CN112520076A - High-stability SADA attitude disturbance ground test system and method - Google Patents
High-stability SADA attitude disturbance ground test system and method Download PDFInfo
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Abstract
A high-stability SADA attitude disturbance ground test system and a method belong to the technical field of spacecraft attitude control and measurement. According to the method, the simulated solar wing with the same structural parameters as the real solar wing is designed to simulate the SADA on-orbit real running state by utilizing the law of conservation of angular momentum, and meanwhile, the high-stability control on the small-inertia air bearing table is realized, so that the influence of the accessory drive disturbance with an extremely low-speed fluctuation level is accurately measured. The method has the advantages of simple and reliable principle, low test cost, easy operation and the like, and has extremely high practical value.
Description
Technical Field
The invention relates to a high-stability SADA attitude disturbance ground test system and a method, and belongs to the technical field of spacecraft attitude control and measurement.
Background
In order to meet the requirement of the future development task of an intelligent high-quality large-scale low-orbit remote sensing satellite platform, the whole satellite attitude control stability provides an index requirement superior to 0.00004 degrees/s. Therefore, on the basis of a novel high-stability sailboard driving mechanism developed by the original permanent magnet synchronous motor technology, the driving stability level of the sailboard needs to be further improved, and the ultrahigh-stability driving performance of the sailboard is realized. However, since windsurfing driving rate fluctuations are very small, the attitude disturbance to the whole star is also very small, thus causing considerable difficulties in accurately measuring the attitude disturbance of the SADA. The existing attitude disturbance measurement method caused by SADA driving adopts a high-precision force measuring platform to measure disturbance torque generated by SADA rotation, and then the disturbance torque is converted into attitude disturbance data for evaluation, and the method mainly has the following defects:
(1) the real solar wing of the satellite adopts a structure of a rigid body and a flexible accessory, the whole solar wing is not an integral structure but consists of a plurality of substrates, and a special unloading device is required to be configured for adopting the real solar wing to carry out attitude disturbance test. The existing SADA attitude disturbance measurement method needs to integrally unload the solar wing so as to reduce the gravity influence of the solar wing;
(2) the existing SADA disturbance attitude measurement method is based on a mode of mounting a force transducer on a static base, and has the advantages that the method is simple, but attitude disturbance generated by mutual coupling of the SADA and a spacecraft body cannot be accurately evaluated;
(3) a platform body base used by the existing SADA disturbance attitude measurement method adopts a static base which is only used for installing and using as an SADA and a solar sailboard, so that the simulation of a real carrier of a satellite body and the active high-stability control cannot be realized, and the mutual influence between the solar wing drive and the disturbance of the air bearing platform cannot be accurately evaluated.
Disclosure of Invention
The technical problem solved by the invention is as follows: the system and the method overcome the defects of the prior art, simulate the real running state of the SADA on the orbit by designing a simulated solar wing with the same structural parameters as the real solar wing by utilizing the law of conservation of angular momentum, and simultaneously realize high-stability control on a small-inertia air bearing table, thereby accurately measuring the influence of accessory drive disturbance with an extremely low-speed fluctuation level. The method has the advantages of simple and reliable principle, low test cost, easy operation and the like, and has extremely high practical value.
The technical solution of the invention is as follows: a high-stability SADA attitude disturbance ground test system comprises a simulation solar wing, a high-speed flywheel, an SADA, a single-shaft air bearing platform system and an angle measurement grating sensor;
the simulated solar wing is used for simulating a spacecraft solar sailboard, is used as a driving object of the SADA, and is a maximum interference source of the single-shaft air bearing platform system;
the high-speed flywheel is used for realizing very high stability control of the single-shaft air-floatation rotary table;
the SADA is used as a driving source of the simulation solar wing to realize the control and driving of the simulation solar wing;
the single-shaft air bearing table system is used for simulating the rotational inertia of the satellite body;
the angle measurement grating sensor is used for simulating a star sensor of a satellite and measuring the attitude stability of a single-axis air bearing table system.
The high-stability SADA attitude disturbance ground test method realized according to the high-stability SADA attitude disturbance ground test system comprises the following steps:
selecting a rigid material, manufacturing a flexible simulation piece with the same inertia, coupling coefficient and torsion frequency as the real solar wing, and finishing the processing of the simulated solar wing according to the three-dimensional characteristics of the real solar wing;
constructing a single-shaft air bearing table system, installing a simulation solar wing and a driving mechanism thereof on the central axis of the single-shaft air bearing table system, performing very high stability control on the combination of the single-shaft air bearing table system and the simulation solar wing, and measuring the attitude stability and the background noise of the single-shaft air bearing table system through an angle measurement grating sensor;
and sending a rotation control command to a driving circuit of the SADA, starting the SADA, carrying out corresponding attitude control and SADA driving on the uniaxial air bearing table, measuring attitude data of the uniaxial air bearing table system through the angle measuring grating sensor, and calculating attitude disturbance caused by SADA driving simulation solar wings according to the measured attitude data and background noise.
Further, the step of very high stability control comprises:
the attitude angle measurement of the assembly of the uniaxial air bearing platform system and the simulated solar wing is carried out through the angle measurement grating sensor arranged on the uniaxial air bearing platform system, the control of the attitude angle of the assembly of the uniaxial air bearing platform system and the simulated solar wing is carried out by adopting a high-speed flywheel and a high-stability SADA, and the downloading of measurement data and the uploading of a control instruction are carried out through communication equipment.
Further, the method for measuring the background noise of the single-shaft air bearing table system comprises the following steps: the single-axis air bearing table system is in a very high stability state with preset attitude stability by a low bandwidth control method of the single-axis air bearing table system, and the background noise of the single-axis air bearing table system in the state is measured.
Further, the low bandwidth is less than 0.01 Hz.
Further, the preset posture stability is 9.9286e-005 °/s.
Compared with the prior art, the invention has the advantages that:
(1) the method utilizes the simulated solar wing with the same inertia, frequency and coupling coefficient in the driving direction to realize accurate simulation of the on-orbit running state of the driving system, avoids a plurality of difficult problems brought by adopting a real solar wing to carry out a driving test, and has the advantages of low cost, easy operation and the like;
(2) the method adopts the small-inertia air bearing table as a measurement carrier, can fully amplify the disturbance magnitude, greatly reduces the measurement difficulty and also improves the measurement reliability;
(3) the method realizes very high-precision control of the small-inertia air bearing table and provides a foundation for accurate measurement of attitude disturbance. The test result shows that the angular momentum conservation law is completely satisfied between the simulated solar array driving and the air bearing table disturbance, and the accuracy and the effectiveness of the measurement method are fully proved.
Drawings
FIG. 1 is a single axis air bearing table test system. In the figure, 1-a simulated solar sailboard is used for simulating the real solar wing of a spacecraft, which is used as a driving object of SADA and is the largest interference source of the whole air bearing platform; 2-high speed flywheel, used for realizing the very high stability control of the single-shaft air-float revolving stage; 3-SADA as a driving source of the simulated solar wing to realize high-stability control of the simulated solar wing; 4-a high-precision air-floating rotary table for simulating the rotational inertia of the satellite body; 5-a high-precision angle measurement grating sensor for measuring the attitude stability of the single-shaft air bearing table;
FIG. 2 is a flow chart of a high stability SADA attitude disturbance measurement;
FIG. 3 is a three-dimensional block diagram of a flexible simulation board designed using a special tool;
FIG. 4 shows the high stability control of the air bearing table with different control periods, wherein (1) the measurement data of the high stability control platform of the air bearing table with the control period of 0.05s, and (2) the measurement data of the high stability control platform of the air bearing table with the control period of 0.125 s;
FIG. 5 is a comparison of the velocity stability of an air bearing table and windsurfing board under high resolution satellite simulation;
FIG. 6 is a comparison of the velocity stability of an air bearing table and a windsurfing board under simulation of a surveying satellite;
Detailed Description
The invention is further explained and illustrated in the following figures and detailed description of the specification.
A high stability SADA attitude disturbance ground test system is shown in fig. 1, and includes:
the simulated solar sailboard 1 is used for simulating a real solar wing of a spacecraft, is used as a driving object of the SADA, and is a maximum interference source of the whole air bearing table;
the high-speed flywheel 2 is used for realizing very high stability control of the single-shaft air-floatation rotary table;
the high-stability SADA3 is used as a driving source of the simulated solar wing to realize high-stability control of the simulated solar wing;
the high-precision air-flotation rotary table 4 is used for simulating the rotational inertia of the satellite body;
and the high-precision angle measurement grating sensor 5 is used for measuring the attitude stability of the single-shaft air bearing table.
A high-stability SADA attitude disturbance ground test method is disclosed, wherein the whole test method has a flow chart shown in FIG. 2, and the main technical contents comprise the following three aspects:
firstly, simulating the load of the solar panel;
because the real solar wing is expensive in manufacturing cost, complex in suspension method and needs to be unloaded in the experimental process, the solar sailboard needs to be simulated, designed and manufactured, and the final design result is the flexible simulated solar wing with the inertia, the coupling coefficient and the torsional frequency the same as those of the real solar wing, so that the SADA runs in a real on-orbit state.
By adopting a special design tool and selecting a rigid material, the three-dimensional sizes of length, width and thickness are adjusted for multiple times, so that the flexible simulation piece which has the same inertia, coupling coefficient and torsion frequency height as the real solar wing can be obtained, and finally the processing of the simulated solar wing is completed. The design of the simulated solar panel structure is shown in figure 3.
Secondly, the construction and the very high stability control of the single-shaft air bearing table system
The single-shaft air bearing table system adopted by the invention takes the single-shaft air bearing table as a controlled object, a complete table body and ground non-contact control system is mainly formed by a high-precision circular grating, a momentum wheel and an industrial personal computer to simulate the in-orbit flight attitude of a satellite, and a test control table computer carries out actions such as test data downloading, test instruction uploading and the like through communication equipment.
When the rotational inertia of the air floating table body can be quickly maneuvered through the jet thruster, the angular momentum accumulation of the momentum wheel is estimated. The estimation result shows that the inertia of the table body is 330kgm2(with 30 kgm)2Simulating a solar wing). When the air bearing table is controlled, the control system is firstly in a steady-state control mode, and after the controlled air bearing table is stable, various control instructions can be sent according to test contents to carry out corresponding attitude and SADA control tests.
Notably, to ensure that the controller does not affect the accuracy of the measurement results, the closed loop control system bandwidth must be sufficiently low; meanwhile, the laboratory environment must be kept in a silent state, so that the test device is not influenced by environmental factors such as airflow and earthquake. Under the above conditions, when the SADA is not driven, the steady-state control effect of the uniaxial air bearing table is shown in fig. 4(1) and 4 (2). The attitude stability of the air bearing table is 9.9286e-005 degree/s (3 sigma), which is better than the control target of 0.0001 degree/s.
Finally, measuring the disturbance of the air bearing table
The windsurfing board driving test is carried out under the condition that the air bearing platform achieves a high stability state better than 0.0001 degree/s, and the posture disturbance of the platform body completely comes from the speed fluctuation in the SADA driving process. The whole satellite attitude disturbance influence caused in the SADA sailboard driving process can be estimated by measuring the attitude disturbance of the platform body. The test results are shown in fig. 5 and 6.
As can be seen from the two figures, the accurate one-to-one correspondence relationship exists between the speed fluctuation of the sailboard and the attitude disturbance of the air bearing table, and the system angular momentum conservation principle is completely met, so that the test result is correct, and the test method is effective.
The test result shows that:
when the SADA band is 22.7kg m2The attitude stability of the air bearing table is about 0.00055 degree/s when sailing (sailing speed fluctuation is 10% (3 sigma)), and the attitude disturbance of the two SADAs is 2 × 0.00055 × 320/5000-7.0400 e-005 degree/s when being converted into a satellite; (estimated value of the recipe is 4.72e-005 °/s)
② when the SADA band is 31 kg.m2When sailing (sailboard velocity fluctuation is 10% (3 sigma)), the attitude stability of the air floating platform is about 6.1846 e-004/s, and when the air floating platform is folded into a satellite, the attitude disturbance of the two SADAs is 2 x 6.1846e-004 x 330/10000-4.0818 e-005/s; (estimated value of the recipe is 3.2e-005 to 3.5e-005 °/s)
The above results are substantially consistent with the estimates at the project design stage.
Examples
The invention of a high-stability SADA attitude disturbance ground test method is further explained in detail through a specific embodiment.
A control process of a high-stability SADA attitude disturbance ground test method comprises the following steps:
(1) simulation of solar panel load:
the method comprises the following steps: selecting a proper material (steel is selected in the embodiment), and designing proper length, width and thickness three-dimensional sizes so as to obtain a flexible simulation piece which has the same inertia, coupling coefficient and torsion frequency height as the real solar wing, wherein the design tool adopts a self-developed tool, as shown in fig. 3;
step two: after the design is finished (as shown in fig. 3), manufacturing a simulated solar wing according to the design result;
(2) construction and very high stability control of a small inertia single-shaft air bearing table system:
the method comprises the following steps: a single-shaft air bearing table is adopted to build a whole satellite attitude control simulation device, attitude angle measurement is carried out through a circular grating, a momentum wheel is adopted to control the attitude angle, test data downloading and test instruction uploading are carried out through a wireless network, and the whole set of test device is shown in figure 1.
Step two: the SADA and the analog load thereof are installed, the attitude stability of the air bearing table is superior to the very high stability level of 0.0001 degree/s through the low bandwidth (less than 0.01Hz) control system of the air bearing table, the attitude value and the background value of the platform are measured through the attitude angle measuring device, and the measurement result is shown in figure 4.
(3) Attitude disturbance measurement caused by SADA:
in case the air bearing table reaches a very high stability level, the sailboard drive mechanism is started, at which point the table body attitude disturbance originates almost entirely from the rate fluctuations of the SADA drive process. The whole satellite attitude disturbance influence caused in the SADA belt sailboard driving process can be estimated by measuring the attitude disturbance of the platform body, and the test result is shown in fig. 5 and 6.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (6)
1. A high steady SADA gesture disturbance ground test system which characterized in that: the device comprises a simulation solar wing (1), a high-speed flywheel (2), an SADA (synthetic aperture radar) (SADA) system (3), a single-shaft air bearing table system (4) and an angle measurement grating sensor (5);
the simulated solar wing (1) is used for simulating a spacecraft solar sailboard, is used as a driving object of an SADA (hybrid automatic guided device), and is a maximum interference source of a single-axis air bearing platform system (4);
the high-speed flywheel (2) is used for realizing very high stability control of the single-shaft air-floatation rotary table;
the SADA (3) is used as a driving source of the simulation solar wing (1) to realize the control and driving of the simulation solar wing (1);
the single-shaft air bearing table system (4) is used for simulating the rotational inertia of the satellite body;
the angle measurement grating sensor (5) is used for simulating a star sensor of a satellite and measuring the attitude stability of the single-axis air bearing table system (4).
2. The method for testing the high-stability SADA attitude disturbance ground, implemented by the system for testing the high-stability SADA attitude disturbance ground, according to claim 1, comprising the steps of:
selecting a rigid material, manufacturing a flexible simulation piece with the same inertia, coupling coefficient and torsion frequency as the real solar wing, and finishing the processing of the simulation solar wing (1) according to the three-dimensional characteristics of the real solar wing;
constructing a single-shaft air bearing table system (4), installing a simulation solar wing (1) and a driving mechanism thereof on the central axis of the single-shaft air bearing table system (4), carrying out very high stability control on the combination of the single-shaft air bearing table system (4) and the simulation solar wing (1), and measuring the attitude stability and background noise of the single-shaft air bearing table system (4) through an angle measurement grating sensor (5);
and sending a rotation control command to a drive circuit of the SADA (3), starting the SADA (3), carrying out corresponding attitude control and SADA drive on the uniaxial air bearing table, measuring attitude data of the uniaxial air bearing table system (4) through the angle measuring grating sensor (5), and calculating attitude disturbance caused by driving the simulated solar wing (1) by the SADA (3) according to the measured attitude data and background noise.
3. The high-stability SADA attitude disturbance ground test method of claim 2, wherein: the very high stability control step includes:
the attitude angle of the assembly of the uniaxial air bearing platform system (4) and the simulated solar wing (1) is measured through the angle measuring grating sensor (5) arranged on the uniaxial air bearing platform system (4), the control of the attitude angle of the assembly of the uniaxial air bearing platform system (4) and the simulated solar wing (1) is carried out through the high-speed flywheel (2) and the high-stability SADA (3), and the downloading of measurement data and the uploading of control instructions are carried out through communication equipment.
4. The high-stability SADA attitude disturbance ground test method of claim 2, wherein: the method for measuring the background noise of the single-shaft air bearing table system (4) comprises the following steps: the single-axis air bearing table system (4) is in a very high stability state with preset attitude stability by a low bandwidth control method of the single-axis air bearing table system (4), and the background noise of the single-axis air bearing table system (4) in the state is measured.
5. The method of claim 4, wherein the method comprises: the low bandwidth is less than 0.01 Hz.
6. The method of claim 4, wherein the method comprises: the preset posture stability is 9.9286e-005 DEG/s.
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