular velocity vector of the star in the inertial system, omegadesiredIs the desired angular velocity vector of the star, k1、k2、k3Is a coefficient of moment term, in addition
The calculation process comprises the following steps:
(1) according to the earth magnetic vector and the sun vector SbDetermining a star angular velocity vector ωbo；
(2) According to the angular velocity vector ω of the starboJudging whether damping is needed;
(3) according to the sun vector SbNormal vector V to star surfaceSDetermining the solar angle epsilon and calculating a first term T of the control torque1；
(4) Judging and calculating a second term T of the control torque according to the magnitude of the solar angle epsilon2The manner of (a);
(5) calculating the third term T of the control moment3；
(6) Reversely calculating the expected output magnetic moment corresponding to the magnetic torquer according to the expected control moment;
(7) and driving the magnetic torquer to work according to the expected output magnetic moment, and performing attitude control.
Further, Tdesired＝T1+T2+T3。
Further, in the step (2), if | | ω is satisfied | | ωbo||>ωthresholdWherein ω isthresholdAnd if the angular velocity is the preset critical angular velocity, determining the output magnetic moment of the magnetic torquer according to a velocity damping algorithm, and outputting the output magnetic moment to the magnetic torquer for execution.
Further, in the step (2), if | | ω is not satisfied | | ωbo||>ωthresholdStep (3) is executed, and T is calculated according to the following formula1：
Further, in the step (4), if the solar angle epsilon is less than 80 degrees, the second term of the control torque is calculated according to the following formulaT2：
T2＝k2·(Sb -×Sb)
Further, in the step (4), if the sun angle is more than or equal to 80 degrees and less than or equal to 100 degrees, the second term T of the control moment is calculated according to the following formula2：
Further, in step (4), if the solar angle ε>At 100 deg., the second term T of the control moment is calculated according to the following formula2：
T2＝-k2·(Sb -×Sb)
Further, in step (5), the third term T of the control torque is calculated according to the following formula3：
T3＝k3·(ωbi-ωdesired)
Further, in step (6), the expected input magnetic moment m is calculated according to the following formula:
where m is the desired output moment, BbIs the earth magnetic vector under the star system.
The invention has the beneficial effects that: under the condition of only using a sun sensor and a magnetometer for measurement and only using a magnetic torquer for control, the invention can be used for perfecting the existing spin-to-sun orientation scheme, and ensures that a control system can realize sun-to-sun orientation in a limited time. The sun angle is determined by only adopting the sun sensor without configuring other sensitive units or actuating mechanisms, the judgment is carried out according to the magnitude of the sun angle, whether the torque item in the expected control torque needs to be corrected or how to be corrected is judged, and the correction is finished through a corresponding calculation formula, so that the magnetic control spin sun-to-sun orientation in the whole day domain and the whole state is realized.
Drawings
FIG. 1 is a flow chart of magnetically controlled spin-to-sun directional control in the present invention;
FIG. 2 is a variation curve of the angular velocity of a satellite during the magnetic control of a spacecraft in the prior art in the sun tracking process;
FIG. 3 is a graph showing the variation of the angular rate of a satellite during the magnetic control of a spacecraft in the prior art in the sun tracking process;
FIG. 4 is a sun angle variation curve in the magnetic control sun tracking process of a spacecraft in the prior art;
FIG. 5 is a graph showing the variation of the angular velocity of the spacecraft in the magnetic control vs. the sun process according to the present invention;
FIG. 6 is a graph showing the variation of the angular rate of the satellite during the magnetic control of the spacecraft in the invention;
FIG. 7 is a sun angle variation curve of the spacecraft in the magnetic control sun tracking process.
Detailed Description
The existing magnetron spin-to-date orientation method is described as follows:
under the condition that the angular speed of the star is low, the expected control torque corresponding to the sun direction by the magnetic control is given by the following formula:
in the above formula (1), VSFor a given star normal vector, SbAnd SbdotThe measured sun vector and its rate of change. In the formula SbAdding a point, namely SbdotThe following is similar; epsilon is the solar angle, omegabiIs the angular velocity vector, ω, in the inertial systemdesiredThe desired angular velocity vector can be obtained by differentiating the attitude information determined by the attitude determination unit, k1、k2And k3Coefficients corresponding to the three moment terms, respectively. Coefficient of the third term k3When the solar angle is large (for example, larger than 45 deg.), 0 is set.
