CN111399525B - Mars detector ground antenna control method considering both precise pointing and position safety - Google Patents
Mars detector ground antenna control method considering both precise pointing and position safety Download PDFInfo
- Publication number
- CN111399525B CN111399525B CN202010120453.3A CN202010120453A CN111399525B CN 111399525 B CN111399525 B CN 111399525B CN 202010120453 A CN202010120453 A CN 202010120453A CN 111399525 B CN111399525 B CN 111399525B
- Authority
- CN
- China
- Prior art keywords
- antenna
- axis
- ground antenna
- coordinate system
- body coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/288—Satellite antennas
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention relates to a control method of a Mars detector to a ground antenna, which takes precise pointing and position safety into consideration, wherein in a closed-loop control stage, the attitude of the ground antenna is adjusted according to a reference angular velocity obtained by real-time calculation to realize ground tracking; when the current moment is smaller than a first preset time period from a preset track control moment, entering a biasing stage, setting a safe angle for biasing the ground antenna in the biasing stage, judging whether the ground antenna is biased in place or not when the current moment is smaller than a second preset time period from the preset track control moment, and if so, executing track control operation at the track control moment; otherwise, the rail control operation is canceled. By the method provided by the invention, the earth antenna can be tracked in a closed loop and accurately pointed to the earth in a long-term flight stage, so that the communication link is ensured to be unobstructed; the antenna hinge can be automatically biased to a safe position during the track control, so that the antenna hinge is prevented from being broken by large thrust impact.
Description
Technical Field
The invention relates to a control method for a spark detector to a ground antenna, which takes precise pointing and position safety into consideration, and belongs to the technical field of spark detection to the ground antenna control.
Background
At present, most domestic near-earth satellites are controlled in a long-term earth directional steady state, an omni-directional antenna is used, the antenna is not required to be driven to track the earth in real time, the control precision requirement on the antenna is not high, and the problem of communication link interruption cannot occur. The Mars detector is far away from the earth, the beam angle of the antenna is small, and the directional angle of the ground antenna can be changed in real time due to the change of the orbit of the detector, so that the accuracy of controlling the directional of the antenna is required to be high, and the tracking of the directional of the antenna can be realized in real time. The traditional antenna control method can not meet the requirement of a Mars detection task on the antenna pointing precision.
In addition, the thrust required by the traditional near-earth satellite for performing the orbit transfer task is generally in the order of tens of newtons, the impact is small, the communication has no time delay problem, and the orbit transfer satellite is driven to a safe position by a ground injection control antenna before orbit transfer. In the whole detection task process of the Mars detector, a 3000N engine is adopted for rail changing for many times, the high thrust of a rail changing device impacts the firmware of the antenna, and the risk of antenna breakage is generated if the antenna is not controlled to be biased to a safe position.
Because of the problem of communication delay of the ground, the traditional ground control method cannot drive the antenna to a safe position in time, and the ground cannot judge whether the antenna is driven in place in time, so that the strategy of executing the track control subsequently is directly affected. Therefore, it is necessary to design an autonomous control method that combines the precise pointing and position safety of the spark detection to the ground antenna. Under a long-term sun alignment mode, the control system can realize autonomous driving of the earth antenna, can track in a closed loop and accurately point to the earth, and ensures that a communication link is smooth; the antenna hinge can be automatically biased to a safe position during the track control, so that the antenna hinge is prevented from being broken by large thrust impact.
Disclosure of Invention
The invention solves the technical problems that: the method has the advantages that the defects of the prior art are overcome, the control method for the ground antenna of the Mars detector, which takes both precise pointing and position safety into consideration, is provided, the ground antenna can be tracked in a closed loop and precisely pointed to the earth in a long-term flight stage, and the communication link is ensured to be smooth; the antenna hinge can be automatically biased to a safe position during the track control, so that the antenna hinge is prevented from being broken by large thrust impact.
The solution of the invention is as follows: the control method of the Mars detector to the ground antenna with both accurate pointing and safe position comprises the following closed-loop control stage and bias stage;
and in the closed loop control stage, each control period executes the following steps:
(1) Calculating a ground antenna driving instruction angle of a current control period in real time based on a driving strategy of the ground antenna, and calculating a ground antenna reference angular speed according to the ground antenna driving instruction angles of two continuous control periods;
(2) Judging whether the current moment is smaller than a first preset time period from a preset track control moment or not, and if so, entering a bias stage; otherwise, adjusting the attitude of the ground antenna according to the reference angular velocity of the ground antenna calculated in the step (1) to enable the ground antenna to realize ground tracking, and repeating the steps (1) to (2);
the bias phase performs the following steps:
(3) Setting the bias to the ground antenna to a safe angle, and then entering the step (4);
(4) Judging whether the current moment is smaller than a second preset time period from a preset track control moment or not, if so, judging whether the antenna is biased in place or not, and if so, executing track control operation at the track control moment; otherwise, the rail control operation is canceled.
