CN111994305B - Wheel control attitude recovery method suitable for earth satellite under condition of no gyro - Google Patents
Wheel control attitude recovery method suitable for earth satellite under condition of no gyro Download PDFInfo
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Abstract
The invention discloses a wheel control attitude recovery method suitable for a geostationary satellite under the condition of no gyro, which comprises the following steps: when entering an attitude recovery process, firstly carrying out zero return operation on the flywheel; carrying out sun orientation by using a sun sensor and flywheel mode, and generating a flywheel angular momentum instruction according to the sun angle and angle integral information measured by the analog sun sensor; determining whether to start pitch axis control according to the rolling and yaw axis attitude deviation; the pitching axis adopts a sectional control method and obtains attitude angle and angular speed estimated values under the condition without a gyro; the invention also explains the posture recovery scheme of the ground shadow area. The invention only uses the sun sensor and the magnetometer as the measuring mechanism to capture the sun and orient the sun in sequence, finally realizes the rough orientation to the ground, enables the satellite to quickly recover to the ground attitude by a small configuration, can ensure the attitude to be roughly oriented to the ground even in the ground shadow area, and has simple calculation and easy realization.
Description
Technical Field
The invention relates to the field of spacecraft control, in particular to a wheel control attitude recovery method suitable for a ground satellite under the condition of no gyro.
Background
The satellite mainly uses the thruster and the flywheel as executing mechanisms to carry out attitude control, the thruster is used for controlling a large amount of rough accuracy in the initial stage of attitude establishment, and the flywheel is used for controlling long-term steady state, and has the advantages of high control accuracy, no consumption of fuel working medium and the like. When the attitude of the satellite is unstable due to a certain fault in orbit, the attitude needs to be restored in time, if the thruster is adopted for restoring the attitude, extra working media need to be consumed, and the risk of generating a large angular velocity of the satellite is generated under the fault condition, so that the method for restoring the attitude by using the flywheel is a safe and practical method.
When the attitude of a satellite is unstable, the sailboards are not aligned to the sun, so that the energy of the whole satellite is reduced, therefore, how to quickly recover the sun-aligned attitude of the sailboards by using system configuration as little as possible is the first work, the existing attitude recovery mode has the advantage that the attitude stabilization is carried out by using a magnetic control method, and the mode has small power consumption but long time consumption; the attitude recovery is also carried out by using a flywheel, but attitude measurement mechanisms such as a gyroscope, a star sensor and the like are used, and the method has more system configuration and is not suitable for the condition that the sensor has faults; in addition, the current control method has certain limitation on satellites with large inertia difference, and particularly when the pitching axis is opposite to the ground after the sun is oriented, the gravity gradient moment caused by the large main inertia difference is equivalent to the flywheel control capability, so that the pitching axis cannot be opposite to the ground for a long time; in addition, the current control method does not control general processing in the ground shadow area, and for a track with a longer ground shadow area, the processing mode can generate larger attitude drift in the ground shadow area, and the attitude reference is likely to be lost when the track enters the illumination area.
Disclosure of Invention
The invention aims to provide a wheel control attitude recovery method suitable for an earth satellite under the condition of no gyro, which can quickly recover the satellite to the earth attitude by a small configuration in consideration of the condition of no gyro measurement and can ensure the coarse earth orientation of the attitude even in an earth shadow area.
