CN110979747B - Attitude and orbit coupling control method and system - Google Patents
Attitude and orbit coupling control method and system Download PDFInfo
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- CN110979747B CN110979747B CN201911327487.3A CN201911327487A CN110979747B CN 110979747 B CN110979747 B CN 110979747B CN 201911327487 A CN201911327487 A CN 201911327487A CN 110979747 B CN110979747 B CN 110979747B
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- 230000008878 coupling Effects 0.000 title claims abstract description 56
- 238000010168 coupling process Methods 0.000 title claims abstract description 56
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000007921 spray Substances 0.000 claims description 37
- 239000000446 fuel Substances 0.000 claims description 29
- 239000011159 matrix material Substances 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 6
- 239000000126 substance Substances 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000002828 fuel tank Substances 0.000 description 2
- 239000003380 propellant Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/242—Orbits and trajectories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/26—Guiding or controlling apparatus, e.g. for attitude control using jets
Abstract
The application discloses a posture and orbit coupling control method and a posture and orbit coupling control system, wherein the posture and orbit coupling control method comprises the following steps: determining the orbital motion state; determining a posture motion state; determining a posture and orbit coupling motion state according to the track motion state and the posture motion state; and acquiring the coupled motion relation of attitude control orbit control according to the attitude and orbit coupled motion state, and issuing a control command according to the coupled motion relation. The method and the device have the technical effects of simplifying system design, improving system reliability and reducing system risks.
Description
Technical Field
The application relates to the technical field of aerospace, in particular to a posture and orbit coupling control method and system.
Background
At present, decoupling control mode is adopted for spacecraft orbit control and attitude control. The orbit control adopts a main thrust engine passing through the mass center of the spacecraft, and the attitude control adopts a small thruster which only generates a moment around the center of the spacecraft and generates a couple without passing through the mass center of the spacecraft.
Specifically, as shown in fig. 1 and 2, attitude control is performed by using three groups (6) of attitude control nozzles 2 installed around the side wall of the carrier body 1, a first attitude control nozzle 21, a fourth attitude control nozzle 24 or a third attitude control nozzle 23, and a sixth attitude control nozzle 26 are simultaneously opened to control a roll channel, a first attitude control nozzle 21, a sixth attitude control nozzle 26 or a third attitude control nozzle 23, and a fourth attitude control nozzle 24 are simultaneously opened to control a pitch channel, and a second attitude control nozzle 22 or a fifth attitude control nozzle 25 is opened to control a yaw channel. The main thrust engine 3 executes a track control command.
In addition, the scheme of the prior art needs to install a plurality of groups of spray pipes, the system is complex, links such as pipeline joints are increased, and the reliability of the system is integrally low.
The general attitude control spray pipe and the propellant components adopted by the main engine are not the same, a plurality of sets of propellant storage tanks and pressurized gas cylinders need to be installed, the structural installation space is short, and the whole weight is large.
Disclosure of Invention
The present application aims to provide a posture and orbit coupling control method and system, which have the technical effects of simplifying system design, improving system reliability and reducing system risk.
To achieve the above object, the present application provides a posture and orbit coupling control method, including: determining the orbital motion state; determining a posture motion state; determining a posture and orbit coupling motion state according to the track motion state and the posture motion state; and acquiring the coupled motion relation of attitude control orbit control according to the attitude and orbit coupled motion state, and issuing a control command according to the coupled motion relation.
As above, wherein the control commands include orbit control commands and attitude control commands.
When the orbit control command and the attitude control command act on the same engine at the same time, the logic or result of the orbit control command and the attitude control command is taken as a command to be executed.
As above, the state quantity derivative expression of the orbital motion state is as follows:
wherein the content of the first and second substances,
a state quantity derivative which is an orbital motion state; a is a state transition matrix; x is the state quantity of the orbital motion equation and comprises three-direction positions and speeds; b is a control gain matrix; f is the control force component.