When the ground antenna adopts a driving strategy that the ground antenna firstly rotates around the X axis of the body coordinate system and then rotates around the Y axis of the body coordinate system, the driving instruction angle of the ground antenna comprises the X axis driving angle of the body coordinate system of the ground antenna and the Y axis driving angle of the body coordinate system of the ground antenna; the reference angular velocity is an X-axis reference angular velocity of the body coordinate system of the ground antenna and a Y-axis reference angular velocity of the body coordinate system of the ground antenna.
The driving instruction angle of the ground antenna is calculated by the following method:
(1.1) acquiring an earth vector R in a body coordinate system of the earth antenna g ：
(1.2) calculating the closed-loop driving angle alpha of the X axis of the ground antenna by adopting a driving strategy of rotating around the X axis and then rotating around the Y axis g Y-axis closed-loop driving angle beta of ground antenna g ；
The calculation formulas of the X-axis reference angular velocity of the body coordinate system of the ground antenna and the Y-axis reference angular velocity of the body coordinate system of the ground antenna are as follows:
Dα g ＝2(a g (k)-a g (k-1))
Dβ g ＝2(β g (k)-β g (k-1))
wherein a is g (k) A is the X-axis driving angle of the main body coordinate system of the grounding antenna in the current period g (k-1) the X-axis driving angle of the body coordinate system of the ground antenna in the last control period; beta g (k) For the Y-axis driving angle beta of the current period to the ground antenna body coordinate system g (k-1) is the Y-axis driving angle of the body coordinate system of the ground antenna in the last control period.
And after the ground antenna driving instruction angle is calculated, adding zero correction of the ground antenna driving instruction angle.
The zero correction method comprises the following steps:
α g ＝α' g +Δα
β g ＝β' g +Δβ；
α′ g for the X-axis driving angle of the body coordinate system of the grounding antenna before correction, alpha g For the X-axis driving angle of the corrected grounding antenna body coordinate system, beta' g To correct the Y-axis driving angle of the body coordinate system of the grounding antenna before correction, beta g For the Y-axis driving angle of the corrected body coordinate system of the grounding antenna, delta alpha isZero offset of the X-axis driving angle of the ground antenna body coordinate system, delta beta and zero offset of the Y-axis driving angle of the ground antenna body coordinate system are obtained through on-orbit calibration.
Before calculating the X-axis reference angular velocity of the body coordinate system of the ground antenna and the Y-axis reference angular velocity of the body coordinate system of the ground antenna, respectively carrying out amplitude limiting treatment on the X-axis driving angle of the body coordinate system of the ground antenna and the Y-axis driving angle of the body coordinate system of the ground antenna.
The specific implementation of the clipping process is as follows:
s3.1, driving angle alpha by X axis of body coordinate system of ground antenna g Is X coordinate, Y axis driving angle beta of the body coordinate system of the grounding antenna g Establishing a two-dimensional plane coordinate system for the Y coordinate;
s3.2, uniaxial amplitude limitation of an X-axis and Y-axis closed-loop driving angle of the ground antenna:
acquiring a single-axis amplitude limiting range [ alpha ] of X-axis closed-loop driving angle of a ground antenna gmin ,α gmax ]Single-axis limiting range [ beta ] of Y-axis closed-loop driving angle gmin ,β gmax ]；
If: alpha g <α gmin Or alpha g >α gmax Or beta g <β gmin Or beta g >β gmax Updating the X-axis driving angle alpha of the body coordinate system of the grounding antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g As the calculation result of the last control period, otherwise, keeping the X-axis driving angle alpha of the body coordinate system of the earth antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g The calculation result of the period is unchanged.
S3.3, joint constraint of X-axis and Y-axis closed-loop driving angles of the ground antenna:
four extreme positions (alpha) of the XY axis driving safety envelope of the ground antenna are taken 1 ,β 1 )、(α 2 ,β 2 )、(α 3 ,β 3 )、(α 3 ,β 3 )；(α 1 ,β 1 )、(α 2 ,β 2 )、(α 3 ,β 3 )、(α 3 ,β 3 ) According to clockwise or anticlockwise divisionCloth;
with (alpha) 1 ,β 1 )、(α 2 ,β 2 ) The connected straight lines approximately fit the limit position (alpha 1 ,β 1 )、(α 2 ,β 2 ) The slope of the line is calculated as the curve
Intersection of the line with the +X axis +.>
With (alpha) 3 ,β 3 )、(α 3 ,β 3 ) The connected straight lines approximately fit the limit position (alpha 3 ,β 3 )、(α 3 ,β 3 ) The slope of the line is calculated as the curve
Intersection of the line with the +X axis +.>
If: alpha g +K 1 β g >b 1 Or alpha g +K 2 β g <b 2 Updating the X-axis driving angle alpha of the body coordinate system of the grounding antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g As the calculation result of the last control period, otherwise, keeping the X-axis driving angle alpha of the body coordinate system of the earth antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g The calculation result of the period is unchanged.