In order to achieve the above object, the present invention provides a method for recovering a wheel control attitude of a geostationary satellite without a gyro, comprising the following steps:
(1) under the condition of satellite attitude instability, firstly, carrying out zero returning operation on all flywheel access systems to eliminate angular speed change caused by flywheel angular momentum exchange;
(2) capturing the sun according to a 0-1 type sun sensor arranged on the surface of the star body, so that the sun appears on the corresponding surface of the sailboard; assuming that the sailboard is on the star-Y surface, when the sun appears in the field of view of the analog sun sensor in the-Y direction, the output of the analog sun sensor is utilized to respectively control the rolling axis and the yaw axis so as to complete sun alignment;
when the pitching axis control is started, the components of the sun vector and the magnetic field vector in the orbit system are calculated by utilizing the orbit information, the components of the sun vector and the magnetic field vector in the system are measured by utilizing the magnetometer and the sun signal, the pitching attitude angle of the satellite can be calculated by utilizing a double-vector attitude determination algorithm, and the pitching attitude angle is differentiated to obtain the pitching attitude angular velocity;
(3) and performing segmented control on a pitch axis according to the pitch angle estimated value theta, wherein the angular momentum command is calculated as follows:
wherein, theta1To segment the threshold, KpyAnd KdyRespectively are a pitch axis proportion and a differential control coefficient,
for estimated pitch angular velocity, Hy(kT) is a pitch axis angular momentum control command, HymaxIf the non-ground orientation mode enters the ground orientation mode, clearing the accumulated value;
(4) if the sun capture stage is performed before the flywheel enters the ground shadow area, the flywheel angular momentum command is reset to zero, and the sun capture is performed again after the flywheel angular momentum command enters the illumination area; if the current sun-facing orientation stage is in, keeping the flywheel angular momentum instruction, continuing sun-facing orientation if a sun signal exists in the-Y direction when the current sun-facing orientation stage enters an illumination area, and re-capturing the sun if no sun signal exists; if the current position is in the earth orientation stage, the rolling and yaw direction flywheel angular momentum instruction is kept, the pitch direction is continuously controlled, if a sun signal exists in the-Y direction when the sun area enters the sun area, the earth orientation is continuously carried out, and if no sun exists in the-Y direction, the pitch direction angular momentum instruction is returned to zero to carry out sun capture again.
Preferably, in step (2), the rolling axis is controlled as follows:
when in use
Open loop control is performedThe command angular momentum is calculated as follows:
Hx(kT)＝-hbuhuo
when in use
And then, carrying out open-loop control, and calculating the control command angular momentum as follows:
Hx(kT)＝hbuhuo
when tx is satisfied for a continuous period of time
And then, entering rolling closed-loop control, and calculating the control command angular momentum as follows:
where T is the control period, hbuhuoSetting a target value of flywheel angular momentum for solar capture; hx(kT) is the actual flywheel angular momentum control command sent,
the rolling angle is measured by the analog sun sensor; alpha x is a set rolling angle closed-loop control threshold; kpx、KixAre rolling axis closed-loop control parameters.
Preferably, for
Carrying out amplitude limiting, if entering closed-loop control from the sun-oriented submode non-closed-loop control, then
And zero clearing is carried out, and if the sun-facing orientation sub-mode is directly entered from the ground shadow region, zero clearing is not carried out.
Preferably, in step (2), the yaw axis is controlled as follows:
when psis<At- α z, open-loop control is performed, and the control command angular momentum is calculated as follows:
Hz(kT)＝-hbuhuo
When psis>At α z, open-loop control is performed, and the control command angular momentum is calculated as follows:
Hz(kT)＝hbuhuo
when tz satisfies-alpha z ≦ ψ for a continuous period of timesWhen the alpha z is less than or equal to the alpha z, the rolling closed-loop control is carried out, and the control command angular momentum is calculated as follows:
Hz(kT)＝Kpzψs+Kiz∑ψsT
wherein psisThe yaw angle is measured by the analog sun sensor; alpha z is a set yaw angle closed-loop control threshold; kpz、KizClosed-loop control parameters of a yaw axis; hz(kT) is a flywheel angular momentum control command actually transmitted.
Preferably, for Kiz∑ψsT carries out amplitude limiting, and if the closed-loop control is carried out by the sun-oriented sub-mode non-closed-loop control, K is carried outiz∑ψsAnd (4) clearing the T, and if the T directly enters a sun-facing orientation sub-mode from the ground shadow region, not clearing the T.
The above method for recovering the wheel control attitude of the earth satellite under the condition without the gyro further comprises: when the continuous period ty1 is satisfied simultaneously
Phi is less than or equal to-alpha zsWhen the angle is less than or equal to alpha z, the control of the pitching axis is started, and when the time is continuously within a period ty2,
or-alpha z ≦ ψsAnd stopping the control of the pitching axis when the alpha z is not more than or equal to the preset value, and clearing the command angular momentum.
Preferably, in the sun-oriented and ground-oriented modes, the magnetic torquer is used to unload the flywheel, and no unloading is performed in the shadowy area.
Preferably, the satellite performs attitude control using a flywheel as an actuator in a long-term steady state.
The invention has the advantages and beneficial effects that:
1. the invention fully considers the actual situation of in-orbit, the satellite uses the flywheel as an actuating mechanism to carry out attitude control under a long-term steady state, and the rotating speed of the flywheel is stabilized within a certain range; when the attitude instability occurs, the angular speed of the star is generally generated by the flywheel, and a larger angular speed cannot be generated in a short time, so that the design of the invention firstly carries out zero return operation on the flywheel after entering the attitude recovery mode so as to eliminate the change of the angular speed of the star caused by the flywheel.
