CN110209052B - Flexible spacecraft modal parameter-oriented in-orbit identification excitation signal design method - Google Patents

Flexible spacecraft modal parameter-oriented in-orbit identification excitation signal design method Download PDF

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CN110209052B
CN110209052B CN201910477355.2A CN201910477355A CN110209052B CN 110209052 B CN110209052 B CN 110209052B CN 201910477355 A CN201910477355 A CN 201910477355A CN 110209052 B CN110209052 B CN 110209052B
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excitation signal
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total
spacecraft
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张国琪
李公军
郎燕
张锦江
罗谷清
雷拥军
郭朝礼
刘启海
龙也
梁鹤
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Beijing Institute of Control Engineering
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    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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Abstract

A flexible spacecraft modal parameter-oriented in-orbit identification excitation signal design method comprises pulse excitation signal design, jet excitation signal design and CMG excitation signal design. Compared with the prior art, the method adopts an open-loop excitation mode, improves the excited strength of the main mode of each order on the premise of ensuring the stable attitude and the structural safety of the spacecraft, thereby being beneficial to completing high-precision identification of the main mode parameters of each order and overcoming the problem of parameter identification deviation caused by closed-loop excitation.

Description

Flexible spacecraft modal parameter-oriented in-orbit identification excitation signal design method
Technical Field
The invention relates to an on-orbit identification excitation signal design method for modal parameters of a flexible spacecraft.
Background
The flexible modal parameters of the flexible spacecraft are important preconditions for developing and perfecting the design of a spacecraft control system controller, and for some complex flexible spacecrafts, the flexible modal parameters are difficult to accurately obtain on the ground and are necessarily obtained by developing on-orbit identification. Excitation signal design is an important link for implementing on-track identification. The design of the excitation signal for on-orbit identification requires that the designed excitation signal cannot cause the attitude instability and structural damage of the spacecraft, so that the existing flexible spacecraft generally realizes the on-orbit excitation for on-orbit identification by introducing small pulse disturbance excitation or utilizing a space environment excitation mode under a closed-loop condition. Although this excitation method ensures the safety of attitude control in the excitation process, it has problems in that: (1) identification under closed-loop conditions typically introduces additional parameter identification bias; (2) the excitation signal is generally weak in function and strength, and all important flexible modes of the spacecraft cannot be effectively excited.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a flexible spacecraft modal parameter on-orbit identification excitation signal design method, and solves the defects that closed-loop excitation of the existing on-orbit identification excitation signal generates identification deviation, and the excitation signal is difficult to effectively excite main modes of each order.
The technical solution of the invention is as follows: an on-orbit identification excitation signal design method for modal parameters of a flexible spacecraft comprises the following steps:
(1) the design excitation signal comprises a pulse excitation signal, a jet excitation signal and a CMG excitation signal;
(2) and performing on-orbit identification on modal parameters of the flexible spacecraft by using any one of a pulse excitation signal, a jet excitation signal and a CMG excitation signal.
The pulse excitation signal U (t) has three continuous pulses with the polarity { +, - + } or { -, - +, - }, wherein the signal with the polarity { +, - + } is expressed as
Figure BDA0002082706460000021
The method for determining the pulse excitation signal U (t) with the polarity of { +, - + } comprises the following steps:
(1) according to the nominal frequency f to be excited0Determining the total excitation length t of the pulsed excitation signal U (t)3＝1/f0；
(2) Determining t1＝t3/4，t2＝3×t3/4；
(3) Determining that the amplitudes A, B of the pulse excitation signal U (t) satisfy: -B > a 0, and the amplitude a, B does not exceed the maximum torque that can be output by the actuator, and u (t) the response of the system after application to the controlled object satisfies constraints;
(4) when time t is<0 or t>t3When the pulse excitation signal U (t) is 0, the time 0 is less than or equal to t<t1When the pulse excitation signal u (t) is a, at time t1≤t<t2When the new pulse excitation signal u (t) is B, at time t2≤t<t3Then, the new pulse excitation signal u (t) is a.
