CN110389592A - A kind of Spacecraft Attitude Control method based on distributed intelligence flywheel - Google Patents
A kind of Spacecraft Attitude Control method based on distributed intelligence flywheel Download PDFInfo
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Abstract
The invention discloses a kind of Spacecraft Attitude Control methods based on distributed intelligence flywheel.Multiple intelligent flywheels are constituted distributed attitude control system by wireless networking by the present invention, and a kind of distributed control method is proposed according to system features, the strategy includes fault self-checking, determines work intelligence flywheel, receives sensor system broadcast posture information, time delay state synchronized and independent resolve control output, to realize the distributed computation of spacecraft attitude control system, be conducive to the assembling of spacecraft console moduleization, quick assembling test and spaceborne component plug and play to spacecraft are of great significance.
Description
Technical field
The present invention relates to technical field of spacecraft attitude control, are based on distributed intelligence flywheel more particularly, to one kind
Spacecraft Attitude Control method.
Background technique
In recent years, as space technology continues to develop, Spacecraft guidance and control and manufacture are increasingly intended to quality and volume
Miniaturization, for using legacy interface and cable connect for the micro-nano satellite that information is transmitted between each subsystem and component
The weight of mouth and cable can account for the 8% to 10% of whole star weight；Simultaneously as satellite test uses serially test mode, when certain
A new component needs to carry out power down process to it, this will affect it by access satellite system and when needing to carry out functional test
The test job of his equipment is unfavorable for the quick assembling and production of micro-nano satellite.Therefore, it is designed using spaceborne component untetheredization,
The whole star weight of satellite can be greatly lowered, shorten the lead time, reduce transmitting and development cost.For example, Delft university, Holland
Delfi-C3 satellite is researched and developed, realizes wireless communication technique in star, the side that the sun sensor of carrying passes through radio broadcasting earliest
Formula is communicated with other component.
Attitude control system is one of subsystem mostly important in entire spacecraft composition, spacecraft in-orbit
Can business normally implement the attitude control accuracy for being heavily dependent on spacecraft, and traditional attitude control method is by sensor
Spacecraft attitude information is sent to spaceborne computer, control instruction is calculated by spaceborne computer concentration and is sent to each execution machine
Structure.And the spacecraft attitude control system of distributed intelligence flywheel is used then to have the ability for voluntarily resolving control instruction, only need
The spacecraft attitude information and assignment instructions for receiving wireless network transmissions can independently resolve control output.And use wireless network
The problems such as network transmits posture information, inevitably will appear network delay can impact control precision；And each intelligence
Flywheel is independent mutually, how to coordinate to complete assignment instructions to be also critical problem in need of consideration.
Summary of the invention
Goal of the invention: in order to solve the above technical problem, the present invention provides a kind of space flight based on distributed intelligence flywheel
Device attitude control method carries out detailed description to control flow, provides by building distributed intelligence flywheel attitude control system
Distributed intelligence flywheel realizes the detailed process of Spacecraft Attitude Control, proposes a kind of mitigation wireless network to control system
The scheme of influence manufactures the spaceborne component plug and play of spacecraft and Future Spacecraft on a large scale, quickly test has with transmitting
Great significance.
Technical solution: for achieving the above object, the invention adopts the following technical scheme:
A kind of Spacecraft Attitude Control method based on distributed intelligence flywheel, the attitude control method are directed to installation point
The Spacecraft Attitude Control of cloth intelligence flywheel, and gesture stability is resolved by each intelligent fly wheel system complete independently；Each intelligence flies
Take turns the spacecraft attitude and attitude angular velocity information for receiving band having time stamp by wireless network in each control period, note
The record time of reception is simultaneously stored in memory, and carries out the estimation of network transfer delay state synchronized to the posture information；Each intelligence flywheel
Distributed decoupling control is carried out, Spacecraft Attitude Control task is completed.