2. The invention adopts a control scheme without gyroscopic and star-sensitive measurement information, considers the condition that the gyroscopic sensor and the star sensor on the star are easy to break down, and can ensure that the system can also carry out attitude recovery under the condition of failure; because angular velocity information is not input, the angular momentum exchange characteristic of the flywheel is fully considered, the attitude angle and attitude angle integral information is used for directly obtaining the angular momentum instruction, and the momentum exchange capacity of the flywheel is fully utilized.
3. The invention orients the pitching axis to the ground after the sun orientation is stable, determines the attitude and the attitude angular velocity of the pitching axis by using the sun vector and the magnetic field vector to perform double-vector attitude determination, and controls by adopting a PD control method; when the attitude control of the pitch axis is carried out, the condition that the control capability of the angular motion of the star body is limited is particularly considered, the attitude deviation of the rolling axis and the yaw axis is used as the basis for starting and stopping the control of the pitch axis, the limited control capability is firstly used for controlling the rolling yaw axis, and the sun-to-sun orientation of the satellite is ensured.
4. The invention designs a control scheme of a ground shadow area, if the sun is captured in the ground shadow area, because the direction of the sailboard is not opposite to the sun, the flywheel angular momentum instruction is designed to return to zero so as to reduce the power consumption of the ground shadow area; in the sun orientation and earth orientation stages, as the rolling and yaw axes need to be subjected to control instruction calculation through the measurement information of the sun sensor, the flywheel angular momentum instruction is kept so as to reduce the attitude drift of the earth shadow region; in the earth orientation stage, due to a special attitude determination scheme, the earth control of the pitch axis in the earth shadow region can be normally carried out, so that the pitch axis is designed to carry out continuous control, the control of the pitch axis can reduce the drift of the earth shadow region on one hand, the attitude recovery efficiency is greatly improved on the other hand, the satellite is ensured to be in an active control state in the whole orbit period, and the satellite state is relatively stable.
5. When the control rate of the pitching axis is designed, a sectional control scheme is adopted, and particularly when the inertia difference of a main inertia axis of a star body is large, the situation that the gravity gradient moment of a pitching axis is large under the condition that the sun is directionally and stably oriented and the pitching axis is stable is selected, the control is carried out when the posture is small, and the situation that the gravity gradient moment is too large and the flywheel control moment is offset, so that the pitching axis loses the control capability is prevented; in addition, when entering a control section, a PD control + magnetic unloading method is adopted, so that even if the control capability of the current pitching direction is insufficient, the pitching direction angular velocity damping can be gradually completed, and the gravity gradient is overcome to realize coarse ground orientation. The scheme can effectively overcome the adverse effect of gravity gradient torque on control, quickly realize ground orientation, and is simple without adding extra measurement information.
Drawings
FIG. 1 is a flow chart of the wheel control full attitude of the present invention.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
The invention provides a wheel control attitude recovery method suitable for an earth-stabilized satellite under a gyro-free condition, which is applied to a satellite attitude and orbit control subsystem and is suitable for the wheel control attitude recovery of the earth-stabilized satellite with limited control capability under the gyro-free condition.
The method of the invention comprises the following steps: 1) under the condition of satellite attitude instability, the method firstly performs zero return operation on the flywheel to reduce the increase of the angular speed of the satellite body caused by the increase of the rotating speed of the flywheel; 2) roughly checking the sun by using the 0-1 type sun sensor, and controlling a flywheel to generate specified angular momentum according to the output of the 0-1 type sun sensor in different directions so as to rotate to roughly check the sun of the surface where the solar panel is located; 3) the sun alignment is accurately performed by the analog sun sensor and the flywheel, and the flywheel angular momentum instruction is generated according to the sun angle and the angle integral information measured by the analog sun sensor, so that the condition that a gyroscope is required to provide angular velocity information or the speed information with high noise is obtained by using angle difference is avoided, and the sun alignment can be effectively performed when a single machine fails; 4) estimating the attitude and the attitude angular speed of a pitch axis by using a double-vector attitude determination method on the basis of sun orientation, and approximating the sun direction, so that the attitude information of the pitch angle can be obtained in both a ground shadow area and an illumination area; 5) the pitching shaft is controlled by using a sectional control method so as to reduce the situation that the gravity gradient moment and the flywheel control moment are offset, and finally the satellite is roughly oriented to the ground; 6) the ground shadow area attitude drift is effectively reduced by specially designing for the situation that the ground shadow area has no sun signal.