An attitude and orbit coupling control system comprises a carrier body, a plurality of engines, a plurality of nozzles, a controller and a delivery system; the plurality of engines are arranged at the bottom of the carrier body; the plurality of spray pipes are arranged outside the carrier body; the controller and the conveying system are both arranged in the carrier body; the controller is in signal connection with the conveying system; the conveying system is respectively connected with the plurality of engines and the plurality of spray pipes; the controller executes any one of the attitude and orbit coupling control methods.
As above, wherein the conveying system comprises: the device comprises a supercharging device, a fuel storage device and a conveying pipeline; the fuel storage device is communicated with the supercharging device; the fuel storage device is respectively communicated with the plurality of engines and the plurality of spray pipes through a conveying pipeline; control valves are arranged on the fuel storage device and the delivery pipeline between the engine and the spray pipe; each control valve is in signal connection with the controller.
As above, wherein the pressure intensifying apparatus comprises: a pressurized gas cylinder; the pressurizing gas cylinder is communicated with the fuel storage device through a pressurizing gas path; a stop valve and a pressure reducing valve are arranged on a pressurization gas path between the pressurization gas cylinder and the fuel storage device; the stop valve is arranged between the pressurized gas cylinder and the fuel storage device; the pressure reducing valve is arranged between the stop valve and the fuel storage device.
As above, wherein the delivery line comprises: a main pipeline and a plurality of sub-pipelines; the main pipeline is communicated with the fuel storage device; one end of each sub-pipeline is communicated with the main pipeline, and the other end of each sub-pipeline is communicated with the engine or the spray pipe; each sub-pipeline is provided with a control valve, and the control valve is arranged between the main pipeline and the engine or the spray pipe.
As above, among these, the plurality of engines are provided at even intervals in a circumferential shape around the axial center of the carrier.
As above, wherein, every two spray pipes in the plurality of spray pipes are in one group, two spray pipes in the same group of spray pipes are connected in opposite positions, and the spray pipe outlets are far away from the connection point.
The beneficial effect that this application realized is as follows:
(1) the attitude and orbit coupling control method and the attitude and orbit coupling control system have the technical effects of simplifying system design, improving system reliability and reducing system risks.
(2) The attitude and orbit coupling control system adopts an integral design, the orbit control engine and the attitude control spray pipe adopt a unified conveying system, and the same set of spray pipe can realize mass center movement and around-center movement.
(3) According to the attitude and orbit coupling control method, the attitude and orbit control is coupled and controlled by adopting a coupling control algorithm, so that hardware simplification and software decoupling are realized.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a perspective view of a prior art decoupled control system;
FIG. 2 is a bottom view of FIG. 1;
FIG. 3 is a bottom view of an embodiment of a attitude and orbit coupling control system of the present application;
FIG. 4 is a schematic diagram of an embodiment of a transport system of the present application;
figure 5 is a flow chart of an embodiment of a pose-orbit coupling control method of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The application provides a posture and orbit coupling control method and a posture and orbit coupling control system, which have the technical effects of simplifying system design, improving system reliability and reducing system risks.
As shown in fig. 3, 4 and 5, the present application provides a posture-coupled control system including a vehicle body 1, a plurality of engines 4, a plurality of nozzles 5, a controller, and a delivery system. The carrier body 1 is a cylinder, but not limited to a cylinder, and may also be a rectangular body, a prism body, an irregular body, or the like. A plurality of engines 4 are provided at the bottom of the carrier body 1; a plurality of nozzles 5 are arranged outside the carrier body 1; the controller and the conveying system are both arranged inside the carrier body 1; the controller is in signal connection with the conveying system; the delivery system is respectively connected with a plurality of engines 4 and a plurality of spray pipes 5; the controller executes the attitude and orbit coupling control method described below.
Specifically, as one example, the carrier body 1 is a satellite. The engine 4 is an orbital engine comprising an engine nozzle. The specific number of the engines 4 is set according to actual conditions, and four engines are preferred in the present application. The spray pipe 5 is a posture control spray pipe. The specific number of the spray pipes 5 is set according to actual conditions, and the number of the spray pipes is preferably four in the application.