Where it is assumed that at most only one group of intelligence flywheel breaks down, specifically includes the following steps:
(1) the single gesture stability period, each intelligence flywheel fault self-checking, and determine work intelligence flywheel；
(2) spacecraft time delay state synchronized is estimated, intelligent flywheel processor module posture information and preceding N based on the received
The history estimated value in period determines the posture information estimated value of synchronization point in this period；
(3) X, Y, Z axis and angle mount axis intelligent flywheel controller subsystem independently resolve decoupling control output, drive flywheel
Export control moment, this control end cycle.
Further, step (1) the following steps are included:
(11) single gesture stability period, each intelligence fly wheel start-up fault self-checking；
(12) judge whether the equal fault-free of each intelligent fly wheel system, detailed process are as follows: each intelligence flywheel processor module week
Phase property acquires the operation data of each intelligent flywheel, and diagnostic data state judges that data are according to Mishap Database and expert system
No exception judges that the intelligence flywheel breaks down if certain intelligent flywheel is continuously diagnosed to be error condition in the period, if without reason
Barrier, enters step (13), if it is faulty, enter step (14)；
(13) X, Y are selected, the intelligent flywheel installed on Z axis enters step (2) as operating flywheel combination；
(14) judge whether it is the failure of angle mount intelligence fly wheel system, if it is, then return step (13), if not
It is to enter step (15)；
(15) angle mount intelligence fly wheel system and two is selected to work normally intelligent fly wheel system combination as operating flywheel combination.
Further, step (2) the following steps are included:
(21) each posture information and task with timestamp for working normally intelligent fly wheel system and receiving sensor broadcast
Instruction, record receive the moment；
(22) each intelligent fly wheel system built-in storage module attitude measurement value partitioned storage attitude measurement value；
(23) each intelligent flywheel processor module time delay state synchronized estimation function posture information y (n+1) based on the received,
And the history estimated value in preceding n periodDetermine the posture information estimated value of synchronization point in this period；
(24) space flight obtained in each intelligent fly wheel system built-in storage module Attitude estimation value partitioned storage step (23)
Device posture information estimated value.
Further, in step (3) X-axis control moment resolve the following steps are included:
(31) judge X-axis intelligence flywheel whether be failure intelligent fly wheel system, if it is, then finishing control device work,
Control instruction is not exported, if it is not to enter step (32)；
(32) X-axis intelligent flywheel controller reads newest posture information estimated value and assignment instructions in memory；
(33) judge whether angle mount intelligence flywheel works, if work, enters step (34), if not working, then enters
Step (36)；
(34) angle mount intelligent flywheel controller calculates the intelligent flywheel installation axle output torque that fails；Three orthogonal angle mount intelligence
The mounting structure Matrix C of flywheel group indicates are as follows:
Then Torque distribution matrix is expressed as the pseudoinverse D=C of mounting structure matrixT(CCT)-1, by allocation matrix by three axis
Torque command Tc=[Tcx,Tcy,Tcz]TIt is assigned as each intelligent flywheel moment instruction T of intelligent flywheel groupw=[Tw1,Tw2,Tw3,Tw4]T,
As Tw=DTc, when a certain intelligent flywheel breaks down, remaining intelligent flywheel output torque is expressed as Hc=CTw, it is assumed that X-axis
Intelligent flywheel breaks down, and angle mount intelligence flywheel substitutes work, then mounting structure Matrix C1With allocation matrix D1It indicates are as follows:
The output torque instruction of angle mount intelligence flywheel is calculated；
(35) X-axis intelligence flywheel calculates coupling terms of the angle mount intelligence flywheel in X-axis, according to angle mount intelligence in step (34)
Flywheel output torque instructs calculation method, it is assumed that X-axis intelligence flywheel output torque instructs TcIt is 0, obtains X-axis using this method
On angle mount flywheel output torque coupling terms；
(36) X-axis intelligence flywheel calculates X-axis posture and attitude angular velocity error, attitude errorWherein
For assignment instructions attitude angle,For the pose estimation value read in step (32)；
(37) judge that X-axis whether there is with Y-axis to couple, if in the presence of, (39) are entered step, if it is not present, into step
Suddenly (38)；
Coupling condition is judged according to following spacecraft attitude dynamics equation:
Wherein, I is expressed as spacecraft rotary inertia,θ, ψ are the roll angle, pitch angle and yaw angle of celestial body respectively,
Ωx、Ωy、ΩzAngular speed of respectively each axis flywheel relative to celestial body, n are expressed as satellite orbit angular speed, LeFor moment of face, Lc
For the control moment of motor in flywheel shaft.