Examples
Step 1: when the satellite starts to recover the attitude due to attitude instability, firstly, a zero instruction is sent back to all the access system flywheels, and angular speed change caused by flywheel angular momentum exchange is eliminated;
step 2: capturing the sun according to a 0-1 type sun sensor arranged on the surface of the star body, enabling the sun to appear on the corresponding surface of a sailboard, and processing sun azimuth signals on the assumption that the sailboard is on the star body-Y surface:
the star-Y direction is rotated to the sun direction using the following method:
wherein h isbuhuoSetting a target value of flywheel angular momentum for solar capture; hx(kT) is a flywheel angular momentum control command actually transmitted.
When the sun appears in the field of view of the analog sun sensor in the-Y direction, the output of the analog sun sensor is utilized to respectively control the rolling axis and the yaw axis so as to complete the sun orientation.
a) Rolling shaft control
When in use
And then, carrying out open-loop control, and calculating the control command angular momentum as follows:
Hx(kT)＝-hbuhuo
when in use
And then, carrying out open-loop control, and calculating the control command angular momentum as follows:
Hx(kT)＝hbuhuo
when tx is satisfied for a continuous period of time
Then, entering rolling closed-loop control; tx is a set time threshold, e.g. 50 consecutive s; the control command angular momentum is calculated as follows:
wherein T is the control period of the control circuit,
the rolling angle is measured by the analog sun sensor; alpha x is a set rolling angle closed-loop control threshold; kpx KixAre rolling axis closed-loop control parameters.
To pair
Carrying out amplitude limiting, if entering closed-loop control from the sun-oriented submode non-closed-loop control, then
And zero clearing is carried out, and if the sun-facing orientation sub-mode is directly entered from the ground shadow region, zero clearing is not carried out.
b) Yaw axis control
When psis<At α z, open-loop control is performed, and the control command angular momentum is calculated as follows:
Hz(kT)＝-hbuhuo
when psis>At α z, open-loop control is performed, and the control command angular momentum is calculated as follows:
Hz(kT)＝hbuhuo
when tz satisfies-alpha z ≦ ψ for a continuous period of timesWhen the alpha z is less than or equal to the alpha z, the rolling closed-loop control is carried out, and the control command angular momentum is calculated as follows:
Hz(kT)＝Kpzψs+Kiz∑ψsT
wherein psisThe yaw angle is measured by the analog sun sensor; alpha z is a set yaw angle closed-loop control threshold; kpz KizAnd controlling parameters of a yaw axis closed loop.
To Kiz∑ψsT carries out amplitude limiting, and if the closed-loop control is carried out by the sun-oriented sub-mode non-closed-loop control, K is carried outiz∑ψsAnd (4) clearing the T, and if the T directly enters a sun-facing orientation sub-mode from the ground shadow region, not clearing the T.
And step 3: when the continuous period ty1 is satisfied simultaneously
Phi is less than or equal to-alpha zsWhen the angle is less than or equal to alpha z, the control of the pitching axis is started, and when the time is continuously within a period ty2,
or-alpha z ≦ ψsAnd stopping the control of the pitching axis when the alpha z is not more than or equal to the preset value, and clearing the command angular momentum. ty1 and ty2 are each a set one time period threshold, e.g., 50 consecutive seconds.
When the pitching axis control is started, the orbit information is utilized to calculate the components of the sun vector and the magnetic field vector in the orbit system, the magnetometer and the sun signal are utilized to measure the components of the sun vector and the magnetic field vector in the system, the existing double-vector attitude determination algorithm is utilized to calculate the pitching attitude angle of the satellite, and the difference is carried out on the pitching attitude angle to obtain the pitching attitude angular velocity.
And 4, step 4: and performing segmented control on a pitch axis according to the pitch angle estimated value theta, wherein the angular momentum command is calculated as follows:
the segmentation means that when the pitch angle estimated value is in different intervals, the command angular momentum calculation methods are different;
wherein, theta1To segment the threshold, KpyAnd KdyProportional and differential control coefficients of the pitch axis, Hy(kT) is a pitch axis angular momentum control command,
estimating the pitch angle speed; hymaxIf the non-ground orientation mode enters the ground orientation mode, clearing the accumulated value.