The modified control law of the present invention is given by:
wherein,
the invention is described in further detail below with reference to the figures and examples.
As shown in fig. 1, which is a flow chart of the improved magnetron spin-to-sun directional control, it can be known that the magnetron spin-to-sun directional control in the full-field and full-state can be realized through the following steps:
firstly, determining a star attitude matrix according to a double-vector attitude determination scheme, and then, determining an attitude matrix C from an orbital system to a star system according to an attitude matrix C from the orbital system to the star systemobThe quaternion q ═ q of the three-axis attitude of the star can be determined1,q2,q3,q4]T. And finally, determining the angular speed of the star according to the posture information of the front and the back beats:
wherein q isk+1，qkFor two adjacent output quaternions, the matrix g (q) can be written as:
and 2, judging whether damping is needed or not according to the calculated angular velocity of the star body. If the following conditions are met:
||ωbi||＞ωthreshold (6)
the star rate damping should be done first. Firstly, outputting B according to the current beat of the magnetometerbDetermining the current geomagnetic field change rate vector:
secondly according to BdotThe damping algorithm determines the desired output magnetic moment of the magnetic torquer:
and executing step 7; otherwise, step 3 is executed.
In the formula (8), mx，my，mzThree components of the magnetic moment vector m are respectively corresponding to expected outputs of the three magnetic torquers; m ismaxThe coefficient 0.5 represents the duty ratio of the working of the magnetic torquer, which is the maximum output magnetic moment of the magnetic torquer.
And 4, judging a mode of correcting the second term of the expected control torque according to the sun angle. If the following conditions are met:
ε＜80° (9)
the second term of the desired control torque is taken as:
T2＝k2·(Sb -×Sb) (10)
if the following conditions are met:
80°≤ε≤100° (11)
the second term of the desired control torque is taken as:
if the following conditions are met:
ε>100° (13)
the second term of the desired control torque is taken as:
T2＝-k2·(Sb -×Sb) (14)
and 5, determining a third term of the expected control torque according to the following formula:
T3＝k3·(ωbi-ωdesired) (15)
6, reversely calculating the expected output magnetic moment corresponding to the magnetic torquer according to the expected control moment
Where m is the desired output moment, BbIs the earth magnetic vector under the star system.
And 7, driving the magnetic torquer to work according to the expected output magnetic moment, and performing attitude control. If necessary, the desired output magnetic moment can be clipped according to the capabilities of the magnetic torquer.
The following were verified by numerical simulation:
(1) setting the initial angular velocity of the spacecraft as follows:
yaw rate: 1 degree/s
Pitch angle rate: 4 DEG/s
Roll angular velocity: 1 degree/s
(2) The desired spin angular velocity is: [ 0-20 ] ° s
(3) The initial attitude of the spacecraft is as follows:
yaw angle: 0 degree
Pitch angle: 0 degree
Roll angle: 0 degree
(4) The inertia parameters of the spacecraft are as follows:
inertia moment Ixx: 0.5kg · m2
Inertia moment Iyy: 0.5kg · m2
Inertia moment Izz: 0.5kg · m2
Product of inertia Ixy: 0.01kg m2
Product of inertia Ixz: 0.01kg m2
Product of inertia Iyz: -0.01kg · m2
(5) The spacecraft orbit parameters are:
morning and evening track with height of 500km
(6) Spacecraft solar panel orientation:
the plane of the solar panel is parallel to the Y-plane of the star body.