(38) judge that X-axis whether there is with Z axis to couple, if in the presence of, (310) are entered step, if it is not present, into step
Suddenly (311)；
(39) Y-axis posture and attitude angular velocity error are calculated, (312) are entered step；
(310) Z axis posture and attitude angular velocity error are calculated, (311) are entered step；
(311) ranking operation eliminates coupling terms and considers to eliminate the coupling of angle mount intelligence flywheel, is obtained by control algolithm operation
Output must be controlled；
(312) judge whether intelligent flywheel is saturated, if so, publication unloading request terminates if be not saturated
This period controller calculates work.
The utility model has the advantages that compared with prior art, in the present invention each intelligent flywheel by wireless network receive posture information with
Assignment instructions have independent computing power, are resolved by the distributed AC servo system of each intelligent flywheel and realize Spacecraft Attitude Control function
Energy.The distributed control method is concentrated without spaceborne computer and resolves control instruction, connects each distributed system without cable,
So as to greatly reduce whole star weight.Sensor system space flight of the module broadcast distribution with timestamp by wireless communication
Device posture information；Intelligent flywheel real-time reception posture information and assignment instructions, independent to resolve decoupling control instruction, driving flywheel is defeated
Torque realizes gesture stability out.The present invention manufactures Future Spacecraft on a large scale, quickly test and transmitting have great significance.
Detailed description of the invention
Fig. 1 is the method for the present invention flow chart；
Fig. 2 is that X-direction control moment of the invention resolves work flow diagram；
Fig. 3 is that Y direction control moment of the invention resolves work flow diagram；
Fig. 4 is that Z-direction control moment of the invention resolves work flow diagram.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawing.
Distributed intelligence fly wheel system includes three groups of intelligent flywheels of orthogonal installation and one group of angle mount intelligence flywheel, and each intelligence flies
Wheel includes motor and flywheel module, processor module, memory module and wireless transport module, and it is defeated to all have independent resolving control
Ability out.
A kind of Spacecraft Attitude Control method based on distributed intelligence flywheel of the invention, by the intelligence of three groups of orthogonal installations
Can flywheel and one group of angle mount redundancy intelligence flywheel constitute attitude control actuator, control method include each intelligent flywheel failure from
Inspection, the posture information of reception sensor system broadcast, time delay state synchronized estimate and independently resolve that decoupling control exports,
To realize the distributed posture Collaborative Control of each intelligent flywheel.The fault self-checking function are as follows: each intelligence flywheel is in each control
Fault self-checking is carried out by processor module when period processed starts, judges whether itself is working properly, according to intelligent flywheel failure feelings
Condition selects different intelligent flywheels to carry out gesture stability, only considers at most only have an intelligence in the same control period here
Flywheel will appear failure.The wireless network module receives sensor system and broadcasts posture information function are as follows: each period is each
Intelligent flywheel by wireless network receive a spacecraft attitude with timestamp from attitude sensor system broadcasts with
Attitude angular velocity information records receiving time and is stored in memory module.The time delay state synchronized estimation function are as follows: due to
Attitude sensor measurement period is less than the control period, and each intelligence flywheel leads to received posture information due to network delay etc.
Will not be completely the same at the time of corresponding, time delay state synchronized estimation function based on the received go through by posture information and preceding N period
History estimated value determines the posture information estimated value of synchronization point in this period.The independent resolving decoupling control output function
Are as follows: the control algolithm that each intelligence flywheel processor module (control computer) obtains according to decoupling independently resolves this intelligence flywheel
Control output, do not need spaceborne computer participate in control resolve.
As shown in Figure 1, a kind of Spacecraft Attitude Control method based on distributed intelligence flywheel of the invention, including it is following
Step:
This method only considers at most only have a case where intelligent flywheel will appear failure in the same control period first.
