CN111610795B - Pseudo-inverse solvable minimum configuration attitude control thruster instruction distribution method - Google Patents
Pseudo-inverse solvable minimum configuration attitude control thruster instruction distribution method Download PDFInfo
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G05D1/0833—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using limited authority control
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Abstract
The invention relates to a pseudo-inverse solvable minimum configuration attitude control thruster instruction distribution method, which comprises the following steps of: 1) Calculating an installation configuration matrix A of 4 thrusters on a spacecraft body; 2) Calculating to obtain required control impulse according to the deviation between the expected attitude and the actual measured attitude by a PD control law; 3) Establishing a relational expression between the starting time of the thruster and the control impulse; 4) Solving a pseudo-inverse general solution by using a matrix pseudo-inverse solvable method; 5) Obtaining a special solution of the starting time of the thruster by utilizing a null space concept; 6) Selecting a solution which enables the starting time T of the thruster to be more than or equal to 0 and enables the absolute value T to be minimum, namely the minimum fuel consumption; 7) And processing the starting time T of the thruster by adopting a starting time scaling technology.
Description
Technical Field
The invention relates to a pseudo-inverse solvable minimum configuration attitude control thruster instruction distribution method, and belongs to the field of aircraft attitude control.
Background
A Reaction Control System (RCS) is widely used in spacecraft as an attitude Control execution mechanism, and generally adopts decoupling configuration for obtaining simple Control logic, that is, an independent thruster is configured for three-axis attitude Control, so that the thrusters are more in number and large in weight and power consumption, but a thruster instruction allocation algorithm is simple, and there is no coupling between shafts. With the development of aerospace technology, the design of spacecrafts pays more attention to economic benefits, in recent years, a coupling configuration scheme is adopted to a certain extent for some spacecraft RCS systems, and a few thrusters are adopted to be used in combination to obtain expected triaxial control torque, but the requirements on an engine instruction distribution algorithm are higher. The method is based on the basic principle that three-axis attitude control needs to be provided with 4 thrusters at least, a matrix pseudo-inverse and zero-space method is utilized, a thruster instruction distribution algorithm suitable for spacecraft three-axis attitude control provided with 4 thrusters is provided, the calculation step of the starting time of the thruster is provided, and different from the traditional table look-up algorithm, the method can be used for directly analyzing and calculating, the universality is strong, and due to the adoption of the starting time length proportional scaling technology, the output of each control period is guaranteed to be effective control quantity, the influence of coupling interference torque is solved, and the fuel consumption is reduced.
Disclosure of Invention
The invention solves the technical problems that: the method overcomes the defects of the prior art, designs an analytic calculation method for the respective starting time lengths of 4 thrusters by utilizing a pseudo-inverse solvable and zero-space method aiming at a class of 4-thruster configuration systems based on the basic principle that attitude control needs 4 thrusters at least, so that only 3 thrusters are started in each control period, the complexity of thruster configuration is reduced, and an on-satellite algorithm is simple and strong in practicability.
The technical scheme of the invention is realized as follows: a pseudo-inverse solvable minimum configuration attitude control thruster instruction distribution algorithm comprises the following steps
1) And calculating an installation configuration matrix A of the 4 thrusters on the spacecraft body, wherein the installation configuration matrix A is a 3 x 4 matrix.
2) Calculating the required control impulse H by the PD control law according to the deviation between the expected attitude and the actual measured attitude r Record of H r ＝[h x ,h y ,h z ] T ：
Wherein, theta r ，
For three axes desired pose and desired pose angular velocity, θ @>
For actually measuring three-axis attitude angle and attitude angular velocity, k p ，k d Is a PD control parameter.
3) Establishing the starting time T of the thruster, and recording T = [ T ] 1 ,T 2 ,T 3 ,T 4 ] T And control impulse H r Is as follows
H r ＝AT (2)
4) Solving the pseudo-inverse general solution of the formula (2) by using a matrix pseudo-inverse solvable method
Wherein, A -1 Showing the pseudo-inverse, T, of the installation configuration matrix A * Denotes the general solution of T, T γ Represents a special solution of T.
5) By utilizing the concept of zero space, the special solution of the starting time T of the thruster is obtained
t γ ＝(I 4×4 -A -1 A)Y 4×1 (4)
Wherein, Y 4×1 Is an arbitrary value, I is a unit matrix, and the physical meaning is that the starting time of the engine is t γ No control impulse is generated.
6) And selecting a solution which enables T to be larger than or equal to 0 and enables | T | to be minimum, namely fuel consumption is minimum.
7) By adopting the starting time length scaling technology, the starting time T of the thruster is processed as follows
Wherein, tau control Max (T) = max (T) for control system sampling period 1 ,T 2 ,T 3 ,T 4 ) Represents the maximum value of the column matrix T, T f The final instruction starting time of 4 thrusters.
Compared with the prior art, the invention has the following advantages:
(1) Compared with the traditional thruster instruction allocation table look-up method, the thruster instruction allocation algorithm based on the pseudo-inverse solvable algorithm designed by the invention can analytically obtain the starting time of the thruster required by realizing triaxial attitude control, and has strong universality.
(2) The invention adopts the starting-up time length scaling technology, reduces the coupling influence among all thrusters to the maximum extent and ensures that the output of each control period is effective control quantity.
(3) The traditional instruction distribution algorithm mainly aims at a spacecraft control system with decoupling configuration of thrusters, the mounting number of the thrusters is required to be more, the control requirement of the spacecraft control system with the minimum configuration of the thrusters can be met, the complexity of the configuration of the thrusters is reduced, and the practicability is high.