And 5: the sun sensor has no output after the satellite enters the ground shadow area, if the satellite is in the sun capturing stage before entering the ground shadow area, the flywheel angular momentum instruction is returned to zero, and the sun capturing is carried out again after the satellite enters the illumination area; if the current sun-facing orientation stage is in, keeping the flywheel angular momentum instruction, continuing sun-facing orientation if a sun signal exists in the-Y direction when the current sun-facing orientation stage enters an illumination area, and re-capturing the sun if no sun signal exists; if the current position is in the earth orientation stage, the rolling and yaw direction flywheel angular momentum instruction is kept, the pitch direction is continuously controlled, if a sun signal exists in the-Y direction when the sun area enters the sun area, the earth orientation is continuously carried out, and if no sun exists in the-Y direction, the pitch direction angular momentum instruction is returned to zero to carry out sun capture again.
Step 6: in the sun-oriented and ground-oriented modes, the magnetic torquer is used for unloading the flywheel, and unloading is not carried out in the ground shadow area.
In the step 1, when entering the posture recovery process, the flywheel is firstly subjected to zero returning operation, so that the condition that the angular speed of the star body is increased due to the increase of the rotating speed of the flywheel is eliminated; step 2, sun orientation is carried out in a sun sensor and flywheel mode, the control scheme considers the condition of no gyroscope or no star sensor, and the attitude angle and attitude angle integral information are directly used for generating an angular momentum instruction, so that the condition that a moment mode needs attitude difference to introduce large errors is avoided; step 3, determining whether to start pitching axis control or not according to the attitude deviation of the rolling and yawing axes, preferentially ensuring that the rolling yawing axes can be controlled under the condition that the satellite control capability is limited, and ensuring that the sailboards ensure the satellite energy supply to the sun; in the step 4, the pitching axis adopts a sectional control method, attitude angle and angular velocity estimated values are obtained under the condition without a gyroscope, and the PD control method is adopted, so that the angular momentum accumulation effect caused by gravity gradient moment pair is effectively weakened; in the step 5, the posture recovery scheme of the ground shadow area is explained in detail, so that the posture drift of the ground shadow area is small in the stage of entering the sun-sun area and the ground shadow area, meanwhile, the ground orientation is not influenced by the ground shadow area and can be normally carried out, the posture recovery efficiency is improved, and the processes of capturing the sun again, orienting the sun and the like after entering the sun area are avoided. The method is designed particularly aiming at the condition that the ground shadow area has no sun signal, and the attitude drift of the ground shadow area is effectively reduced.
In summary, the wheel control attitude recovery method for the earth satellite under the condition without the gyroscope provided by the invention sequentially captures the sun and orients the sun by using only the sun sensor and the magnetometer as the measurement mechanism, finally realizes the coarse earth orientation, quickly recovers the satellite to the earth attitude by using a small configuration, can ensure the coarse earth orientation of the attitude even in the earth shadow region, and is simple in calculation and easy to realize.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (7)
1. A method for recovering a wheel control attitude of a ground satellite under a non-gyro condition, wherein the satellite performs attitude control under a long-term steady state by using a flywheel as an actuator, the method comprising the steps of:
(1) under the condition of satellite attitude instability, firstly, carrying out zero returning operation on all flywheel access systems to eliminate angular speed change caused by flywheel angular momentum exchange;
(2) capturing the sun according to a 0-1 type sun sensor arranged on the surface of the star body, so that the sun appears on the corresponding surface of the sailboard; assuming that the sailboard is on the star-Y surface, when the sun appears in the field of view of the analog sun sensor in the-Y direction, the output of the analog sun sensor is utilized to respectively control the rolling axis and the yaw axis so as to complete sun alignment;
when the pitching axis control is started, the components of the sun vector and the magnetic field vector in the orbit system are calculated by utilizing the orbit information, the components of the sun vector and the magnetic field vector in the system are measured by utilizing the magnetometer and the sun signal, the pitching attitude angle of the satellite can be calculated by utilizing a double-vector attitude determination algorithm, and the pitching attitude angle is differentiated to obtain the pitching attitude angular velocity;
(3) and performing segmented control on a pitch axis according to the pitch angle estimated value theta, wherein the angular momentum command is calculated as follows:
wherein, theta1To segment the threshold, KpyAnd KdyRespectively are a pitch axis proportion and a differential control coefficient,
for estimated pitch angular velocity, Hy(kT) is a pitch axis angular momentum control command, HymaxFor the upper limit of the angular momentum command set according to the capacity of the flywheel, if the non-ground orientation mode enters the ground orientation mode, the accumulated value is addedClearing;
(4) if the sun capture stage is performed before the flywheel enters the ground shadow area, the flywheel angular momentum command is reset to zero, and the sun capture is performed again after the flywheel angular momentum command enters the illumination area; if the current sun-facing orientation stage is in, keeping the flywheel angular momentum instruction, continuing sun-facing orientation if a sun signal exists in the-Y direction when the current sun-facing orientation stage enters an illumination area, and re-capturing the sun if no sun signal exists; if the current position is in the earth orientation stage, the rolling and yaw direction flywheel angular momentum instruction is kept, the pitch direction is continuously controlled, if a sun signal exists in the-Y direction when the sun area enters the sun area, the earth orientation is continuously carried out, and if no sun exists in the-Y direction, the pitch direction angular momentum instruction is returned to zero to carry out sun capture again.