Further, the conveying system comprises: the device comprises a supercharging device, a fuel storage device and a conveying pipeline; the fuel storage device is communicated with the supercharging device; the fuel storage device is respectively communicated with a plurality of engines 4 and a plurality of spray pipes 5 through conveying pipelines; control valves 67 are arranged on the delivery pipelines between the fuel storage device and the engine 4 and between the fuel storage device and the spray pipe 5; each control valve 67 is in signal connection with the controller. Specifically, as one example, the fuel storage device is a fuel tank.
Further, the supercharging apparatus includes: a pressurized gas cylinder 61; the pressurized gas cylinder 61 is communicated with a fuel storage device 65 through a pressurized gas path 64; a shut-off valve 62 and a pressure reducing valve 63 are provided on a pressurizing air passage 64 between the pressurizing air cylinder 61 and the fuel storage device 65. The shutoff valve 62 is provided between the pressurized gas cylinder 61 and the fuel storage device 65; the pressure reducing valve 63 is provided between the shutoff valve 62 and the fuel storage device 65. Wherein the pressurized gas cylinder 61 stores high pressure gas to provide pressurized gas to the fuel tank.
Further, the delivery line 66 includes: a main pipeline and a plurality of sub-pipelines. The number of the sub-pipelines is equal to the sum of the number of the engines and the number of the spray pipes. The main line is in communication with the fuel storage device 65. One end of each sub-pipeline is communicated with the main pipeline, and the other end of each sub-pipeline is communicated with the engine 4 or the spray pipe 5. Each sub-line is provided with a control valve 67, the control valve 67 being arranged between the main line and the engine 4 or the nozzle 5.
Specifically, in the process of the rail control and the attitude control, the control valve 67 receives a control command sent by the controller to perform an opening operation or a closing operation. As one example, control valve 67 is a solenoid valve.
Further, the plurality of engines 5 are disposed at even intervals in a circumferential manner around the axial center a of the carrier body 1.
Specifically, as shown in fig. 4, as an example, four engines 4 are described, wherein the four engines 4 are a first engine 41, a second engine 42, a third engine 43 and a fourth engine 44, respectively. The four engines 4 are uniformly arranged at intervals in a circumferential shape with the axis a of the carrier as the center, and the first engine 41 and the third engine 43 are respectively positioned at the upper side and the lower side of the axis a; the second engine 42 and the fourth engine 44 are respectively located on the left and right sides of the axial center a.
Furthermore, every two spray pipes 5 in the plurality of spray pipes 5 form a group, the two spray pipes 5 in the same group of spray pipes are connected in a relative position, and the outlets of the spray pipes are far away from the connection point.
Specifically, as shown in fig. 4, as an embodiment, four nozzles are taken as an example for description, wherein the four nozzles are a first nozzle 51, a second nozzle 52, a third nozzle 53 and a fourth nozzle 54. The first and second nozzles 51, 52 constitute a first group of nozzles and the third and fourth nozzles 53, 54 constitute a second group of nozzles. The first and second sets of nozzles 51, 52 are located on the outer walls of the vehicle body 1 on opposite sides thereof. The first nozzle 51 and the second nozzle 52 are connected in opposite positions, and the nozzle outlet of the first nozzle 51 and the nozzle outlet of the second nozzle 52 are both far away from the connection point b. The third nozzle 53 and the fourth nozzle 54 are connected in a relative position, and the nozzle outlet of the third nozzle 53 and the nozzle outlet of the fourth nozzle 54 are both away from the connection point c. The connection points b and c are both located on the axis y of the carrier body, the nozzle outlet directions of the four nozzles all being perpendicular to this axis y.
As shown in fig. 5, the present application provides a posture and orbit coupling control method, including:
s1: the orbital motion state is determined.
Specifically, the method comprises the following steps: the equation expression for the orbital motion state is as follows:
wherein X is the state quantity of the orbital motion equation and comprises three-direction positions and speeds;
a state quantity derivative which is an orbital motion state; a is a state transition matrix; b is a control gain matrix; f is the control force component.
The expression for the state quantity derivative of the orbital motion state can also be written as:
wherein n is the average speed of the circular orbit; x, y, and z are the relative three position quantities of the rail; n is the average speed of the circular orbit; m is the satellite mass; u. ofx、uy、uzControlling the quantity for three channels;
and
is the first derivative of the three position quantity;
and
is the second derivative of the position quantity.