(7) The magnetic control parameters of the spacecraft are as follows:
maximum output magnetic moment of the X-direction magnetic torquer: 3 A.m2
Maximum output magnetic moment of the Y-direction magnetic torquer: 3 A.m2
Maximum output magnetic moment of the Z-direction magnetic torquer: 3 A.m2
Minimum output magnetic moment of the X-direction magnetic torquer: 0.015A · m2
Minimum output magnetic moment of the Y-direction magnetic torquer: 0.015A · m2
Minimum output magnetic moment of the Z-direction magnetic torquer: 0.015A · m2
A damping control period: 1s
Duty cycle of damping control: 0.5
Fig. 2 to 4 show simulation results of the existing scheme. Simulation results show that: under certain initial conditions, although the algorithm can guarantee the star spin, the satellite may be reversely spinning on the sun due to the defect of the algorithm. The torque term in the control torque expected by the existing scheme can be divided into a component along the solar angle direction and a component perpendicular to the solar angle direction, wherein the former is used for damping in solar angle control, and the latter is used for damping of star angular rate. When the solar angle approaches 90 degrees, the torque term in the control torque is expected to be reduced to be close to 0 in the existing scheme, the part of the control torque for solar angle damping is almost 0, and the solar angle control generates oscillation; when the solar angle is larger than 90 degrees, the sign of the part used for solar angle damping in the moment term is changed, and at the moment, due to the reverse action of the moment term, the solar angle is larger in the overriding way and finally stays in the reverse opposite-to-sun direction; after the sun angle control proportion term and the moment term component are mutually braked, the sun angle can never be reduced to a small amount. The improved magnetic control spinning sun-facing orientation scheme can effectively avoid the possibility of controlling divergence in the existing scheme, the sun angle can be stably controlled to be close to a smaller magnitude, and sufficient supply of on-satellite energy can be ensured.
Fig. 5 to 7 are simulation results corresponding to the improved scheme of the present invention. Simulation results show that: the improved magnetic control spinning sun-facing orientation scheme can effectively avoid the possibility of controlling divergence in the existing scheme, the sun angle can be stably controlled to be close to a smaller magnitude, and sufficient supply of on-satellite energy can be ensured.
Therefore, the method successfully solves the problem of divergence of solar angle control under special conditions in the existing scheme, and can realize solar angle control under the conditions of all day regions and all states.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. A pure magnetic control spin sun-facing orientation method, which outputs control torque to a magnetic torquer to control the star posture, is characterized in that the control torque TdesiredCalculated according to the following formula:
wherein, VSFor a given star normal vector, SbFor the measured sun vector, ε is the sun angle, εdotIs the variation of the solar angle, omegaboIs the angular velocity vector of the star in the inertial system, omegadesiredIs the desired angular velocity vector of the star, k1、k2、k3Is a coefficient of moment term, in addition
Control coefficient k21Only +1, 0 and-1 can be taken; at k21When 0 is taken, TdesiredThe first sub-item in brackets in the third item is 0, and the second sub-item of the third item plays a damping role; control coefficient k22Taking a proper value to ensure a proper damping control effect;
the calculation process comprises the following steps:
(1) according to the earth magnetic vector and the sun vector SbDetermining a star angular velocity vector ωbo；
(2) According to the angular velocity vector ω of the starboJudging whether damping is needed;
(3) according to the sun vector SbNormal vector V to star surfaceSDetermining the solar angle epsilon and calculating a first term T of the control torque1；
(4) Judging and calculating a second term T of the control torque according to the magnitude of the solar angle epsilon2The manner of (a);
(5) calculating the third term T of the control moment3；
(6) Reversely calculating the expected output magnetic moment corresponding to the magnetic torquer according to the expected control moment;
(7) and driving the magnetic torquer to work according to the expected output magnetic moment, and performing attitude control.
2. The purely magnetically controlled spin-to-sun orientation method of claim 1, wherein T isdesired＝T1+T2+T3。
3. The pure magnetic control spin-to-sun orientation method according to claim 2, wherein in the step (2), if | | ω is satisfied, the method is characterized in thatbo||>ωthresholdWherein ω isthresholdAt a predetermined critical angular velocity, the output magnetism of the magnetic torquer is determined according to a velocity damping algorithmAnd the moment is output to a magnetic torquer for execution.