2. The method for recovering the wheeled attitude of the earth satellite under the condition without the gyro according to claim 1, wherein in the step (2), the rolling axis is controlled as follows:
when in use
And then, carrying out open-loop control, and calculating the control command angular momentum as follows:
Hx(kT)＝-hbuhuo
when in use
And then, carrying out open-loop control, and calculating the control command angular momentum as follows:
Hx(kT)＝hbuhuo
when tx is satisfied for a continuous period of time
And then, entering rolling closed-loop control, and calculating the control command angular momentum as follows:
wherein T is control periodPeriod of time hbuhuoSetting a target value of flywheel angular momentum for solar capture; hx(kT) is the actual flywheel angular momentum control command sent,
the rolling angle is measured by the analog sun sensor; alpha x is a set rolling angle closed-loop control threshold; kpx、KixAre rolling axis closed-loop control parameters.
3. The method for recovering the wheeled attitude of a geostationary satellite under the condition of no gyro as claimed in claim 2, wherein the method is applied to a geostationary satellite
Carrying out amplitude limiting, if entering closed-loop control from the sun-oriented submode non-closed-loop control, then
And zero clearing is carried out, and if the sun-facing orientation sub-mode is directly entered from the ground shadow region, zero clearing is not carried out.
4. The method for recovering the wheel control attitude of the geostationary satellite under the condition without the gyro according to claim 3, wherein in the step (2), the yaw axis is controlled as follows:
when psis<At α z, open-loop control is performed, and the control command angular momentum is calculated as follows:
Hz(kT)＝-hbuhuo
when psis>At α z, open-loop control is performed, and the control command angular momentum is calculated as follows:
Hz(kT)＝hbuhuo
when tz satisfies-alpha z ≦ ψ for a continuous period of timesWhen the alpha z is less than or equal to the alpha z, the rolling closed-loop control is carried out, and the control command angular momentum is calculated as follows:
Hz(kT)＝Kpzψs+Kiz∑ψsT
wherein psisThe yaw angle is measured by the analog sun sensor; alpha z is a set yaw angle closed-loop control threshold; kpz、KizClosed-loop control parameters of a yaw axis; hz(kT) is a flywheel angular momentum control command actually transmitted.
5. The method for recovering the wheeled attitude of a geostationary satellite under the condition of no gyro as claimed in claim 4, wherein K is selected from the group consisting ofiz∑ψsT carries out amplitude limiting, and if the closed-loop control is carried out by the sun-oriented sub-mode non-closed-loop control, K is carried outiz∑ψsAnd (4) clearing the T, and if the T directly enters a sun-facing orientation sub-mode from the ground shadow region, not clearing the T.
6. The method for recovering the wheeled attitude of the earth-oriented satellite under the condition without the gyro according to claim 5, further comprising: when the continuous period ty1 is satisfied simultaneously
Phi is less than or equal to-alpha zsWhen the angle is less than or equal to alpha z, the control of the pitching axis is started, and when the time is continuously within a period ty2,
or-alpha z ≦ ψsAnd stopping the control of the pitching axis when the alpha z is not more than or equal to the preset value, and clearing the command angular momentum.
7. The method for recovering the wheeled attitude of the geostationary satellite under the gyroscopic-free condition as recited in claim 1, wherein in the heliotactic and geostationary orientation mode, the magnetic torquer is used to unload the flywheel, and the unloading is not performed in the shadowy area.
Priority Applications (1)
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