CN110553810B - Satellite-borne variable-speed CMG micro-vibration noise suppression method - Google Patents
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Abstract
The invention discloses a satellite-borne variable-speed CMG micro-vibration noise suppression method, which comprises the following steps: setting a satellite-borne computer to switch the sampling of the fiber-optic gyroscope into high-frequency sampling through a ground instruction, and acquiring high-frequency data of the fiber-optic gyroscope; high-frequency data of the fiber-optic gyroscope are stored in a planet carrier computer through a bus interface and descend to the ground through a house service counter computer; obtaining variable speed control moment gyro low-speed frame vibration test data, variable speed control force gyro sliding noise, variable speed control force gyro normal working condition noise and variable speed control force gyro starting noise on a satellite platform; carrying out FFT (fast Fourier transform) on the acquired time domain data in sequence to obtain the relation between the frequency domain response characteristic and the CMG periodic motion, and acquiring the CMG noise disturbance frequency point of the working condition through the frequency domain response spectrum; the invention solves the limitation problem that the existing micro-vibration measurement technology always adopts the whole-satellite micro-vibration test mode.
Description
Technical Field
The invention belongs to the field of attitude and orbit control of a low earth orbit satellite, and relates to a method for analyzing the micro-vibration influence of a satellite-borne variable-speed CMG (China Mobile gateway) by using a fiber-optic gyroscope.
Background
The patent is derived from a mechanical micro-vibration test process after a commercial remote sensing satellite control subsystem is integrated with a whole satellite. A commercial remote sensing satellite control subsystem variable speed Control Moment Gyro (CMG) product is used as the most core product of the model, and the disturbance characteristic of micro-vibration directly influences the control precision and stability of the satellite. The suppression and suppression effect on the disturbance often determine the final attitude stability index of the satellite.
The variable speed control moment gyro newly developed by the spaceflight 502 has the characteristics of miniaturization, high reliability and strong maneuverability and quick response. The uncertainty of the motion of the variable speed rotor and the low speed frame of the variable speed control moment gyroscope (control algorithm decision) brings the uncertainty of the whole satellite output noise. For a satellite control platform with high precision and high stability requirements, high-frequency noise can affect the measurement result of a load (an optical camera or SAR). Interference noise is measured and analyzed through the satellite-borne fiber-optic gyroscope, and the precondition guarantee is provided for subsequent filtering and high-precision control algorithm.
According to the satellite development process, the satellite performs a micro-vibration test in the stage of AIT final assembly integration test. And measuring the micro-vibration condition of the specified working condition of the satellite under a static condition through a mechanical measuring point arranged on the satellite. The whole satellite micro-vibration test tests the influence of the static disturbance characteristic of the satellite on a load component (camera) to a certain extent. Meanwhile, the method can also be used as the basis of a control subsystem index evaluation system. However, the whole-satellite micro-vibration test can only solve specific ground working conditions, the analysis capability on the whole-satellite full-test working conditions or the actual in-orbit flight working conditions of the satellite is not enough, and the state setting is relatively complicated, so that the real-time disturbance analysis is not facilitated.
Because the output bandwidth of a gyro for measuring the satellite is not high, the acquisition of high-frequency characteristics is difficult, and the high-frequency attitude component of the satellite cannot be acquired. The high-frequency components actually act on the satellite body and influence the satellite attitude stability in real time. The CAST3000B satellite platform adopts the fiber-optic gyroscope as angular velocity sensitive equipment, and the improvement of the passband of the fiber-optic gyroscope provides feasibility for measuring high-frequency disturbance noise.