The jet excitation signal TjetThe determination method of (t) is as follows:
if t is more than or equal to 0 and less than or equal to ttotalThen, then
Figure BDA0002082706460000022
And making a judgment if Tjet>tmax_jetThen T isjet(t)＝tmax_jet×sign(Tjet) If T isjet<tmin_jetThen T isjet(t)＝0；
If t<0 or t>ttotalThen T isjet(t) ═ 0; wherein, ttotal＝kend×Ts，kendIs a positive integer, T ═ kXTsAnd k is an integer.
The jet excitation signal TjetThe determination method of (t) is as follows:
(1) according to jet excitation signal Tjet(t) the number N of excitation frequencies contained, each excitation frequency ωiRespective excitation frequency omegaiCorresponding amplitude Ai,i＝1,2,...,N；
(2) Determining the longest jet time t for the thruster to work in each control period according to the jet engine thruster of the excited spacecraftmax_jetShortest air injection time tmin_jet；
(3) Determination of bstimuAnd ttotalWherein, in the step (A),
Figure BDA0002082706460000031
Tsto control the period, IssBeing the moment of inertia of the axis of rotation of the spacecraft to be excited, bstimuAnd ttotalSo that
Figure BDA0002082706460000032
Time of flight
Figure BDA0002082706460000033
And | M2(t)|≤θmaxAnd is and
Figure BDA0002082706460000034
Figure BDA0002082706460000035
for maximum allowable attitude angular velocity, θ, of the spacecraftmaxFor the maximum attitude angle of the spacecraft allowed,
Figure BDA0002082706460000036
the allowable residual attitude angular velocity of the spacecraft;
(4) if t is more than or equal to 0 and less than or equal to ttotalThen, then
Figure BDA0002082706460000037
And making a judgment if Tjet>tmax_jetThen T isjet(t)＝tmax_jet×sign(Tjet) If T isjet<tmin_jetThen T isjet(t)＝0；
If t<0 or t>ttotalThen T isjet(t) 0, wherein ttotal＝kend×Ts，kendIs a positive integer, T ═ kXTsAnd k is an integer.
The CMG excitation signal TcmgThe determination method of (t) is as follows:
if t is more than or equal to 0 and less than or equal to ttotalThen, then
Figure BDA0002082706460000038
Otherwise Tcmg(t) ═ 0; wherein, ttotal＝kend×Ts，kendIs a positive integer, T ═ kXTs,(k＝0,1,2...)。
The CMG excitation signal TcmgThe determination method of (t) is as follows:
(1) determining an excitation signal Tcmg(t) the number N of excitation frequencies contained, each excitation frequency ωiRespective excitation frequency omegaiCorresponding amplitude Ai,i＝1,2,...,N；
(2) Determining the torque amplitude T of the excitation signal according to the CMG output torque characteristic of the excited spacecraftmax；
(3) Determination of bstimuAnd ttotalWherein, in the step (A),
Figure BDA0002082706460000039
Tsto control the period, IssBeing the moment of inertia of the axis of rotation of the spacecraft to be excited, bstimuAnd ttotalSo that
Figure BDA00020827064600000310
When it is satisfied with
Figure BDA00020827064600000311
And | M2(t)|≤θmaxAnd is and
Figure BDA00020827064600000312
(4) if t is more than or equal to 0 and less than or equal to ttotalThen, then
Figure BDA00020827064600000313
Otherwise Tcmg(t) ═ 0; wherein, ttotal＝kend×Ts，kendIs a positive integer, T ═ kXTsAnd k is a positive integer.
Compared with the prior art, the invention has the advantages that:
(1) the novel pulse excitation signal can ensure that the whole star attitude and the angular momentum do not generate increment after excitation is finished, and can also ensure that the response amplitude of the excited flexible mode is doubled compared with the response amplitude of the traditional pulse excitation; in addition, the method also has the advantage that the frequency spectrum of the main excitation signal can be adjusted at will;
(2) the novel jet excitation signal takes the minimum jet time width as an actual engineering constraint into consideration, so that the whole star attitude and angular momentum can not be increased after excitation is finished, the distribution and the composition of the excitation signal energy in each frequency band can be adjusted at will, multiple excitation functions such as single frequency (N is 1), multi-frequency excitation (1< N < ∞) and pseudo-random excitation (N >1) can be realized, and the excitation signal efficiency can be optimized;
(3) the novel CMG excitation signal can ensure that the whole star attitude and the angular momentum do not generate increment after excitation is finished, can randomly adjust the distribution of the excitation signal energy in each frequency band, can realize multiple excitation functions of single frequency (N is 1), multi-frequency excitation (1< N < ∞ >), pseudo-random excitation (N >1) and the like, and can optimize the excitation signal efficiency.
Drawings
FIG. 1 is a diagram of a novel pulse excitation signal shape;
FIG. 2 is a flow chart of a novel pulse excitation signal design method;
FIG. 3 is a flow chart of a novel jet excitation signal design method;
FIG. 4 is a flow chart of a novel CMG excitation signal design method;
Detailed Description
Aiming at the defects of the prior art, the invention provides a flexible spacecraft modal parameter on-orbit identification excitation signal design method, which solves the problem that closed-loop excitation of the existing on-orbit identification excitation signal generates identification deviation; the excitation signal is difficult to effectively excite the main modes of each order. The process of the invention is explained and illustrated in more detail below with reference to the drawing.
The invention discloses a flexible spacecraft modal parameter-oriented in-orbit identification excitation signal design method, which comprises a pulse excitation signal U (t) design method, a jet excitation signal design method and a CMG excitation signal design method, wherein the pulse excitation signal U (t) design method comprises the following steps of:
(1) the novel pulse excitation signal U (t) is composed of three continuous pulses with the polarity { +, - + } or { -, - +, - }, taking the former as an example, the mathematical expression of the signal is as follows:
Figure BDA0002082706460000051
(2) novel jet excitation signal design method, the excitation signal TjetThe mathematical expression of (t) is:
Figure BDA0002082706460000052
wherein, ttotal＝kend×Ts(kendIs a positive integer), T ═ k × Ts,(k＝0,1,2...)
(3) Novel CMG excitation signal design method, the excitation signal TcmgThe mathematical expression of (t) is:
Figure BDA0002082706460000053
wherein, ttotal＝kend×Ts(kendIs a positive integer), T ═ k × Ts,(k＝0,1,2...)。
The three signals are explained and explained in more detail with reference to the drawings, and fig. 1 shows a novel pulse excitation signal shape diagram; FIG. 2 is a flow chart of a novel pulse excitation signal design method; FIG. 3 is a flow chart of a novel jet excitation signal design method; fig. 4 shows a flow chart of a novel CMG excitation signal design method.
The invention provides a novel pulse excitation signal U (t) design method, which comprises the following implementation processes:
(1) according to the nominal frequency f to be excited0(unit: Hz) determining the total excitation length t of the pulse excitation signal U (t)3The calculation formula is t3＝1/f0；
(2) Determining t1And t2. The calculation formula is as follows: t is t1＝t3/4，t2＝3×t3/4
(3) The amplitude a, B of the pulsed excitation signal u (t) is determined. The general design is that-B ═ A >0, A, B should satisfy the following conditions at the same time: (i) u (t) the amplitude A and B do not exceed the maximum output torque of the actuating mechanism; (ii) the response of the system after applying U (t) to the controlled object satisfies various constraints (which can be determined through mathematical simulation).
(4) When time t is<0 or t>t3Then, the new pulse excitation signal u (t) is 0; when the time is 0 to t<t1Then, the new pulse excitation signal u (t) is a; when time t is1≤t<t2Then, the new pulse excitation signal u (t) is B; when time t is2≤t<t3Then, the new pulse excitation signal u (t) is a; therefore, the whole process of implementing a novel pulse excitation signal U (t) design method is completed.