The first preset time period is greater than a maximum time period required for biasing the ground antenna to a safe position.
The second preset time period is greater than 0.
The judging method for whether the ground antenna is biased in place in the step (6) comprises the following steps:
respectively calculating the instruction angle alpha of the X axis of the grounding antenna safe And the commanded angle to the Y-axis of the ground antennaβ safe If any one of the differences between the two actual driving angles is larger than a preset threshold, the offset of the ground antenna is not considered to be in place; both are less than the threshold, the antenna is considered to be biased into place.
The preset threshold is less than or equal to 2 degrees.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention provides a closed-loop control strategy and a bias strategy, so that the Mars detector keeps energy source sufficient for a long-term daily attitude and keeps communication to the ground smooth. Before the high thrust track control and track change are carried out, the ground antenna is automatically biased to a safe position, and the antenna is prevented from being broken due to high thrust impact.
(2) According to the invention, zero correction is added after the instruction angle of the driving mechanism is calculated according to the earth position and the detector position, so that the pointing precision is improved.
(3) According to the invention, the command angle of the driving mechanism is calculated according to the earth position and the detector position, then the command angle is limited, and the single-axis constraint and the combined constraint are considered in the limiting process, so that the reliability is higher.
Drawings
FIG. 1 is a diagram illustrating the definition of the driving direction of a ground antenna according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an analysis of the limit position of the XY axis motion envelope of a ground antenna according to an embodiment of the present invention;
fig. 3 is a flowchart of an autonomous control method for precise pointing and position security of a ground antenna according to an embodiment of the present invention.
Detailed Description
The invention is further illustrated below with reference to examples.
The invention provides an autonomous control method which gives consideration to the precise pointing and position safety of a ground antenna of a Mars detector. The method ensures that the control system of the Mars detector can control the closed-loop tracking of the ground antenna and accurately point to the earth in a long-term flight stage, ensures smooth communication link, and simultaneously can autonomously bias the ground antenna to a safe position during the track control period so as to avoid the breakage of the antenna hinge due to larger thrust impact.
Detailed description referring to fig. 3, a flow chart of an autonomous control method for precise pointing and position security of a ground antenna is provided.
As shown in fig. 3, the autonomous control method for considering both precise pointing and position safety of the spark detection to the ground antenna provided by the invention comprises the following two stages:
and in the closed loop control stage, each control period executes the following steps:
(1) Calculating a ground antenna driving instruction angle of a current control period in real time based on a driving strategy of the ground antenna, and calculating a ground antenna reference angular speed according to the ground antenna driving instruction angles of two continuous control periods;
when the ground antenna adopts a driving strategy that the ground antenna firstly rotates around the X axis of the body coordinate system and then rotates around the Y axis of the body coordinate system, the driving instruction angle of the ground antenna comprises the X axis driving angle of the body coordinate system of the ground antenna and the Y axis driving angle of the body coordinate system of the ground antenna; the reference angular velocity is an X-axis reference angular velocity of the body coordinate system of the ground antenna and a Y-axis reference angular velocity of the body coordinate system of the ground antenna. Fig. 1 is a diagram illustrating a definition of a driving direction of a ground antenna according to an embodiment of the present invention.
Before this step is performed, the programming deployment process for the ground antenna needs to be completed: after receiving a program-controlled unfolding to-ground antenna instruction of the ground fluence, the Mars detector control system triggers the function of the program-controlled unfolding to-ground antenna, and the control system sequentially sends a program-controlled unfolding instruction group to the to-ground antenna, namely, after the last unfolding instruction angle is in place (the difference between the instruction angle and the actual unfolding angle of the to-ground antenna is smaller than 0.1 degrees), the control system autonomously sends a next angle instruction. The on-board autonomous program control unfolding of the ground antenna is realized.
The driving instruction angle of the ground antenna is calculated by the following method:
(1.1) a closed-loop control stage, wherein the Mars detector control system is operated in a closed-loop tracking mode by the ground antenna, and the Mars detector position Rs= [ x ] is recursively calculated according to the current track s ,y s ,z s ] T On-board ephemeris computed earth position vector Re eci ＝[x e ,y e ,z e ] T And fire (He Huo)Star position vector Rm eci ＝[x m ,y m ,z m ] T Current inertial reference q bi ＝[q bi0 q bi1 q bi2 q bi3 ] T Conversion matrix from Mars inertial coordinate system to earth J2000 flat equatorial inertial coordinate system
Calculating an earth vector R in a body coordinate system of a ground antenna g ：
The specific calculation steps are as follows:
a) Mars detector pointing to earth vector R under calculation of geocentric equatorial coordinate system s2e ；
(1) Mars detector pointing to earth vector R under escape zone and ground fire transfer Duan Dexin flat equatorial coordinate system s2e The calculation formula of (2) is as follows:
R s2e ＝[x e -x s ,y e -y s ,z e -z s ] T
(2) mars detector pointing to earth vector R under circular fire section earth center flat equatorial coordinate system s2e The calculation formula of (2) is as follows:
R s2e ＝Re eci -(Rm eci +M e2m T Rs)
b) Calculating an attitude transfer matrix from the geocentric equatorial coordinate system to the Mars detector body system;
c) Calculating an attitude transfer matrix from a Mars detector body coordinate system to a ground antenna body coordinate system
d) Calculated areaPosture transfer matrix from equatorial coordinate system to ground antenna driving reference coordinate system
e) Calculating the earth vector of the body coordinate system of the earth antenna
(1.2) calculating the closed-loop driving angle alpha of the X axis of the ground antenna by adopting a driving strategy of rotating around the X axis and then rotating around the Y axis g Y-axis closed-loop driving angle beta of ground antenna g ；
Due to the ground installation and the influence of the earth attraction, a certain deviation can be generated between the actual zero position and the ideal zero position of the earth antenna, and after the X-axis driving angle of the earth antenna body coordinate system and the Y-axis driving angle of the earth antenna body coordinate system are calculated, zero position correction steps of the X-axis driving angle of the earth antenna body coordinate system and the Y-axis driving angle of the earth antenna body coordinate system can be added, so that the pointing precision of the earth antenna is improved.