On the basis that hardware has feasibility, the control subsystem is technically designed and coordinated with related measurement and control channels and test conditions. The method is characterized in that a related test of self-sampling high-frequency noise of a control subsystem is carried out for the first time while a QM-101 group satellite whole satellite micro-vibration test is carried out, and a proposal of related vibration reduction measures is provided for a satellite overall. After the vibration reduction measures are implemented, the subsystem is subjected to relevant tests again, test results are further analyzed, and relevant filtering parameters of the optical fiber gyroscope of the subsystem are corrected. And a powerful support is provided for realizing high stability indexes (influencing imaging quality) of QM-1 (commercial remote sensing satellite) in orbit. And provides related technical support for the whole satellite micro-vibration test of the subsequent CAST3000B and other related platform satellites.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for analyzing the satellite-borne variable-speed CMG micro-vibration influence by using the fiber-optic gyroscope overcomes the defects of the prior art, analyzes the satellite-borne variable-speed control force by using the variable-sampling satellite-borne fiber-optic gyroscope to reject the micro-vibration influence of the gyroscope, and provides a precondition guarantee for subsequent filtering and high-precision control algorithm.
The technical solution of the invention comprises the following steps: a satellite-borne variable-speed CMG micro-vibration noise suppression method comprises the following steps:
1) setting a satellite-borne computer to switch the sampling of the fiber-optic gyroscope into high-frequency sampling through a ground instruction, and acquiring high-frequency data of the fiber-optic gyroscope; high-frequency data of the fiber-optic gyroscope are stored in a planet carrier computer through a bus interface and descend to the ground through a house service counter computer;
2) acquiring the vibration test data of the low-speed frame of the variable-speed control moment gyroscope on a satellite platform;
3) acquiring variable speed control force gyro starting resistant noise on a satellite platform;
4) obtaining the variable speed control force gyro sliding resistant noise on a satellite platform;
5) acquiring the noise of the variable speed control force resisting the normal working condition of the gyroscope on the satellite platform;
6) carrying out FFT (fast Fourier transform) on the time domain data acquired in the steps 2) -5) in sequence to obtain the relation between the frequency domain response characteristic and the CMG periodic motion, and acquiring the CMG noise disturbance frequency point of the working conditions in the steps 2) -5) through a frequency domain response spectrum;
7) a noise suppression measure is applied.
The frequency of the high-frequency sampling in the step 1) is 2 times or more of the tested noise, and the method meets the Shannon sampling requirement.
The specific method of the step 2) comprises the following steps: the low-speed frame of the variable-speed CMG rotates at a fixed angular rate, and the high-speed rotor of the variable-speed CMG is stabilized at a certain on-orbit specified rotating speed; sampling low-speed frame vibration data of the fiber-optic gyroscope for 30min, and forwarding the low-speed frame vibration data to the ground through a star counter computer;
the specific method of the step 3) comprises the following steps: the variable-speed CMG low-speed frame is arranged at a zero position, and a variable-speed CMG high-speed rotor starting instruction is sent, so that the rotating speed of the high-speed rotor gradually rises from zero and is stabilized at a rotating speed specified by a certain on-orbit; and storing the sampling data of the fiber-optic gyroscope in the starting process of the variable-speed CMG, and forwarding the sampling data to the ground through a star counter computer.
The specific method of the step 4) comprises the following steps: the variable-speed CMG low-speed frame is arranged at a zero position, and a variable-speed CMG high-speed rotor sliding instruction is sent to ensure that the high-speed rotor rotates to gradually slide to the zero speed from a certain on-orbit specified rotating speed; and storing the sampling data of the fiber-optic gyroscope in the sliding process of the variable-speed CMG, and forwarding the sampling data to the ground through a star counter computer.
The specific method of the step 5) comprises the following steps: and simulating the whole satellite on-orbit flight working condition by adopting a dynamics test closed loop mode, sampling and storing data of the whole satellite vibration condition of the on-orbit flight working condition containing vibration noise by adopting a fiber-optic gyroscope, and forwarding the data to the ground by using a housekeeping counting computer.
The acquisition sequence of the steps 2) -5) can be adjusted at will according to the satellite test working condition.
Compared with the prior art, the invention has the advantages that:
(1) the method adopts an FFT method to determine the satellite noise interference parameters, can accurately position a noise source, improves the stability of imaging satellite control systems such as optics or SAR and the like by actively applying noise suppression measures on the ground, and can obviously improve the imaging quality of an imaging satellite;
(2) the noise measurement of the method does not depend on an external measurement means, so that the investment of ground micro-vibration measurement equipment can be reduced, the advantages of wide frequency domain and high measurement precision of optical fiber products can be effectively utilized, the expenditure is saved, and the application field of the satellite-borne optical fiber gyroscope products is expanded;
(3) the method can be popularized to the in-orbit application scene of the satellite, noise data of different application fields in the in-orbit can be obtained only by carrying out high-frequency sampling on the gyro subjected to redundancy backup, and the frequency response of the noise can be used for in-orbit parameter correction of a satellite control system.
Drawings
FIG. 1 is a CMG start-up, work and coast time domain feature;
FIG. 2 is a graph showing the time domain characteristics of the output of the fiber optic gyroscope before the CMG is started;
FIG. 3 is a graph showing the frequency domain characteristics of the output of the fiber optic gyroscope before the CMG is started;
FIG. 4 CMG5280 rpm, time domain characteristics of the output of the fiber optic gyroscope;
FIG. 5 CMG5280 rpm, fiber optic gyroscope output frequency domain characteristics;
FIG. 6 CMG6240 rpm, time domain characteristics of the output of the fiber optic gyroscope;
FIG. 7 CMG6240 rpm, fiber optic gyro output frequency domain characteristics;
FIG. 8 CMG7680 rpm, time domain characteristics of the output of the fiber optic gyroscope;
FIG. 9 CMG7680 rpm, fiber optic gyroscope output frequency domain characteristics;
FIG. 10 CMG7680 rpm, frame 0.02 °/s, fiber optic gyroscope output time domain characteristics;
FIG. 11 CMG7680 rpm, frame 0.02 °/s, fiber optic gyroscope output frequency domain characteristics;
FIG. 12 CMG8000 rpm, time domain characteristics of the output of the fiber optic gyroscope;
FIG. 13 CMG8000 rpm, frequency domain characteristics of the output of the fiber optic gyroscope;
FIG. 14 time domain characteristics of the noise suppression measure (frame at 0.02 °/s) gyro 1 output;
FIG. 15 frequency domain characteristics of the noise suppression measure (frame at 0.02 °/s) gyro 1 output;
FIG. 16 time domain characteristics of the noise suppression measure (frame at 0.02 °/s) gyro 2 output;
FIG. 17 frequency domain characteristics of the noise suppression measure (frame at 0.02 °/s) gyro 2 output;
FIG. 18 time domain characteristics of the noise suppression measure (frame at 0.02 °/s) gyro 3 output;
FIG. 19 frequency domain characteristics of the noise suppression measure (frame at 0.02 °/s) gyro 3 output;
FIG. 20 time domain characteristics of the noise suppression measure (frame at 0.02 °/s) gyro 4 output;
FIG. 21 frequency domain characteristics of the noise suppression measure (frame at 0.02 °/s) gyro 4 output;
FIG. 22 time domain characteristics of the noise suppression measure (frame at 0.04 °/s) gyro 1 output;
FIG. 23 frequency domain characteristics of the noise suppression measure (frame at 0.04 °/s) gyro 1 output;
FIG. 24 time domain characteristics of the noise suppression measure (frame at 0.04 °/s) gyro 2 output;
FIG. 25 frequency domain characteristics of the noise suppression measure (frame at 0.04 °/s) gyro 2 output;
FIG. 26 time domain characteristics of the noise suppression measure (frame at 0.04 °/s) gyro 3 output;
FIG. 27 frequency domain characteristics of the noise suppression measure (frame at 0.04 °/s) gyro 3 output;
FIG. 28 time domain characteristics of the noise suppression measure (frame at 0.04 °/s) gyro 4 output;
FIG. 29 frequency domain characteristics of the noise suppression measure (frame at 0.04 °/s) gyro 4 output;
Detailed Description
The basic principle of the method is described below with reference to fig. 1-29, and the present invention is applied to the working conditions of micro-vibration measurement of commercial remote sensing satellites.
The method comprises the following specific steps:
1. setting a working condition that a satellite works in a vibration component CMG without vibration reduction measures;
2. sending an instruction of 'high-speed acquisition of solid memory data', and setting up the housekeeping to receive and store control data by the solid memory.
3. And sending a command of descending the high-frequency data of the fiber-optic gyroscope to the ground, and establishing a descending data channel.
4. And sending a control instruction of high-frequency sampling of the fiber-optic gyroscope.
5. Running the CMG1 to start at high speed, starting the CMG1 to the rated speed, and recording the high speed starting data at the moment.
6. And sending instructions of CMG1 product control and CMG 2-5 simulation control.
7. The CMG1 product is sent to carry out open-loop control, and output responses of the fiber optic gyroscope at 5280 revolutions per minute (vibration frequency is 88Hz), 6240 revolutions per minute (vibration frequency is 104Hz), 7680 revolutions per minute (vibration frequency is 128Hz), 7680 revolutions per minute while the frame rotates at 0.02 degrees/s and 8000 revolutions per minute (vibration frequency is 133.33HZ) are tested.
The data are as follows:
8. command CMG1 is sent angularly locked to 0 °.
9. The CMG1 is instructed to coast at high speed.
10. FFT conversion is carried out on the high-frequency sampling data to obtain the CMG noise disturbance frequency point under the steady-state working condition
11. A damping device is added to the variable-speed CMG, in the embodiment, the CMG is started to 7680 rpm, the filtering frequency is set to 8Hz, and the CMG is rotated at a small angular speed to simulate the satellite control working condition.
12. The actual data results are as follows.
a)5 and 9, analyzing the noise amplitude from the CMG starting and sliding time domain characteristics, and showing that the amplitude of the noise time domain characteristics is different for different rated rotating speeds. The curve is shown in figure 1.
b) Corresponding to the data of step 7. The data characteristics and the time domain characteristics are not obvious, but the frequency domain is also set as a vibration frequency response position, so that the typical frequency point disturbance of the noise can be accurately measured.
(1) Before the CMG is started, the output time domain and frequency domain characteristics of the fiber-optic gyroscope are shown in attached figures 2 and 3.
(2) The CMG5280 rpm and the time domain and frequency domain characteristics of the output of the fiber-optic gyroscope are shown in figures 4 and 5.
(3) CMG6240 rpm, the output time domain and frequency domain characteristics of the fiber-optic gyroscope are shown in figures 6 and 7.
(4) CMG7680 rpm, the output time domain and frequency domain characteristics of the fiber optic gyroscope are shown in figure 8 and figure 9.
(5) CMG7680 rpm, frame 0.02 degree/s, output time domain and frequency domain characteristics of the fiber-optic gyroscope are shown in figure 10 and figure 11.
(6) The CMG is 8000 rpm, and the output time domain and frequency domain characteristics of the fiber-optic gyroscope are shown in figure 12 and figure 13.
TABLE 1 Gyro 500Hz output data
c) And (4) taking a noise suppression measure corresponding to the data in the step 11, periodically filtering the high-frequency point, reducing the noise amplitude, and making the noise have no typical frequency point.
(1) CMG7680 rpm, frame from static to start 0.02 degree/s, keeping 60s, and increasing speed to 0.04 degree/s, fiber optic gyroscope outputs time domain and frequency domain characteristics. The time domain and frequency domain output characteristic curves of the four-output fiber-optic gyroscope refer to the attached figures 14-21.
(2) CMG7680 rpm, raising the frame speed to 0.04 degree/s, keeping 60s, and outputting time domain and frequency domain characteristics by the fiber-optic gyroscope in the speed-reducing sliding stopping process. The time domain and frequency domain output characteristic curves of the four-output fiber-optic gyroscope refer to the attached figures 22-29.
TABLE 2 ground detection device 125ms sampling, gyro 8Hz output data
Claims (7)
1. A satellite-borne variable-speed CMG micro-vibration noise suppression method is characterized by comprising the following steps:
1) setting a satellite-borne computer to switch the sampling of the fiber-optic gyroscope into high-frequency sampling through a ground instruction, and acquiring high-frequency data of the fiber-optic gyroscope; high-frequency data of the fiber-optic gyroscope are stored in a planet carrier computer through a bus interface and descend to the ground through a house service counter computer;
2) acquiring the vibration test data of the low-speed frame of the variable-speed control moment gyroscope on a satellite platform;
3) acquiring variable speed control force gyro starting resistant noise on a satellite platform;
4) obtaining the variable speed control force gyro sliding resistant noise on a satellite platform;
5) acquiring the noise of the variable speed control force resisting the normal working condition of the gyroscope on the satellite platform;
6) carrying out FFT (fast Fourier transform) on the time domain data acquired in the steps 2) -5) in sequence to obtain the relation between the frequency domain response characteristic and the CMG periodic motion, and acquiring the CMG noise disturbance frequency point of the working conditions in the steps 2) -5) through a frequency domain response spectrum;
7) a noise suppression measure is applied.
2. The method for suppressing the micro-vibration noise of the satellite-borne variable-speed CMG according to claim 1, wherein the method comprises the following steps: the frequency of the high-frequency sampling in the step 1) is 2 times or more of the tested noise, and the method meets the Shannon sampling requirement.
3. The method for suppressing the micro-vibration noise of the satellite-borne variable-speed CMG according to claim 1, wherein the method comprises the following steps: the specific method of the step 2) comprises the following steps: the low-speed frame of the variable-speed CMG rotates at a fixed angular rate, and the high-speed rotor of the variable-speed CMG is stabilized at a certain on-orbit specified rotating speed; sampling the low-speed frame vibration data of the fiber-optic gyroscope for 30min, and forwarding the data to the ground through a star counter computer.
4. The method for suppressing the micro-vibration noise of the satellite-borne variable-speed CMG according to claim 1, wherein the method comprises the following steps: the specific method of the step 3) comprises the following steps: the variable-speed CMG low-speed frame is arranged at a zero position, and a variable-speed CMG high-speed rotor starting instruction is sent, so that the rotating speed of the high-speed rotor gradually rises from zero and is stabilized at a rotating speed specified by a certain on-orbit; and storing the sampling data of the fiber-optic gyroscope in the starting process of the variable-speed CMG, and forwarding the sampling data to the ground through a star counter computer.
5. The method for suppressing the micro-vibration noise of the satellite-borne variable-speed CMG according to claim 1, wherein the method comprises the following steps: the specific method of the step 4) comprises the following steps: the variable-speed CMG low-speed frame is arranged at a zero position, and a variable-speed CMG high-speed rotor sliding instruction is sent to ensure that the high-speed rotor rotates to gradually slide to the zero speed from a certain on-orbit specified rotating speed; and storing the sampling data of the fiber-optic gyroscope in the sliding process of the variable-speed CMG, and forwarding the sampling data to the ground through a star counter computer.
6. The method for suppressing the micro-vibration noise of the satellite-borne variable-speed CMG according to claim 1, wherein the method comprises the following steps: the specific method of the step 5) comprises the following steps: and simulating the whole satellite on-orbit flight working condition by adopting a dynamics test closed loop mode, sampling and storing data of the whole satellite vibration condition of the on-orbit flight working condition containing vibration noise by adopting a fiber-optic gyroscope, and forwarding the data to the ground by using a housekeeping counting computer.
7. The method for suppressing micro-vibration noise of CMG according to any of claims 1-6, wherein: the acquisition sequence of the steps 2) -5) can be adjusted at will according to the satellite test working condition.
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