(1) single gesture stability period, each intelligence fly wheel start-up fault self-checking；
(2) judge whether that the equal fault-free of each intelligent fly wheel system, detailed process are each intelligent flywheel processor die block period
Property acquire the operation data (such as communication data, Speed of Reaction Wheels data and motor power up signal etc.) of each intelligent flywheel, diagnosis
Whether abnormal data mode judges data according to Mishap Database and expert system, if certain intelligent flywheel continuously diagnoses in the period
Make mistake state, then judges that the intelligence flywheel breaks down, if fault-free, enters step (3), if it is faulty, into step
Suddenly (4)；
(3) X, Y are selected, the intelligent flywheel installed on Z axis enters step (6) as operating flywheel combination；
(4) judge whether it is the failure of angle mount intelligence fly wheel system, if it is, then return step (3), if be not,
Enter step (5)；
(5) angle mount intelligence fly wheel system and two is selected to work normally intelligent fly wheel system combination as operating flywheel combination；
(6) each to work normally that intelligent fly wheel system receives the posture information with timestamp of sensor broadcast and task refers to
It enables, record receives the moment；
(7) each intelligent fly wheel system built-in storage module attitude measurement value partitioned storage attitude measurement value；
(8) each intelligent flywheel processor module time delay state synchronized estimation function based on the received posture information y (n+1) with
And the history estimated value in preceding n periodDetermine the posture information estimated value of synchronization point in this period, state
Algorithm for estimating is not unique；
(9) spacecraft obtained in each intelligent fly wheel system built-in storage module Attitude estimation value partitioned storage step (8)
Posture information estimated value；
(10) X, Y, Z and angle mount axis intelligent flywheel controller independently resolve decoupling control output, driving flywheel output control
Torque processed, this control end cycle.
As shown in Figure 2, Figure 3, Figure 4, each axis intelligence flywheel independently resolve decoupling control output specific work steps it is following (with
For X-axis control moment resolves):
(1) whether X-axis intelligence flywheel is the intelligent fly wheel system of failure, if it is, then terminating X-axis intelligence flywheel posture control
Device work processed, does not export control instruction, if it is not to enter step (2)；
(2) X-axis intelligent flywheel controller reads newest posture information estimated value and assignment instructions in memory；
(3) judge whether angle mount intelligence flywheel works, if work, enters step (4), if not working, then enter step
Suddenly (6)；
(4) angle mount intelligent flywheel controller calculates the intelligent flywheel installation axle output torque that fails, three orthogonal angle mount intelligence
The mounting structure Matrix C of flywheel group may be expressed as:
Then Torque distribution matrix is represented by the pseudoinverse D=C of mounting structure matrixT(CCT)-1, can be incited somebody to action by allocation matrix
Three-axis force square instructs Tc=[Tcx,Tcy,Tcz]TIt is assigned as each intelligent flywheel moment instruction T of intelligent flywheel groupw=[Tw1,Tw2,Tw3,
Tw4]T, as Tw=DTc, when a certain intelligent flywheel breaks down, remaining intelligent flywheel output torque is expressed as Hc=CTw, false
If X-axis intelligence flywheel breaks down, angle mount intelligence flywheel substitutes work, then mounting structure Matrix C1With allocation matrix D1It can indicate
Are as follows:
The output torque instruction of angle mount intelligence flywheel can be calculated；
(5) X-axis intelligence flywheel calculates coupling terms of the angle mount intelligence flywheel in X-axis, is intelligently flown according to angle mount in step (4)
It takes turns output torque and instructs calculation method, it is assumed that X-axis intelligence flywheel output torque instructs TcIt is 0, can be obtained X-axis using this method
On angle mount flywheel output torque coupling terms；
(6) X-axis intelligence flywheel calculates X-axis posture and attitude angular velocity error, attitude errorWherein
For assignment instructions attitude angle,For the pose estimation value read in step (2).