The zero correction steps of the X-axis driving angle of the body coordinate system of the grounding antenna and the Y-axis driving angle of the body coordinate system of the grounding antenna are as follows:
α g ＝α' g +Δα
β g ＝β' g +Δβ；
α′ g for the X-axis driving angle of the body coordinate system of the grounding antenna before correction, alpha g For the X-axis driving angle of the corrected grounding antenna body coordinate system, beta' g To correct the Y-axis driving angle of the body coordinate system of the grounding antenna before correction, beta g For corrected body coordinates of the grounding antennaIs the Y-axis driving angle. Δα is zero offset of the driving angle of the body coordinate system of the earth antenna in the X-axis direction, and Δβ is zero offset of the driving angle of the body coordinate system of the earth antenna in the Y-axis direction. In the on-orbit operation process of the Mars detector, after the calibration of the ground antenna is completed, accurate zero offset can be obtained, delta alpha and delta beta can be corrected through the number of notes, and in a specific embodiment of the invention, the correction range is [ 3 degrees, 3 degrees ] and the dimension is 0.01 degrees.
(1.3), closed loop driving angular position safety design: according to the installation position of the grounding antenna, the risk of impacting the body possibly exists in the driving process, so that the X-axis driving angle of the grounding antenna body coordinate system and the Y-axis driving angle of the grounding antenna body coordinate system are subjected to amplitude limiting treatment;
the invention relates to a safety design of closed-loop driving angle position, which comprises the following steps: firstly, respectively designing single-axis amplitude limiting for an X-axis driving angle of a body coordinate system of the grounding antenna and a Y-axis driving angle of the body coordinate system of the grounding antenna, and then designing joint constraint of the X-axis closed-loop driving angle and the Y-axis closed-loop driving angle; and according to the safety distance between the edge protrusion of the grounding antenna and the Mars detector body, the safety limit position of the grounding antenna is obtained. The position safety of the ground antenna in the closed-loop control mode is ensured.
The specific implementation of the clipping process is as follows:
s3.1, driving angle alpha by X axis of body coordinate system of ground antenna g Is X coordinate, Y axis driving angle beta of the body coordinate system of the grounding antenna g Establishing a two-dimensional plane coordinate system for the Y coordinate;
s3.2, uniaxial amplitude limitation of an X-axis and Y-axis closed-loop driving angle of the ground antenna: acquiring a single-axis amplitude limiting range [ alpha ] of X-axis closed-loop driving angle of a ground antenna gmin ,α gmax ]Single-axis limiting range [ beta ] of Y-axis closed-loop driving angle gmin ,β gmax ]The method comprises the steps of carrying out a first treatment on the surface of the The X-axis closed-loop driving angle single-axis amplitude limiting range [ alpha ] of the ground antenna gmin ,α gmax ]Single-axis limiting range [ beta ] of Y-axis closed-loop driving angle gmin ,β gmax ]The antenna is designed according to the installation position of the ground antenna on the Mars detector and the detector structure. As shown in fig. 2, the clipping range of the X-axis of the ground antenna is [ alpha ] gmin ～α gmax Y-axis clippingRange [ beta ] gmin ～β gmax The step is to drive the X-axis closed loop of the ground antenna by an angle alpha g Clipping to [ alpha ] gmin ～α gmax -a; y-axis closed-loop driving angle beta of ground antenna g Clipping to [ beta ] gmin ～β gmax 】。
If: alpha g <α gmin Or alpha g >α gmax Or beta g <β gmin Or beta g >β gmax Updating the X-axis driving angle alpha of the body coordinate system of the grounding antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g As the calculation result of the last control period, otherwise, keeping the X-axis driving angle alpha of the body coordinate system of the earth antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g The calculation result of the period is unchanged;
s3.3, joint constraint of X-axis and Y-axis closed-loop driving angles of the ground antenna:
four extreme positions (alpha) of the XY axis driving safety envelope of the ground antenna are obtained 1 ,β 1 )、(α 2 ,β 2 )、(α 3 ,β 3 )、(α 3 ,β 3 )；(α 1 ,β 1 )、(α 2 ,β 2 )、(α 3 ,β 3 )、(α 3 ,β 3 ) According to a clockwise or counterclockwise distribution as shown in fig. 2; XY axis driving safety envelope limit position (alpha) of ground antenna 1 ,β 1 )、(α 2 ,β 2 )、(α 3 ,β 3 )、(α 3 ,β 3 ) According to the installation position of the ground antenna on the Mars detector and the detector structure design, the safe distance between the edge protrusion of the ground antenna and the Mars detector body is controlled.