4. The pure magnetic control spin-to-sun orientation method according to claim 3, wherein in the step (2), if | | ω is not satisfied | | ωbo||>ωthresholdStep (3) is executed, and T is calculated according to the following formula1：
5. The pure magnetic control spin-to-sun orientation method according to claim 4, wherein in step (4), if the solar angle ε<At 80 deg., the second term T of the control moment is calculated according to the following formula2：
T2＝k2·(Sb -×Sb)。
6. A pure magnetically controlled spin-to-solar orientation method as claimed in claim 4, wherein in step (4), if the sun angle is 80 ° ≦ ε ≦ 100 °, the second term T of the control torque is calculated as follows2：
Control coefficient k22Taking positive real numbers not less than 1.
7. The pure magnetic control spin-to-sun orientation method according to claim 4, wherein in step (4), if the solar angle ε>At 100 deg., the second term T of the control moment is calculated according to the following formula2：
T2＝-k2·(Sb -×Sb)。
8. A pure magnetically controlled spin-on-sun according to any one of claims 5 to 7The orientation method is characterized in that in the step (5), a third term T of the control moment is calculated according to the following formula3：
T3＝k3·(ωbo-ωdesired)。
9. The pure magnetron spin-to-solar orientation method according to claim 8, wherein in step (6), the expected input magnetic moment m is calculated according to the following formula:
where m is the desired output moment, BbIs the earth magnetic vector under the star system.
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| CN115817856B (en) * | 2022-11-21 | 2023-06-20 | 清华大学 | Method and device for controlling stable attitude of satellite to solar spin based on pure magnetic control mode |
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| DE19520410A1 (en) * | 1995-06-09 | 1996-12-12 | Daimler Benz Aerospace Ag | Earth-oriented satellite and method for position, nutation and wheel spin control |
| US5884869A (en) * | 1996-03-18 | 1999-03-23 | Hughes Electronics Corporation | Satellite spin vector control with sun sensor |
| FR2815730B1 (en) * | 2000-10-19 | 2003-10-24 | Astrium Sas | METHOD FOR CONTROLLING THE ATTITUDE AND STABILIZATION OF A SATELLITE IN LOW ORBIT BY COUPLING WITH THE GROUND MAGNETIC FIELD |
| CN100451898C (en) * | 2005-12-14 | 2009-01-14 | 上海微小卫星工程中心 | Method and system for controlling mini-satellite position by active magnetic force |
| CN104097791B (en) * | 2014-06-24 | 2016-06-15 | 上海微小卫星工程中心 | A kind of global attitude acquisition method based on magnetic sensor and star sensor and device thereof |
| FR3026858B1 (en) * | 2014-10-02 | 2016-12-09 | Airbus Defence & Space Sas | METHOD FOR CONTROLLING ATTITUDE OF SATELLITE IN SURVIVAL MODE, ADAPTED SATELLITE AND METHOD FOR REMOTELY CONTROLLING SATELLITE OF SATELLITE |
| CN105676671B (en) * | 2014-11-21 | 2018-05-15 | 上海新跃仪表厂 | A kind of semi-physical simulation test system of Direct to the sun control |
| CN105966639B (en) * | 2016-05-11 | 2018-10-16 | 上海微小卫星工程中心 | A kind of satellite is to day spin clusters system and method |
| CN105974820B (en) * | 2016-05-13 | 2019-09-13 | 深圳航天东方红海特卫星有限公司 | A kind of pure magnetic control algorithm of spacecraft single shaft direction based on geometrical analysis |
| CN106542120B (en) * | 2016-09-30 | 2018-11-02 | 上海航天控制技术研究所 | In conjunction with the satellite three-axis attitude control method of magnetic torquer when flywheel drive lacking |
| CN108549412B (en) * | 2018-04-08 | 2020-11-24 | 上海微小卫星工程中心 | Magnetic control solar capture method considering solar angle change rate and control factor |
| CN113955152B (en) * | 2019-01-21 | 2024-03-01 | 上海微小卫星工程中心 | Star sun-to-day directional control method |
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| CN113955152A (en) * | 2019-01-21 | 2022-01-21 | 上海微小卫星工程中心 | Method for controlling sun-to-sun orientation of stars |
| CN113955152B (en) * | 2019-01-21 | 2024-03-01 | 上海微小卫星工程中心 | Star sun-to-day directional control method |
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