(7) judge that X-axis whether there is with Y-axis to couple, if in the presence of entering step (9), if being not present, entering step
(8), according to spacecraft attitude dynamics equation:
Wherein, I is expressed as spacecraft rotary inertia,θ, ψ are the roll angle, pitch angle and yaw angle of celestial body respectively,
Ωx、Ωy、ΩzAngular speed of respectively each axis flywheel relative to celestial body, n are expressed as satellite orbit angular speed, LeFor moment of face, Lc
For the control moment of motor in flywheel shaft.
By formula (3) it is found that pitch channel kinetics equation is decoupled with other two channel, jaw channel and roll channel are dynamic
There is coupling in mechanical equation, the three orthogonal intelligent flywheel installation axles as described in this patent calculate separately and export above-mentioned triple channel control
Torque processed, therefore can be according to this kinetic equation judge coupling condition.
(8) judging that X-axis whether there is with Z axis to couple, judgment method and step (7) are described identical, if in the presence of into step
Suddenly (10) enter step (11) if being not present；
(9) Y-axis posture and attitude angular velocity error are calculated, calculation method is identical as step (6) the method, enters step
(12)；
(10) Z axis posture and attitude angular velocity error are calculated, calculation method is identical as step (6) the method, into step
Suddenly (11)；
(11) ranking operation eliminates coupling terms and considers to eliminate the coupling of angle mount intelligence flywheel, is controlled by control algolithm
It exports (i.e. control moment instruction), wherein control algolithm is based on distributed gesture stability algorithm, distributed gesture stability algorithm
It is not unique；
(12) judge whether intelligent flywheel saturation occurs (when the angular speed of intelligent counteraction flyback is greater than its driving motor most
Big angular speed can determine whether that intelligent counteraction flyback is saturated), if it is, publication unloading request, if there is no full
With, terminate this period controller calculate work.
Claims (5)
1. a kind of Spacecraft Attitude Control method based on distributed intelligence flywheel, which is characterized in that the attitude control method needle
For installing the Spacecraft Attitude Control of distributed intelligence flywheel, and gesture stability resolving is independently complete by each intelligent fly wheel system
At；Each intelligence flywheel receives the spacecraft attitude and attitude angle that a band having time is stabbed by wireless network in each control period
Velocity information records the time of reception and is stored in memory, and carries out the estimation of network transfer delay state synchronized to the posture information；
Each intelligence flywheel carries out distributed decoupling control, completes Spacecraft Attitude Control task.
2. a kind of Spacecraft Attitude Control method based on distributed intelligence flywheel according to claim 1, feature exist
In, it is assumed that at most only one group of intelligence flywheel breaks down, specifically includes the following steps:
(1) the single gesture stability period, each intelligence flywheel fault self-checking, and determine work intelligence flywheel；
(2) spacecraft time delay state synchronized is estimated, intelligent flywheel processor module posture information and preceding N period based on the received
History estimated value determine the posture information estimated value of synchronization point in this period；
(3) X, Y, Z axis and angle mount axis intelligent flywheel controller subsystem independently resolve decoupling control output, driving flywheel output
Control moment, this control end cycle.
3. a kind of Spacecraft Attitude Control method based on distributed intelligence flywheel according to claim 2, feature exist
In, step (1) the following steps are included:
(11) single gesture stability period, each intelligence fly wheel start-up fault self-checking；
(12) judge whether the equal fault-free of each intelligent fly wheel system, detailed process are as follows: each intelligence flywheel processor module is periodical
The operation data of each intelligent flywheel is acquired, diagnostic data state judges whether data are different according to Mishap Database and expert system
Often, if certain intelligent flywheel is continuously diagnosed to be error condition in the period, judge that the intelligence flywheel breaks down, if fault-free,
(13) are entered step, if it is faulty, enter step (14)；
(13) X, Y are selected, the intelligent flywheel installed on Z axis enters step (2) as operating flywheel combination；
(14) judge whether it is the failure of angle mount intelligence fly wheel system, if it is, then return step (13), if be not, into
Enter step (15)；
(15) angle mount intelligence fly wheel system and two is selected to work normally intelligent fly wheel system combination as operating flywheel combination.