With (alpha) 1 ,β 1 )、(α 2 ,β 2 ) The connected straight lines approximately fit the limit position (alpha 1 ,β 1 )、(α 2 ,β 2 ) The slope of the line is calculated as the curve
Intersection of the line with the +X axis +.>
With (alpha) 3 ,β 3 )、(α 3 ,β 3 ) The connected straight lines approximately fit the limit position (alpha 3 ,β 3 )、(α 3 ,β 3 ) The slope of the line is calculated as the curve
Intersection of the line with the +X axis +.>
Every control period is to ground antenna body coordinate system X axle drive angle alpha g And Y-axis driving angle beta of body coordinate system of grounding antenna g The following safety envelope clipping treatment is carried out:
if: alpha g +K 1 β g >b 1 Or alpha g +K 2 β g <b 2 Updating the X-axis driving angle alpha of the body coordinate system of the grounding antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g As the calculation result of the last control period, otherwise, keeping the X-axis driving angle alpha of the body coordinate system of the earth antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g The calculation result of the period is unchanged.
(1.4) calculating a reference angular velocity according to the values of two continuous control periods of the X-axis driving angle of the body coordinate system of the earth antenna and the Y-axis driving angle of the body coordinate system of the earth antenna:
Dα g ＝2(a g (k)-a g (k-1))
Dβ g ＝2(β g (k)-β g (k-1))
wherein a is g (k) A is the X-axis driving angle of the main body coordinate system of the grounding antenna in the current period g (k-1) the X-axis driving angle of the body coordinate system of the ground antenna in the last control period; beta g (k) For the Y-axis driving angle beta of the current period to the ground antenna body coordinate system g (k-1) is the Y-axis driving angle of the body coordinate system of the ground antenna in the last control period;
after autonomously calculating S2-S4, the satellite control system of the Mars detector obtains an XY axis driving instruction angle alpha of the ground antenna g 、β g And XY-axis reference angular velocity dα g And D beta g . The control system autonomously transmits the driving instruction angle and the reference angular velocity to the ground antenna, and the ground antenna uses the reference angular velocity Dalpha according to the instruction requirement g Driving the antenna X-axis to reach the command angle alpha g At a reference angular velocity Dβ g Driving the Y-axis of the ground antenna to reach the command angle beta g Thereby realizing autonomous control of the satellite antenna to the ground. When the ground antenna is in a high-thrust working condition, the control system needs to control the ground antenna to be biased to a safe position in advance, so that the risk of breakage of the ground antenna is avoided. Thus, step (2) is entered:
(2) Judging whether the current moment is smaller than a first preset time period from a preset track control moment or not, and if so, entering a bias stage; otherwise, adjusting the attitude of the ground antenna according to the reference angular velocity of the ground antenna calculated in the step (1) to enable the ground antenna to realize ground tracking, and repeating the steps (1) to (2);
the bias phase performs the following steps:
(3) Setting the bias to the ground antenna to a safe angle, and then entering the step (4);
the safety angle comprises an X-axis driving angle alpha of the ground antenna during high-thrust orbit control sa fe, Y-axis drive angle beta safe The control instruction angle of the ground antenna in the track control period is obtained.
(4) Judging whether the current moment is smaller than a second preset time period from a preset track control moment or not, if so, judging whether the antenna is biased in place or not, and if so, executing track control operation at the track control moment; otherwise, the rail control operation is canceled, and at the moment, the maneuvering back to the sun state of the Mars detector can be controlled, so that the safety of the grounding antenna is ensured.
The first preset time period is greater than a maximum time period required for biasing the ground antenna to a safe position.
The second preset time period is at least greater than 0.
The judging method for whether the ground antenna is biased in place comprises the following steps:
respectively calculating the instruction angle alpha of the X axis of the grounding antenna safe And an instruction angle beta to the Y axis of the ground antenna safe If any one of the differences between the two actual driving angles is larger than a preset threshold, the offset of the ground antenna is not considered to be in place; both are less than the threshold, the antenna is considered to be biased into place. Preferably, the preset threshold is less than or equal to 2 °.