S2: determining a state of the gesture motion.
In particular, in quaternions
And is
And angular velocity ωbAnd expressing the attitude of the carrier, wherein the attitude motion state is jointly described by an attitude kinematic equation and an attitude kinetic equation.
Wherein, the expression of the attitude kinematics equation is as follows:
the attitude dynamics equation is expressed as follows:
wherein the content of the first and second substances,
is an attitude kinematics equation; j is a rotational inertia matrix of the satellite,
is the angular acceleration of rotation; omegabIn order to determine the angular velocity of rotation,
is an angular velocity antisymmetric array, and T is a control moment;
is a quaternion; q is a quaternion vector portion (including q)1、q2、q3)；q4Is a quaternion scalar section;
is composed of
The transposing of (1).
S3: and determining the attitude and orbit coupling state according to the orbit motion state and the attitude motion state.
Specifically, when considering attitude-orbit coupling control, the expression of the attitude-orbit coupling motion state is as follows:
wherein the control quantity can be obtained by Lyapunov feedback control design
The expression of (a) is as follows:
the attitude, the orbit motion information and the coupling items thereof contained in the obtained K matrix can embody the coupling motion relation of the attitude control orbit control.
S4: and acquiring the coupling motion relation of attitude control orbit control according to the attitude and orbit coupling state, and issuing a control command according to the coupling motion relation.
Specifically, the controller obtains a K matrix and a control quantity through an equation of a posture-orbit coupling state (namely a motion calculus equation)
And issuing a control command to one or more of the engine 4 or the nozzle 5 according to the coupling motion relation and the control quantity.
Further, the control command comprises an orbit control command and an attitude control command.
Further, the track control comprises two gears of power: low and high acceleration.
Specifically, as one embodiment, four engines 4 will be exemplified. The low gear is to start both the first engine 41 and the third engine 43. The high-speed gear is four engines of a first engine 41, a second engine 42, a third engine 43 and a fourth engine 44.
Specifically, in the attitude control, only the first engine 41 is turned on by the positive pitching moment. A negative pitching moment is required to turn on only the third motor 43. A positive yaw moment is required to turn on the fourth engine 44. A negative bias torque is required to turn on the second motor 42. A positive rolling moment is required to open the first and second nozzles 51 and 52. A negative rolling moment is required to open the third nozzle 53 and the fourth nozzle 54.
Further, when the orbit control command and the attitude control command act on the same engine 4 at the same time, the logic or result of the orbit control command and the attitude control command is taken as a command to be executed.
Specifically, the first engine will be described as an example. For the first engine 41, if the attitude control command is on and the orbit control command is on, the first engine 41 is turned on; if the attitude control command is off and the track control command is off, the first engine 41 is turned off; if the attitude control command is off and the track control command is on, the first engine 41 is turned on; if the attitude control command is on and the track control command is off, the first motor 41 is turned on.
The beneficial effect that this application realized is as follows:
(1) the attitude and orbit coupling control method and the attitude and orbit coupling control system have the technical effects of simplifying system design, improving system reliability and reducing system risks.
(2) The attitude and orbit coupling control system adopts an integral design, the orbit control engine and the attitude control spray pipe adopt a unified conveying system, and the same set of spray pipe can realize mass center movement and around-center movement.
(3) According to the attitude and orbit coupling control method, the attitude and orbit control is coupled and controlled by adopting a coupling control algorithm, so that hardware simplification and software decoupling are realized.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, the scope of protection of the present application is intended to be interpreted to include the preferred embodiments and all variations and modifications that fall within the scope of the present application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (8)
1. A method of attitude and orbit coupling control, comprising:
the controller determines the track motion state;
the controller determines the attitude motion state;
the controller determines a posture and orbit coupling motion state according to the track motion state and the posture motion state;
the controller acquires the coupled motion relation of attitude control orbit control according to the attitude and orbit coupled motion state and issues a control command according to the coupled motion relation;
the controller obtains a K matrix and a control quantity through the attitude and orbit coupling motion state, and issues a control instruction to one or more of the engine or the jet pipe according to the coupling motion relation and the control quantity; the attitude, the orbital motion information and the coupling items thereof contained in the K matrix are used for representing the coupling motion relation;
the control instructions comprise rail control instructions and attitude control instructions; wherein, including two grades of powers during track control: a low acceleration range and a high acceleration range;
when the orbit control command and the attitude control command act on the same engine at the same time, the logic or result of the orbit control command and the attitude control command is taken as a command to be executed.
2. A posture and orbit coupling control method according to claim 1, characterized in that the state quantity derivative of the orbital motion state is expressed as follows:
wherein the content of the first and second substances,
a state quantity derivative which is an orbital motion state; a is a state transition matrix; x is the state quantity of the orbital motion equation and comprises three-direction positions and speeds; b is a control gain matrix; f is the control force component.
3. An attitude and orbit coupling control system, comprising a carrier body, a plurality of engines, a plurality of nozzles, a controller, and a delivery system; the plurality of engines are arranged at the bottom of the carrier body; the plurality of spray pipes are arranged outside the carrier body; the controller and the conveying system are both arranged inside the carrier body; the controller is in signal connection with the conveying system; the conveying system is respectively connected with a plurality of engines and a plurality of spray pipes; the controller performs the attitude and orbit coupling control method of any one of claims 1-2;
the controller obtains a K matrix and a control quantity through the attitude and orbit coupling motion state, and issues a control instruction to one or more of the engine or the jet pipe according to the coupling motion relation and the control quantity; the attitude, the orbital motion information and the coupling items thereof contained in the K matrix are used for representing the coupling motion relation;
the control instructions comprise rail control instructions and attitude control instructions; wherein, including two grades of powers during track control: a low acceleration range and a high acceleration range;
when the orbit control command and the attitude control command act on the same engine at the same time, the logic or result of the orbit control command and the attitude control command is taken as a command to be executed.
4. A pose-rail coupling control system according to claim 3, wherein the transport system comprises: the device comprises a supercharging device, a fuel storage device and a conveying pipeline; the fuel storage device is communicated with the supercharging device; the fuel storage device is respectively communicated with the plurality of engines and the plurality of spray pipes through conveying pipelines; control valves are arranged on the fuel storage device and the conveying pipeline between the engine and the spray pipe; each control valve is in signal connection with the controller.
5. An attitude and orbit coupling control system according to claim 4 wherein the booster means comprises: a pressurized gas cylinder; the pressurized gas cylinder is communicated with the fuel storage device through a pressurized gas path; a stop valve and a pressure reducing valve are arranged on a pressurization gas path between the pressurization gas cylinder and the fuel storage device; the stop valve is arranged between the pressurized gas cylinder and the fuel storage device; the pressure reducing valve is disposed between the shutoff valve and the fuel storage device.
6. A attitude and orbit coupling control system according to claim 4 or claim 5 wherein the delivery conduit comprises: a main pipeline and a plurality of sub-pipelines; the main pipeline is communicated with the fuel storage device; one end of each sub-pipeline is communicated with the main pipeline, and the other end of each sub-pipeline is communicated with the engine or the spray pipe; each sub-pipeline is provided with a control valve, and the control valve is arranged between the main pipeline and the engine or the spray pipe.
7. The attitude and orbit coupling control system of claim 3, wherein the plurality of motors are arranged at uniform intervals circumferentially about the axis of the carrier.
8. The attitude and orbit coupling control system of claim 3 wherein each two of the plurality of nozzles are in a group, two nozzles in the same group of nozzles are connected in opposing positions and the nozzle outlets are both remote from the connection point.
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| CN112550768B (en) * | 2020-12-14 | 2022-07-12 | 北京航天自动控制研究所 | High-precision angular velocity control method under short-time large-boundary interference |
| CN116812171B (en) * | 2023-08-23 | 2023-12-08 | 北京国宇星辰科技有限公司 | Attitude and orbit coupling vector control system and method for orbital vehicle |
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