Drawings
FIG. 1 is a true attitude angle variation curve;
FIG. 2 is a true attitude angular velocity variation curve;
fig. 3 shows the opening time of the thruster in group C.
Detailed Description
Taking the simulation of the attitude maneuver mode of a certain low-orbit aircraft as an example, and taking the following 3 input conditions as an example, the specific implementation process of the algorithm is detailed.
(1) Simulation initial conditions: the inertia matrix is (1978, 18800, 17897, -537, -33, -9) (kg · m 2), the attitude angle initial value (85 °,0 °,0 °), and the target attitude angle is (0 °,0 °,0 °).
(2) The aircraft is provided with 4 attitude control thrusters, and the installation mode is as follows:
(3) The position of the aircraft center of mass in a mechanical coordinate system (the coordinate system is that the aircraft body coordinate system translates to the joint of the satellite-rocket docking ring and the rocket) is (4100, 0) mm,
the invention relates to a pseudo-inverse solvable minimum configuration attitude control thruster instruction allocation algorithm, which comprises the following implementation steps of:
1) According to the input conditions, calculating an installation configuration matrix of 4 thrusters on the spacecraft body as
2) Calculating the required control impulse by the PD control law according to the deviation between the expected attitude and the actual measured attitude
3) Establishing the starting time T and the control impulse H of the thruster r Relation of (1) H r ＝AT。
4) By using a matrix pseudo-inverse solution method to obtain
T＝A -1 H r +t γ
Wherein, the first and the second end of the pipe are connected with each other,
5) By utilizing the zero space concept, under the configuration of the existing thruster, the special solution of the starting time T of the thruster is obtained
t γ ＝[ΔT 1 ,ΔT 2 ,ΔT 3 ,ΔT 4 ] T
Wherein the special solution satisfies Δ T 1 ＝ΔT 2 ＝ΔT 3 ＝ΔT 4 Taking Δ T = -min (T) 1 ,T 2 ,T 3 ,T 4 ) The startup time lengths of the thrusters obtained by solving can be guaranteed to be more than or equal to 0, and only 3 engines are started in each period.
6) So as to obtain the general solution of the starting time of the thruster
Wherein H r ＝[h x ,h y ,h z ] T Is counted by the controllerAnd calculating the obtained three-axis control impulse.
7) The startup time T of the thruster is processed as follows by adopting a startup time scale scaling technology
Wherein, tau control Max (T) = max (T) for control system sampling period 1 ,T 2 ,T 3 ,T 4 ) Represents the maximum value of the column matrix T, T f The final instruction starting time is 4 thrusters.
The effectiveness of the method is verified by numerical simulation, and the curve shown in fig. 1 shows that the attitude of the aircraft reaches the expected target attitude from the initial value through attitude maneuver control. Fig. 2 is a graph showing a change in the attitude angular velocity, which indicates that the attitude angular velocity performs the attitude motion in a certain manner under the attitude maneuver control. The thruster opening time shown in fig. 3 indicates that the required opening time is reasonably calculated by the thruster command distribution algorithm in the attitude maneuver process.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (4)
1. A pseudo-inverse solvable minimum configuration attitude control thruster instruction distribution method is characterized by comprising the following steps:
1) Calculating an installation configuration matrix A of 4 thrusters on a spacecraft body, wherein the installation configuration matrix A is a 3 x 4 matrix;
2) Calculating to obtain the required control impulse H according to the deviation between the expected attitude and the actual measurement attitude by the PD control law r ；
3) Establishing the starting time T of the thruster,let T = [ T = 1 ,T 2 ,T 3 ,T 4 ] T And control impulse H r The relationship of (A) is as follows: h r ＝AT；
4) Solving for H by using a matrix pseudo-inverse solvable method r = pseudo inverse solution of AT;
5) Obtaining a special solution of the starting time T of the thruster by utilizing a null space concept;
6) Selecting a solution which enables T to be more than or equal to 0 and enables | T | to be minimum, namely fuel consumption is minimum;
7) The startup time T of the thruster is processed as follows by adopting a startup time scale scaling technology
Wherein, tau control To control the system sampling period, max (T) = max (T) 1 ,T 2 ,T 3 ,T 4 ) Represents the maximum value of the column matrix T, T f The final instruction starting time is 4 thrusters.
2. The pseudo-inverse-solvable-based instruction distribution method for the minimum configuration attitude control thruster, according to claim 1, is characterized in that: controlling impulse H in the step 2) r The specific calculation method comprises the following steps:
wherein, theta r ，
For three axes desired pose and desired pose angular velocity, θ @>
For actually measuring three-axis attitude angle and attitude angular velocity, k p ，k d The PD control parameter.
3. The pseudo-inverse-solvable minimum configuration attitude control thruster instruction distribution method based on claim 1 is characterized in that: the step 4) of solving H r The specific calculation method of the pseudo-inverse general solution of the AT is as follows:
wherein A is -1 Showing the pseudo-inverse, T, of the installation configuration matrix A * Denotes the general solution of T, T γ Represents the special solution of T.
4. The pseudo-inverse-solvable-based instruction distribution method for the minimum configuration attitude control thruster, according to claim 1, is characterized in that: the special solution of the starting time T of the thruster in the step 5) is
t γ ＝(I 4×4 -A -1 A)Y 4×1
Wherein, Y 4×1 Is an arbitrary value, and I is a unit matrix.
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