In a specific embodiment of the present invention, a specific method for designing the time for the ground antenna to enter the bias mode is as follows: and calculating the maximum time length required for biasing the ground antenna to the safe position before orbit control according to the driving speed of the ground antenna. The maximum driving angular velocity of the ground antenna is generally 0.6/s, and it takes 10 minutes to rotate 360 ° at most. Therefore, the first preset time period is designed to be 30 minutes before rail control, and the control system autonomously sets the instruction angle of the ground antenna to be alpha safe And beta safe Normally the antenna should be biased into place 20 minutes before the orbit control.
In order to ensure the safety of the position of the grounding antenna, the control system needs to judge whether the grounding antenna is biased in place or not before the orbit control. And reserving a 5-minute allowance, so that the second preset time period is 15 minutes before the rail control, and the control system performs fault diagnosis of biasing the ground antenna in place. The diagnosis method comprises the following steps: command angle alpha of control system safe And beta safe And the error of the actual driving angle of the ground antenna is larger than 2 degrees for 600 seconds continuously, and the control system judges the offset fault of the ground antenna. After the ground antenna is biased in place in 15 minutes before the rail control, the ground antenna is powered on and kept, and the rail control is waited for normal execution; if the control system judges the ground antenna bias fault 15 minutes before the orbit control, the orbit control is canceled, and the Mars detector moves the attitude to the sun-facing state, so that the safety of the ground antenna is ensured.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (12)
1. The control method for the spark detector to the ground antenna is characterized by comprising the following closed-loop control stage and bias stage;
and in the closed loop control stage, each control period executes the following steps:
(1) Calculating a driving instruction angle of the ground antenna in the current control period in real time based on a driving strategy of the ground antenna, and calculating a reference angular speed of the ground antenna according to the driving instruction angles of the ground antenna in two continuous control periods;
(2) Judging whether the current moment is smaller than a first preset time period from a preset track control moment or not, and if so, entering a biasing stage; otherwise, adjusting the attitude of the ground antenna according to the reference angular velocity of the ground antenna calculated in the step (1) to realize the ground tracking, and repeating the steps (1) to (2);
the bias phase performs the following steps:
(3) Setting the bias to the ground antenna to a safe angle, and then entering the step (4);
(4) Judging whether the current moment is smaller than a second preset time period from a preset track control moment or not, if so, judging whether the antenna is biased in place or not, and if so, executing track control operation at the track control moment; otherwise, the rail control operation is canceled.
2. The control method for the Mars detector to the ground antenna with both accurate pointing and safe position according to claim 1, wherein when the ground antenna adopts a driving strategy of rotating around an X axis of a body coordinate system and then rotating around a Y axis of the body coordinate system, the driving instruction angle of the ground antenna comprises an X axis driving angle of the body coordinate system of the ground antenna and a Y axis driving angle of the body coordinate system of the ground antenna; the reference angular velocity is an X-axis reference angular velocity of the body coordinate system of the ground antenna and a Y-axis reference angular velocity of the body coordinate system of the ground antenna.
3. The control method for the ground antenna of the Mars detector, which is compatible with accurate pointing and position safety, according to claim 2, is characterized in that the driving instruction angle of the ground antenna is calculated by the following method:
(1.1) acquiring an Earth vector R in the body coordinate System of the earth antenna g ：
(1.2) calculating the closed-loop driving angle alpha of the X axis of the ground antenna by adopting a driving strategy of rotating around the X axis and then rotating around the Y axis g Y-axis closed-loop driving angle beta of ground antenna g ；
4. The control method for the Mars detector to ground antenna with both accurate pointing and safe position according to claim 2, wherein the calculation formulas of the reference angular velocity of the X axis of the body coordinate system of the to ground antenna and the reference angular velocity of the Y axis of the body coordinate system of the to ground antenna are as follows:
Dα g ＝2(a g (k)-a g (k-1))
Dβ g ＝2(β g (k)-β g (k-1))
wherein a is g (k) A is the X-axis driving angle of the main body coordinate system of the grounding antenna in the current period g (k-1) the X-axis driving angle of the body coordinate system of the ground antenna in the last control period; beta g (k) Is thatY-axis driving angle beta of current period ground antenna body coordinate system g (k-1) is the Y-axis driving angle of the body coordinate system of the ground antenna in the last control period.
5. The method for controlling a ground antenna of a Mars probe with both precise pointing and safe position according to claim 2, wherein the step of zero correction of the driving command angle of the ground antenna is added after the calculation of the driving command angle of the ground antenna.
6. The control method for the Mars detector to ground antenna with both accurate pointing and safe position according to claim 5, wherein the zero correction method is characterized in that:
α g ＝α′ g +Δα
β g ＝β′ g +Δβ；
α′ g for the X-axis driving angle of the body coordinate system of the grounding antenna before correction, alpha g For the X-axis driving angle of the corrected grounding antenna body coordinate system, beta' g To correct the Y-axis driving angle of the body coordinate system of the grounding antenna before correction, beta g For the corrected Y-axis driving angle of the body coordinate system of the ground antenna, delta alpha is zero offset of the X-axis driving angle of the body coordinate system of the ground antenna, and delta beta is zero offset of the Y-axis driving angle of the body coordinate system of the ground antenna, and the Y-axis driving angle is obtained through on-orbit calibration.