The invention provides a novel jet excitation signal Tjet(t) the design method comprises the following implementation processes:
(1) determination of the excitation signal T according to the purpose of the testjet(t) the number N of excitation frequencies to be included, each excitation frequency ωiRespective excitation frequency omegaiCorresponding amplitude Ai,(i＝1,2,...,N)；
(2) Determining the longest jet time t for the thruster to work in each control period according to the working characteristics of the jet engine thruster of the excited spacecraftmax_jetAnd the shortest air injection time tmin_jet；
(3) Determination of bstimuAnd ttotal. Recording:
Figure BDA0002082706460000061
wherein, TsTo control the period, IssB is reasonably selected for the moment of inertia of the rotating shaft of the excited spacecraftstimuAnd ttotalSo that
Figure BDA0002082706460000062
Satisfy the requirement of
Figure BDA0002082706460000063
And | M2(t)|≤θmaxAnd is
Figure BDA0002082706460000064
Wherein the content of the first and second substances,
Figure BDA0002082706460000065
for maximum allowable attitude angular velocity, theta, of the spacecraftmaxFor the allowed maximum attitude angle of the spacecraft,
Figure BDA0002082706460000066
The remaining attitude angular velocity of the spacecraft is allowed.
(4) When time t is<0 or t>ttotalTime, new jet excitation signal Tjet(t) ═ 0; when the time is 0 to t<ttotalThen, T is formed according to the formula (2)jet(t); at this point, the jet excitation signal T is completedjet(t) the design method implements the whole process.
The invention provides a novel CMG excitation signal Tcmg(t) the design method comprises the following implementation processes:
(1) determination of the excitation signal T according to the purpose of the testcmg(t) the number N of excitation frequencies to be included, each excitation frequency and the amplitude corresponding to each excitation frequency;
(2) determining 'moment amplitude' T of excitation signal according to CMG output moment characteristic of excited spacecraftmax；
(3) Determination of bstimuAnd ttotal. Recording:
Figure BDA0002082706460000071
wherein, TsTo control the period, IssB is chosen appropriately for the moment of inertia of the axis of rotation of the spacecraft to be excitedstimuAnd ttotalSo that
Figure BDA0002082706460000072
Satisfy the requirement of
Figure BDA0002082706460000073
And | M2(t)|≤θmaxAnd is
Figure BDA0002082706460000074
Make the desired deflection of each stepThe sexual mode can be excited, and the excitation process meets all constraint conditions such as attitude angle, attitude angular velocity and the like.
(4) When time t is<0 or t>ttotalNovel CMG excitation signal Tcmg(t) ═ 0; when the time is 0 to t<ttotalThen, T is formed according to the formula (3)cmg(t); so far, the novel CMG excitation signal T is completedcmg(t) the design method implements the whole process.
In conclusion, the invention adopts the open-loop excitation mode, and improves the excited strength of the main mode of each order on the premise of ensuring the stable attitude and the structural safety of the spacecraft, thereby being beneficial to completing high-precision identification of the main mode parameters of each order and overcoming the problem of parameter identification deviation caused by closed-loop excitation.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims (8)

1. An on-orbit identification excitation signal design method for modal parameters of a flexible spacecraft is characterized by comprising the following steps:
(1) the design excitation signal comprises a pulse excitation signal, a jet excitation signal and a CMG excitation signal;
(2) using any one of a pulse excitation signal, a jet excitation signal and a CMG excitation signal to complete the on-orbit identification of the modal parameters facing the flexible spacecraft;
the jet excitation signal TjetThe determination method of (t) is as follows:
(1) according to jet excitation signal Tjet(t) the number N of excitation frequencies contained, each excitation frequency ωiRespective excitation frequency omegaiCorresponding amplitude Ai,i＝1,2,...,N；
(2) Determining the longest jet time t for the thruster to work in each control period according to the jet engine thruster of the excited spacecraftmax_jetShortest air injection time tmin_jet；
(3) Determination of bstimuAnd ttotalWherein, in the step (A),
Figure FDA0003518869930000011
Tsto control the period, IssBeing the moment of inertia of the axis of rotation of the spacecraft to be excited, bstimuAnd ttotalSo that
Figure FDA0003518869930000012
0≤t≤ttotalTime of flight
Figure FDA0003518869930000013
And | M2(t)|≤θmaxAnd is and
Figure FDA0003518869930000014
for maximum allowable attitude angular velocity, θ, of the spacecraftmaxFor the maximum attitude angle of the spacecraft allowed,
Figure FDA0003518869930000015
the allowable residual attitude angular velocity of the spacecraft;
(4) if t is more than or equal to 0 and less than or equal to ttotalThen, then
Figure FDA0003518869930000016
And making a judgment if Tjet>tmax_jetThen T isjet(t)＝tmax_jet×sign(Tjet) If T isjet<tmin_jetThen T isjet(t)＝0；
If t<0 or t>ttotalThen T isjet(t) 0, wherein ttotal＝kend×Ts，kendIs a positive integer, T ═ kXTsAnd k is an integer.
2. The on-orbit identification excitation signal design method for the modal parameters of the flexible spacecraft according to claim 1, wherein the method comprises the following steps: the pulse excitation signal U (t) has three continuous pulses with the polarity { +, - + } or { -, - +, - }, wherein the signal with the polarity { +, - + } is expressed as
Figure FDA0003518869930000021
3. The on-orbit identification excitation signal design method for the modal parameters of the flexible spacecraft according to claim 2, wherein the method comprises the following steps: the method for determining the pulse excitation signal U (t) with the polarity of { +, - + } comprises the following steps:
(1) according to the nominal frequency f to be excited0Determining the total excitation length t of the pulsed excitation signal U (t)3＝1/f0；
(2) Determining t1＝t3/4，t2＝3×t3/4；
(3) Determining that the amplitudes A, B of the pulse excitation signal U (t) satisfy: -B > a 0, and the amplitude a, B does not exceed the maximum torque that can be output by the actuator, and u (t) the response of the system after application to the controlled object satisfies constraints;
(4) when time t is<0 or t>t3When the pulse excitation signal U (t) is 0, the time 0 is less than or equal to t<t1When the pulse excitation signal u (t) is a, at time t1≤t<t2When the new pulse excitation signal u (t) is B, at time t2≤t<t3Then, the new pulse excitation signal u (t) is a.
4. The on-orbit identification excitation signal design method for the modal parameters of the flexible spacecraft according to claim 3, wherein the method comprises the following steps: the jet excitation signal TjetThe determination method of (t) is as follows:
if t is more than or equal to 0 and less than or equal to ttotalThen, then
Figure FDA0003518869930000022
And making a judgment if Tjet>tmax_jetThen T isjet(t)＝tmax_jet×sign(Tjet) If T isjet<tmin_jetThen T isjet(t)＝0；
If t<0 or t>ttotalThen T isjet(t) ═ 0; wherein, ttotal＝kend×Ts，kendIs a positive integer, T ═ kXTsAnd k is an integer.
5. The on-orbit identification excitation signal design method for the modal parameters of the flexible spacecraft according to claim 1, wherein the method comprises the following steps: the CMG excitation signal TcmgThe determination method of (t) is as follows:
if t is more than or equal to 0 and less than or equal to ttotalThen, then
Figure FDA0003518869930000023
Otherwise Tcmg(t) ═ 0; wherein, ttotal＝kend×Ts，kendIs a positive integer, T ═ kXTs,(k＝0,1,2...)。
6. The on-orbit identification excitation signal design method for the modal parameters of the flexible spacecraft according to claim 5, wherein the method comprises the following steps: the CMG excitation signal TcmgThe determination method of (t) is as follows:
(1) determining an excitation signal Tcmg(t) the number N of excitation frequencies contained, each excitation frequency ωiRespective excitation frequency omegaiCorresponding amplitude Ai,i＝1,2,...,N；
(2) Determining the torque amplitude T of the excitation signal according to the CMG output torque characteristic of the excited spacecraftmax；
(3) Determination of bstimuAnd ttotalWherein, in the step (A),
Figure FDA0003518869930000031
Tsto control the period, IssBeing the moment of inertia of the axis of rotation of the spacecraft to be excited, bstimuAnd ttotalSo that
Figure FDA0003518869930000032
0≤t≤ttotalWhen it is satisfied with
Figure FDA0003518869930000033
And | M2(t)|≤θmaxAnd is and
Figure FDA0003518869930000034
(4) if t is more than or equal to 0 and less than or equal to ttotalThen, then
Figure FDA0003518869930000035
Otherwise Tcmg(t) ═ 0; wherein, ttotal＝kend×Ts，kendIs a positive integer, T ═ kXTsAnd k is a positive integer.
7. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
8. An in-orbit identification excitation signal design terminal device oriented to modal parameters of a flexible spacecraft, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: the processor, when executing the computer program, performs the steps of the method according to any of claims 1-6.
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