4. a kind of Spacecraft Attitude Control method based on distributed intelligence flywheel according to claim 2, feature exist
In, step (2) the following steps are included:
(21) each posture information and assignment instructions with timestamp for working normally intelligent fly wheel system and receiving sensor broadcast,
Record receives the moment；
(22) each intelligent fly wheel system built-in storage module attitude measurement value partitioned storage attitude measurement value；
(23) each intelligent flywheel processor module time delay state synchronized estimation function posture information y (n+1) based on the received, and
The history estimated value in preceding n periodDetermine the posture information estimated value of synchronization point in this period；
(24) the spacecraft appearance obtained in each intelligent fly wheel system built-in storage module Attitude estimation value partitioned storage step (23)
State information estimated value.
5. a kind of Spacecraft Attitude Control method based on distributed intelligence flywheel according to claim 2, feature exist
In, in step (3) X-axis control moment resolve the following steps are included:
(31) judge X-axis intelligence flywheel whether be failure intelligent fly wheel system, if it is, then finishing control device work, it is not defeated
Control instruction out, if it is not to enter step (32)；
(32) X-axis intelligent flywheel controller reads newest posture information estimated value and assignment instructions in memory；
(33) judge whether angle mount intelligence flywheel works, if work, enters step (34), if not working, then enters step
(36)；
(34) angle mount intelligent flywheel controller calculates the intelligent flywheel installation axle output torque that fails；Three orthogonal angle mount intelligence flywheels
The mounting structure Matrix C of group indicates are as follows:
Then Torque distribution matrix is expressed as the pseudoinverse D=C of mounting structure matrixT(CCT)-1, three-axis force square is referred to by allocation matrix
Enable Tc=[Tcx,Tcy,Tcz]TIt is assigned as each intelligent flywheel moment instruction T of intelligent flywheel groupw=[Tw1,Tw2,Tw3,Tw4]T, as Tw
=DTc, when a certain intelligent flywheel breaks down, remaining intelligent flywheel output torque is expressed as Hc=CTw, it is assumed that X-axis intelligently flies
Wheel breaks down, and angle mount intelligence flywheel substitutes work, then mounting structure Matrix C1With allocation matrix D1It indicates are as follows:
The output torque instruction of angle mount intelligence flywheel is calculated；
(35) X-axis intelligence flywheel calculates coupling terms of the angle mount intelligence flywheel in X-axis, according to angle mount intelligence flywheel in step (34)
Output torque instructs calculation method, it is assumed that X-axis intelligence flywheel output torque instructs TcIt is 0, is obtained in X-axis using this method
Angle mount flywheel output torque coupling terms；
(36) X-axis intelligence flywheel calculates X-axis posture and attitude angular velocity error, attitude errorWhereinTo appoint
Business instruction attitude angle,For the pose estimation value read in step (32)；
(37) judge that X-axis whether there is with Y-axis to couple, if in the presence of entering step (39), if being not present, entering step
(38)；
Coupling condition is judged according to following spacecraft attitude dynamics equation:
Wherein, I is expressed as spacecraft rotary inertia,θ, ψ are the roll angle, pitch angle and yaw angle of celestial body, Ω respectivelyx、Ωy、
ΩzAngular speed of respectively each axis flywheel relative to celestial body, n are expressed as satellite orbit angular speed, LeFor moment of face, LcFor flywheel
The control moment of motor in shaft.
(38) judge that X-axis whether there is with Z axis to couple, if in the presence of entering step (310), if being not present, entering step
(311)；
(39) Y-axis posture and attitude angular velocity error are calculated, (312) are entered step；
(310) Z axis posture and attitude angular velocity error are calculated, (311) are entered step；
(311) ranking operation eliminates coupling terms and considers to eliminate the coupling of angle mount intelligence flywheel, is controlled by control algolithm operation
System output；
(312) judge whether intelligent flywheel is saturated, if so, publication unloading request terminates this week if be not saturated
Phase controller calculates work.
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| CN115783321A (en) * | 2023-02-06 | 2023-03-14 | 湖南揽月机电科技有限公司 | Large-scale single-shaft air bearing table semi-physical simulation system and working method thereof |
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