7. The control method for the Mars detector to the ground antenna, which is compatible with precise pointing and position safety, according to claim 2, is characterized in that before calculating the X-axis reference angular velocity of the body coordinate system of the ground antenna and the Y-axis reference angular velocity of the body coordinate system of the ground antenna, the X-axis driving angle of the body coordinate system of the ground antenna and the Y-axis driving angle of the body coordinate system of the ground antenna are subjected to amplitude limiting treatment respectively.
8. The method for controlling the ground antenna of the Mars detector with both precise pointing and safe position according to claim 7, wherein the limiting process is specifically implemented as follows:
s3.1 driving angle alpha with X axis of the body coordinate system of the ground antenna g Is X coordinate, Y axis driving angle beta of the body coordinate system of the grounding antenna g Establishing a two-dimensional plane coordinate system for the Y coordinate;
s3.2, uniaxial amplitude limitation of closed-loop driving angles of X axis and Y axis of the ground antenna:
acquiring a single-axis amplitude limiting range [ alpha ] of X-axis closed-loop driving angle of a ground antenna gmin ,α gmax ]Single-axis limiting range [ beta ] of Y-axis closed-loop driving angle gmin ,β gmax ]；
If: alpha g ＜α gmin Or alpha g ＞α gmax Or beta g ＜β gmin Or beta g ＞β gmax Updating the X-axis driving angle alpha of the body coordinate system of the grounding antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g As the calculation result of the last control period, otherwise, keeping the X-axis driving angle alpha of the body coordinate system of the earth antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g The calculation result of the present period is unchanged,
s3.3, joint constraint of X-axis and Y-axis closed-loop driving angles of the ground antenna:
four extreme positions (alpha) of the XY axis driving safety envelope of the ground antenna are taken 1 ,β 1 )、(α 2 ,β 2 )、(α 3 ,β 3 )、(α 3 ,β 3 )；(α 1 ,β 1 )、(α 2 ,β 2 )、(α 3 ,β 3 )、(α 3 ,β 3 ) According to a clockwise or anticlockwise distribution;
with (alpha) 1 ,β 1 )、(α 2 ,β 2 ) The connected straight lines approximately fit the limit position (alpha 1 ,β 1 )、(α 2 ,β 2 ) The slope of the line is calculated as the curve
Intersection of the line with the +X axis +.>
With (alpha) 3 ,β 3 )、(α 3 ,β 3 ) The connected straight lines approximately fit the limit position (alpha 3 ,β 3 )、(α 3 ,β 3 ) The slope of the line is calculated as the curve
Intersection of the line with the +X axis +.>
If: alpha g +K 1 β g ＞b 1 Or alpha g +K 2 β g ＜b 2 Updating the X-axis driving angle alpha of the body coordinate system of the grounding antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g As the calculation result of the last control period, otherwise, keeping the X-axis driving angle alpha of the body coordinate system of the earth antenna g And Y-axis driving angle beta of body coordinate system of grounding antenna g The calculation result of the period is unchanged.
9. The method for controlling a ground antenna of a Mars detector with both accurate pointing and safe position according to claim 1, wherein the first preset time period is longer than a maximum time period required for biasing the ground antenna to a safe position.
10. The method for controlling a ground antenna of a Mars detector with both precise pointing and position safety according to claim 1, wherein the second preset time period is greater than 0.
11. The control method for the Mars detector to ground antenna with both accurate pointing and safe position according to claim 1, wherein the method for judging whether the to ground antenna is biased in place is as follows:
respectively calculating the instruction angle alpha of the X axis of the grounding antenna safe And an instruction angle beta to the Y axis of the ground antenna safe And each actually driveIf any one of the angle differences is larger than a preset threshold, the bias of the antenna to the ground is not considered to be in place; both are less than the threshold, the antenna is considered to be biased into place.
