CN112550766B - Method for improving satellite attitude control precision in thruster dead zone - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
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Abstract
The invention discloses a method for improving the control precision of satellite attitude in a thruster dead zone, which is characterized in that the method controls the satellite attitude of a satellite by controlling a thruster combination arranged on the satellite, the thruster combination comprises a plurality of thrusters, and the method comprises the following steps: acquiring control information of the satellite, wherein the control information is acquired by a measuring sensor in real time; calculating to obtain a plurality of time pulse instructions according to the control information, wherein the time pulse instructions are used for respectively controlling a plurality of thrusters so that the satellite meets the task index requirement; sending the time pulse instruction to a corresponding thruster; and judging whether the attitude amplitude of the satellite exceeds the task index requirement and/or whether the sampling period of the measuring sensor exceeds the sampling period of the satellite computer, if so, expanding the time pulse instruction of the current beat by a set multiple and sending the time pulse instruction expanded by the set multiple to a corresponding thruster.
Description
Technical Field
The invention relates to the technical field of satellite attitude control, in particular to a method for improving satellite attitude control precision in a thruster dead zone.
Background
With the rapid development of the aerospace industry, the technology in the satellite field is gradually perfected and matured, and the requirements on attitude control indexes are more and more strict in order to adapt to various on-orbit tasks of loads. In order to save cost, performance indexes of a plurality of single machines configured by the satellite attitude and orbit control platform are not high, and in order to meet the load task requirements, the designed algorithm is refined, and the performance deficiency of the single machines is made up.
Under the condition that the quality characteristics of the satellite and the dead zone of the thruster are determined, the control precision of the attitude is determined by the bandwidth of the controller, the control precision is higher when the bandwidth is larger, and meanwhile, the noise of a sensor measuring single machine also enters the bandwidth of the controller and can be amplified by the system to influence the stability of the system.
Disclosure of Invention
The invention aims to provide a method for improving the attitude control precision of a satellite in a dead zone of a thruster, which can ensure that an effective load does not reduce indexes to work, meet the high-precision requirement of the satellite for working by using the thruster and simultaneously expand the use application of the thruster with a larger dead zone.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a method for improving the control precision of the satellite attitude in the dead zone of a thruster is provided, the method controls the satellite attitude of a satellite by controlling a thruster combination arranged on the satellite, the thruster combination comprises a plurality of thrusters, and the method comprises the following steps:
s1, acquiring control information of the satellite, wherein the control information is acquired by a measuring sensor in real time;
s2, calculating according to the control information to obtain a plurality of time pulse instructions, wherein the time pulse instructions are used for respectively controlling the thrusters so that the satellite meets the requirement of a task index;
s3, sending the time pulse command to the corresponding thruster;
and S4, judging whether the attitude amplitude of the satellite exceeds the task index requirement and/or whether the sampling period of the measuring sensor exceeds the sampling period of a satellite computer, if so, expanding the time pulse instruction of the current beat by a set multiple and sending the time pulse instruction expanded by the set multiple to a corresponding thruster, and if not, repeating the step S1.
Further, the control information includes angle information and angular velocity information of each thruster in the thruster combination.
Further, the step S2 specifically includes:
s201, calculating to obtain a corresponding control moment according to the control information;
and S202, calculating to obtain a corresponding time pulse command according to the control torque.
Further, the steps S201 and S202 are executed by the PID controller, and are calculated by using the following formula:
Mc＝Kp·α+Ki·∫α+Kd·ω
Mc·Ts＝Mr·Ton
in the formula, Kp is a proportional link coefficient of the controller, Ki is an integral link coefficient, Kd is a differential link coefficient, Mc is a control torque output by the controller, Mr is a rated torque which can be provided by the thruster, Ts is a computer sampling period configured and installed on the satellite, and Ton is a time pulse signal instruction received by the thruster.
Further, before sending the time pulse command with the set expansion times to the corresponding thruster, the method further comprises the following steps:
and judging whether the time pulse command for expanding the set multiple exceeds the minimum output pulse, if so, sending the time pulse command for expanding the set multiple to the corresponding thruster, and if not, repeating the step S4.
Further, the set multiple is a natural number N; and the corresponding thruster outputs the time pulse command with the expansion set multiple after receiving the time pulse command, but the thruster is required not to output in the next N-1 beats.
Further, the setting multiple N is specifically calculated by the following formula:
Mc_min＝Mr·Tmin/Ts
α_min＝Mc_min/Kp
ω_min＝Mc_min/Kd
in the formula, Mc _ min is a control torque corresponding to the dead zone pulse width Tmin of the thruster, Mr is a rated torque which can be provided by the thruster, alpha _ min is corresponding angle control precision, and omega _ min is corresponding angular speed control precision; n is an integer value obtained by dividing (α _ min/α _0) into nearly larger integers.
Compared with the prior art, the invention has at least one of the following advantages:
when the thruster is used for controlling the attitude of the satellite, the dead zone of the thruster is an important index for restricting the control precision, and if the jet output pulse width entering the dead zone is specially processed, the attitude and angular speed control precision can be obviously improved. The method expands the application of the thruster with a larger dead zone, so that the satellite can meet various index tasks when selecting the thruster with poorer performance, and the satellite cost is saved.
Drawings
Fig. 1 is a schematic structural diagram of a method for improving satellite attitude control accuracy in a dead zone of a thruster in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying fig. 1 and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include," "include," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method of improving satellite attitude control accuracy within a thruster deadband, article, or field device that includes a series of elements includes not only those elements, but also other elements not expressly listed, or inherent to such a process, method of improving satellite attitude control accuracy within a thruster deadband, article, or field device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in a process comprising the element, a method of improving accuracy of satellite attitude control within a thruster dead band, an article, or a field device.
Referring to fig. 1, in the method for improving the satellite attitude control accuracy in the dead zone of the thruster, the method controls the satellite attitude of the satellite by controlling a thruster assembly disposed on the satellite, the thruster assembly includes a plurality of thrusters, and the method includes:
s1, acquiring control information of the satellite, wherein the control information comprises an angle alpha and an angular velocity omega, and the control information is acquired by a measuring sensor in real time;
s2, calculating according to the control information to obtain a plurality of time pulse instructions, wherein the time pulse instructions are used for respectively controlling the thrusters so that the satellite meets the requirement of a task index;
s3, sending the time pulse command to the corresponding thruster;
and S4, judging whether the attitude amplitude of the satellite exceeds the task index requirement and/or whether the sampling period of the measuring sensor exceeds the sampling period of a satellite computer, if so, expanding the time pulse instruction of the current beat by a set multiple and sending the time pulse instruction expanded by the set multiple to a corresponding thruster, and if not, repeating the step S1.
In this embodiment, the control information includes angle information and angular velocity information of each thruster in the thruster assembly.
In this embodiment, the step S2 specifically includes:
s201, calculating to obtain a corresponding control moment according to the control information;
and S202, calculating to obtain a corresponding time pulse command according to the control torque.
In this embodiment, before sending the time pulse command for expanding the set multiple to the corresponding thruster, the method further includes:
and judging whether the time pulse command for expanding the set multiple exceeds the minimum output pulse, if so, sending the time pulse command for expanding the set multiple to the corresponding thruster, and if not, repeating the step S4.
In this embodiment, the set multiple is a natural number N; and the corresponding thruster outputs the time pulse command with the expansion set multiple after receiving the time pulse command, but the thruster is required not to output in the next N-1 beats.
The dead zone Tmin of a thruster configured for a certain satellite is 30 milliseconds, the rated moment Mr provided by the thruster combination configured for the pitch axis of the satellite is 10Nm, the inertia of the pitch axis of the satellite is 1500Kg.m2, and the control index that the control precision of the pitch axis is less than 0.5 degree needs to be realized under any condition:
firstly, obtaining satellite measurement angle and angular velocity information
The attitude alpha measuring sensor configured by the satellite is a star sensor, the angular speed omega measuring sensor is a gyroscope, the sampling time Ts of an on-satellite computer is 0.1 second, and the PID attitude controller receives a group of measuring information (alpha, omega) every 0.1 second.
Calculating the pulse jet to be output by the thruster according to the designed control rate
The controller configuration parameters are Kp 135, Kd 635 and Ki 1.35, the control torque Mc output by each beat controller,
Mc＝135α+1.35∫α+635ω
the time pulse signal command received by the thruster is Ton,
ton can be obtained from 0.1Mc 10Ton to 0.01Mc
Thirdly, special treatment is carried out on the jet pulse in the dead zone, and the pulse jet which is required to be output by the thruster is solved again
When the external disturbance torque is large, the attitude is around 0 degrees due to the function of an integrator of the used PID controller. The following considered working conditions are that the external disturbance torque is very small, the calculated pulse jet commands are very small, and not every beat is more than the dead zone of the thruster by 30 milliseconds.
If the jet command pulse width in the dead zone of the thruster is not specially processed, the control moment Mc _ min corresponding to the 30ms dead zone pulse width of the thruster is
Mc_min＝±10*0.03/0.1＝±3Nm
The corresponding attitude control accuracy is about:
α_min＝±3/135*57.3≈±1.27o
ω_min＝±3/635*57.3≈±0.27o/s
next, the expansion factor N is determined, the amplitude corresponding to the dead zone of the thruster is 1.27 ° and the index required for the mission is 0.5 °, and an integer value is obtained for (1.27 °/0.5 °) and an integer close to a larger integer is determined, and the value is set to 3.
Calculating the pulse jet command ton (k) of the current k-th beat
When ton (k) is more than or equal to 30ms, outputting the signal to the thruster;
when ton (k) < 30ms,
judging whether the expansion value ton (k) × 3 of the current beat is greater than or equal to 30ms, if so, outputting the expansion value to the thruster at the kth beat, then outputting time pulse instructions to the thruster for processing according to 0 by beating k +1 and k +2, and judging again at the kth +3 beat.
The jet command pulse width in the dead zone of the thruster is specially processed, so that the control torque does not need to be larger than 3Nm at each beat, the thruster can output 30 milliseconds, and the thruster can output the jet command pulse width only when the control torque is larger than 1 Nm. When the attitude angle is 0.5 degrees, the corresponding control torque Mc is 135 × 0.5/57.3 ═ 1.178Nm, and the condition that the thruster can be triggered to output jet air is achieved, so that the required control index is realized.
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 improving the control precision of the satellite attitude in the dead zone of a thruster is characterized in that the method controls the satellite attitude of a satellite by controlling a thruster combination arranged on the satellite, the thruster combination comprises a plurality of thrusters, and the method comprises the following steps:
s1, acquiring control information of the satellite, wherein the control information is acquired by a measuring sensor in real time;
s2, calculating according to the control information to obtain a plurality of time pulse instructions, wherein the time pulse instructions are used for respectively controlling the thrusters so that the satellite meets the requirement of a task index;
s3, sending the time pulse command to the corresponding thruster;
and S4, judging whether the attitude amplitude of the satellite exceeds the task index requirement and/or whether the sampling period of the measuring sensor exceeds the sampling period of a satellite computer, if so, expanding the time pulse instruction of the current beat by a set multiple and sending the time pulse instruction expanded by the set multiple to a corresponding thruster, and if not, repeating the step S1.
2. The method for improving the control accuracy of the attitude of the satellite within the dead zone of the thrusters according to claim 1, wherein the control information comprises angle information α and angular velocity information ω of each thruster in the thruster assembly.
3. The method for improving the accuracy of the attitude control of the satellite within the dead zone of the thruster, as set forth in claim 2, wherein the step S2 specifically comprises:
s201, calculating to obtain a corresponding control moment according to the control information;
and S202, calculating to obtain a corresponding time pulse command according to the control torque.
4. The method for improving the accuracy of the attitude control of the satellite within the dead zone of the thruster, according to claim 3, wherein the steps S201 and S202 are executed by a PID controller, and are calculated by using the following formula:
Mc＝Kp·α+Ki·∫α+Kd·ω
Mc·Ts＝Mr·Ton
in the formula, Kp is a proportional link coefficient of the controller, Ki is an integral link coefficient, Kd is a differential link coefficient, Mc is a control torque, Mr is a rated torque which can be provided by the thruster, Ts is a sampling period of a computer which is configured and installed on the satellite, and Ton is a time pulse signal command received by the thruster.
5. The method for improving the accuracy of the attitude control of the satellite within the dead zone of the thruster, according to claim 1, wherein before sending the time pulse command expanded by the set number to the corresponding thruster, the method further comprises:
and judging whether the time pulse command for expanding the set multiple exceeds the minimum output pulse, if so, sending the time pulse command for expanding the set multiple to the corresponding thruster, and if not, repeating the step S4.
6. The method for improving the control precision of the attitude of the satellite in the dead zone of the thruster, according to claim 1, wherein the set multiple is a natural number N; and the corresponding thruster outputs the time pulse command with the expansion set multiple after receiving the time pulse command, but the thruster is required not to output in the next N-1 beats.
7. The method for improving the satellite attitude control accuracy in the thruster dead zone as claimed in claim 6, wherein the set multiple N is calculated by the following formula:
Mc_min＝Mr·Tmin/Ts
α_min＝Mc_min/Kp
ω_min＝Mc_min/Kd
in the formula, Mc _ min is a control torque corresponding to the dead zone pulse width Tmin of the thruster, Mr is a rated torque which can be provided by the thruster, alpha _ min is corresponding angle control precision, and omega _ min is corresponding angular speed control precision; n is an integer value obtained by (alpha _ min/alpha _0) and is an integer close to a larger integer, Ts is a computer sampling period configured and installed on a satellite, Kp is a proportional link coefficient of a controller, and Kd is a differential link coefficient.
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| CN107628273B (en) * | 2017-09-27 | 2019-06-04 | 上海航天控制技术研究所 | A kind of satellite attitude control method based on the variable control period |
| CN109032161B (en) * | 2018-08-02 | 2021-05-07 | 哈尔滨工业大学（深圳） | Small-inertia spacecraft attitude jitter determination method based on fourth-order Runge Kutta method |
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