12. The method for controlling a ground antenna of a Mars detector with both precise pointing and position safety as claimed in claim 11, wherein the predetermined threshold is 2 ° or less.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010120453.3A CN111399525B (en) | 2020-02-26 | 2020-02-26 | Mars detector ground antenna control method considering both precise pointing and position safety |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010120453.3A CN111399525B (en) | 2020-02-26 | 2020-02-26 | Mars detector ground antenna control method considering both precise pointing and position safety |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111399525A CN111399525A (en) | 2020-07-10 |
| CN111399525B true CN111399525B (en) | 2023-05-12 |
Family
ID=71435948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010120453.3A Active CN111399525B (en) | 2020-02-26 | 2020-02-26 | Mars detector ground antenna control method considering both precise pointing and position safety |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111399525B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001237629A (en) * | 2000-02-25 | 2001-08-31 | Mitsubishi Electric Corp | Method and device for driving and controlling satellite tracking antenna |
| CN1778013A (en) * | 2003-03-07 | 2006-05-24 | 雷塞特塞浦路斯有限公司 | Tracking system for flat mobile antenna |
| CN105184002A (en) * | 2015-09-17 | 2015-12-23 | 航天东方红卫星有限公司 | Simulation analysis method for pointing angle of data transmission antenna |
| CN106647704A (en) * | 2016-12-19 | 2017-05-10 | 北京空间飞行器总体设计部 | Method for determining tracking precision of GEO orbital data transmission antenna |
-
2020
- 2020-02-26 CN CN202010120453.3A patent/CN111399525B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001237629A (en) * | 2000-02-25 | 2001-08-31 | Mitsubishi Electric Corp | Method and device for driving and controlling satellite tracking antenna |
| CN1778013A (en) * | 2003-03-07 | 2006-05-24 | 雷塞特塞浦路斯有限公司 | Tracking system for flat mobile antenna |
| CN105184002A (en) * | 2015-09-17 | 2015-12-23 | 航天东方红卫星有限公司 | Simulation analysis method for pointing angle of data transmission antenna |
| CN106647704A (en) * | 2016-12-19 | 2017-05-10 | 北京空间飞行器总体设计部 | Method for determining tracking precision of GEO orbital data transmission antenna |
Non-Patent Citations (6)
| Title |
|---|
| Manop Aorpimai.High-Fidelity Orbit Propagator for Precise Antenna Pointing in LEO Satellite Operation.《IEEE》.2014,全文. * |
| Yuxiang Zhou.RESEARCH ON MEASUREMENT ALGORITHM OF VECTOR MISS DISTANCE BASED ON IMPULSE RADAR.《IEEE》.2013,全文. * |
| 于常利.大型挠性结构航天器姿态精确指向控制.《飞控与探测》.2019,全文. * |
| 尹卿 ; 于澎 ; 白力舸 ; 胡帆 ; 方凯 ; 李振东 ; .基于轨道动态模型的卫星天线指向功能测试方法.航天器工程.2020,(01),全文. * |
| 星载高精度天线指向机构设计仿真分析.《电子设计与工程》.2019,全文. * |
| 郭文鸽 ; 李亚晶 ; 秋宏兴 ; 祝转民 ; 贾潇 ; .用户星中继终端天线指向算法.飞行器测控学报.2009,(01),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111399525A (en) | 2020-07-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8056863B2 (en) | Unified attitude control for spacecraft transfer orbit operations | |
| US7546983B2 (en) | Spacecraft power acquisition method for wing-stowed configuration | |
| US7410130B2 (en) | Star-tracker-based attitude determination for spinning spacecraft | |
| EP0453096B1 (en) | Apparatus for inclined orbit attitude control of a satellite in an inclined orbit | |
| US7988097B2 (en) | Precision attitude control system for gimbaled thruster | |
| US7874519B2 (en) | Spacecraft three-axis attitude acquisition from sun direction measurement | |
| CN107380485B (en) | Microsatellite large-area array wide-area multi-mode staring imaging control method | |
| CN106483466B (en) | A kind of evaluation method of satellier injection stage solar battery array output current | |
| US6695263B1 (en) | System for geosynchronous spacecraft rapid earth reacquisition | |
| CN112607065B (en) | High-precision phase control method based on electric propulsion system | |
| US7246775B1 (en) | System and method of substantially autonomous geosynchronous time-optimal orbit transfer | |
| US6019320A (en) | Spacecraft acquisition of sun pointing | |
| CN112486196A (en) | Aircraft rapid trajectory optimization method meeting strict time and position constraints | |
| CN109460049A (en) | Geo-synchronous orbit satellite apogee orbit changing method based on inertia directing mode | |
| CN111399525B (en) | Mars detector ground antenna control method considering both precise pointing and position safety | |
| EP0794122B1 (en) | Earth based spacecraft orbit and attitude control using a look-ahead thruster selection logic and magnetic torquers | |
| US7464898B1 (en) | Precision thrust/sun tracking attitude control system for gimbaled thruster | |
| Srivastava et al. | Nonlinear model predictive control of rotation floating space robots for autonomous active debris removal | |
| US20200262589A1 (en) | Attitude rate mitigation of spacecraft in close proximity | |
| CN109032158B (en) | Head-to-day-tail-to-day alternating continuous yaw attitude control method for linear programming | |
| KR101213222B1 (en) | Method for East-West Station-Keeping Maneuver of Geostationary Orbit Satellite | |
| US20050133670A1 (en) | Unified sensor-based attitude determination and control for spacecraft operations | |
| JPS62502296A (en) | Autonomous rotary axis attitude control method for rotating spacecraft | |
| Somov et al. | Attitude guidance and control of the navigation satellites at a passage of the singular orbital sites. | |
| CN113097720B (en) | Antenna control method for ensuring reliable data transmission of unmanned automatic lunar surface sampling task |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |