CN112550768B - High-precision angular velocity control method under short-time large-boundary interference - Google Patents

High-precision angular velocity control method under short-time large-boundary interference Download PDF

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CN112550768B
CN112550768B CN202011471316.0A CN202011471316A CN112550768B CN 112550768 B CN112550768 B CN 112550768B CN 202011471316 A CN202011471316 A CN 202011471316A CN 112550768 B CN112550768 B CN 112550768B
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angular velocity
interference
engine
yaw
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CN112550768A (en
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邵梦晗
纪刚
高磊
张惠平
路坤锋
尚腾
吕春红
缪小冬
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Beijing Aerospace Automatic Control Research Institute
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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
    • B64G1/242—Orbits and trajectories
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The invention discloses a high-precision angular velocity control method under short-time large-boundary interference, which is characterized in that deep coupling analysis is carried out on the method and a guidance system, orbit control information is brought into an attitude control system, control schemes are respectively designed aiming at two typical control working conditions of orbit control startup and shutdown, the stability of a detector is ensured, and meanwhile, the requirement of the detection system is met. The high-precision angular velocity control method under short-time large-boundary interference provided by the invention achieves the purpose of rapidly reducing the angular velocity through advanced control when the rail-controlled engine is started, and increases the system damping through pseudo rate feedback control when the rail-controlled engine does not work, so that the angular velocity is controlled to be at a lower level. The invention solves the problems that the detection system is unlocked and the attitude control engine control capability is over-sufficient due to the structural interference of a short-time large boundary and the rapid increase of the angular speed of the detector in the prior art, so that the angular speed limit ring is difficult to meet the requirements of the detection system, and is simple, reliable and easy to realize in engineering.

Description

High-precision angular velocity control method under short-time large-boundary interference
Technical Field
The invention relates to the technical field of high-precision control of deep space probe postures, in particular to a high-precision angular velocity control method under short-time large-boundary interference.
Background
In the field of deep space detection, a small detector mainly depends on a rail control engine and an attitude control engine to complete a guidance control task, the low angular speed requirement of detection and the interference stability requirement of a structure are difficult points of attitude control, and the attitude control engine with fixed thrust is difficult to consider.
The thrust of the existing rail-controlled engine and the thrust of the existing attitude-controlled engine have difference in magnitude order, and the rail-controlled engine can generate structural interference of short-time large boundary due to transverse movement of a mass center when working, so that the attitude-controlled system is adversely affected, the angular speed of a detector is rapidly increased, and the detection system is easy to lose lock; when the rail-controlled engine does not work, the external interference of the deep space environment is small, the control capability of the attitude-control engine is over-sufficient, and the angular speed limit ring is easy to cause and difficult to meet the requirements of a detection system.
Aiming at the difficulties, a method for solving the problems that the detection system is unlocked and the attitude control engine control capability is over-sufficient due to the fact that the angular speed limit loop is difficult to meet the requirements of the detection system caused by the fact that the angular speed of a detector is rapidly increased due to the structural interference of a short-time large boundary in the prior art is provided.
Disclosure of Invention
In view of the above-mentioned defects, the technical problem to be solved by the present invention is to provide a high-precision angular velocity control method under short-time large-boundary interference, so as to solve the problems in the prior art that the angular velocity limit loop cannot meet the requirements of the detection system due to the fact that the detection system is unlocked and the attitude control engine control capability is over-sufficient due to the rapid increase of the angular velocity of the detector due to the short-time large-boundary structural interference.
The invention provides a high-precision angular velocity control method under short-time large-boundary interference, which comprises the following specific steps of:
step 1, controlling and distributing attitude control spray pipes according to structural characteristics of a detector and configuration of the attitude control spray pipes;
step 2, establishing a probe centroidal motion equation to obtain a spray pipe control model;
step 3, based on a spray pipe control model, obtaining a single attitude control spray pipe control moment coefficient and a single rail control engine interference moment coefficient according to the structural parameters of the detector and the engine thrust;
step 4, performing control distribution on each channel according to the control moment coefficient and the interference moment coefficient;
step 5, selecting a corresponding control method to control the angular speed according to the working state of the rail-controlled engine;
step 6, modeling based on the inertial measurement unit characteristic and the attitude control nozzle characteristic to obtain a control system transfer function, and carrying out frequency domain stability design on the control system to obtain an angular velocity control coefficient in the step 5, wherein the angular velocity control coefficient comprises a gain coefficient and a correction network coefficient;
and 7, combining the angular velocity control coefficient and the control distribution result, performing mathematical simulation, further adjusting the angular velocity control parameters, and performing accurate angular velocity control.
Preferably, the equation of motion of the detector around the center in step 2 is:
Figure GDA0003681598200000021
Figure GDA0003681598200000022
Figure GDA0003681598200000023
wherein Jx1、Jy1、Jz1The moment of inertia, omega, of the detector about the body axis relative to the center of massx1、ωy1、ωz1The angular velocities of the arrow systems of the pitch, yaw and roll channels, respectively,
Figure GDA0003681598200000024
for three-directional disturbing moment coefficients caused by the start of the rail-controlled engine, b3_f、b3_p、d3Control moment coefficient, K, generated for each channel control system actuatorzk1、Kzk2、Kzk3、Kzk4、Kzk5、Kzk6For attitude control of engine switching value, Kgk1、Kgk2、Kgk3、Kgk4The switching value of the rail-controlled engine is controlled.
Preferably, in the step 3, the step of,
controlling the moment coefficient:
Figure GDA0003681598200000025
disturbance moment coefficient:
Figure GDA0003681598200000026
wherein Fzk、FgkThe thrust of a single attitude control spray pipe and a single rail control engine is Jz、Jy、JxIs moment of inertia about the z, y, x axes, Lz、Ly、LxControlling the moment arm for pitching, yawing and rolling of the attitude control nozzle lz、ly、lxThe track control engine is a pitching, yawing and rolling interference force arm generated by structural interference.
Preferably, the step 4 specifically comprises the following steps:
output N according to the roll control equation at this timeγ(nT) determining the manner of opening the yaw nozzles so that the generated interference can counteract part of the deviation of the rolling direction, wherein the manner of opening the yaw nozzles comprises the steps of selectively opening and controlling one of the yaw nozzles according to the rolling direction when positive angle deviation exists in the yaw direction, and if the rolling channel N at the momentγAnd (nT) > 0, opening the corresponding yaw spray pipe.
Preferably, the step 5 specifically comprises the following steps:
step 5.1, when the on-track control engine works, the advance angle speed control is adopted, and the influence of large interference on the angular speed is reduced;
step 5.2, when the on-track control engine does not work, adopting pseudo rate feedback control, namely increasing a feedback signal
Figure GDA0003681598200000031
Increasing system damping, decreasing control angular velocity limit cycle, where KfFor feedback gain, TfIs a time constant and s is a time parameter.
Preferably, the lead angle speed control in said step 5.1,
pitch channel control output
Figure GDA0003681598200000032
Yaw channel control quantity output
Figure GDA0003681598200000033
Rolling channel control output
Figure GDA0003681598200000034
Wherein, the first and the second end of the pipe are connected with each other,
Figure GDA0003681598200000035
static and dynamic gain coefficients, omega, for pitch, yaw and roll channels, respectivelyz1,ωy1,ωx1The angular velocities of the arrow systems of the pitch, yaw and roll channels, respectively,
Figure GDA0003681598200000036
correction networks for pitch, yaw, roll channels, respectively.
Preferably, in the step 5.2, the three-state nonlinear control law of the attitude control nozzle in the pseudo rate feedback control is as follows:
Figure GDA0003681598200000037
wherein m isθIn order to be the loop back coefficient,
Figure GDA00036815982000000310
Eθ(N (nT)) represents the nonlinear characteristic of the tristate switch, KθOutputting instructions for nozzle control:
Figure GDA0003681598200000038
Kψ＝Eψ(Nψ(nT))，Kγ＝Eγ(Nγ(nT))，
Figure GDA0003681598200000039
is the switching threshold.
According to the scheme, the high-precision angular velocity control method under the short-time large-boundary interference is based on the fixed thrust attitude control spray pipe control under the short-time large-boundary interference. The track control information is brought into the attitude control system by performing deep coupling analysis with the guidance system, and control schemes are respectively designed according to two typical control working conditions of track control starting and shutdown, so that the requirements of the detection system are met while the stability of the detector is ensured. When the rail-controlled engine is started, the purpose of quickly reducing the angular speed is achieved through advanced control, and when the rail-controlled engine does not work, the damping of the system is increased through pseudo rate feedback control, so that the angular speed is controlled to be at a small level. The invention solves the problems that the detection system is unlocked and the attitude control engine control capability is over-sufficient due to the structural interference of a short-time large boundary and the rapid increase of the angular speed of the detector in the prior art, so that the angular speed limit loop is difficult to meet the requirements of the detection system, and the invention is simple, reliable, easy to realize engineering and suitable for wide popularization.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a process diagram of a high-precision angular velocity control method under short-time large-boundary interference according to an embodiment of the present invention;
FIG. 2 is a typical layout of attitude control nozzles for a high precision angular velocity control method under short-term large-boundary interference according to an embodiment of the present invention;
FIG. 3 is a representative rail-controlled engine layout for a high-precision angular velocity control method under short-time large-boundary disturbances according to an embodiment of the present invention;
fig. 4 is a block diagram of the advance and pseudo rate feedback control of a high-precision angular velocity control method under short-time large-boundary interference according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a three-state nonlinear control law of an attitude control nozzle of a high-precision angular velocity control method under short-time large-boundary interference according to an embodiment of the present invention;
FIG. 6 is a diagram of an exemplary attitude control nozzle control distribution method for a high precision angular velocity control method under short-term large boundary disturbances in accordance with an embodiment of the present invention;
FIG. 7 is a pitch, yaw, and roll attitude control engine decoding table of a high-precision angular velocity control method under short-time large-boundary interference according to an embodiment of the present invention;
fig. 8 is a pitch, yaw, and roll attitude control engine decoding table of a high-precision angular velocity control method under short-time large-boundary interference according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to fig. 8, an embodiment of a method for controlling angular velocity with high precision under short-time large-boundary interference according to the present invention will be described. The high-precision angular velocity control method under the short-time large-boundary interference comprises the following specific steps:
s1, controlling and distributing the attitude control spray pipes according to the structural characteristics of the detector and the configuration of the attitude control spray pipes;
the yaw and the rolling can be obtained by analyzing the actual data, and the single-station control or the double-station control can be considered according to the actual thrust and the structural parameters of the detector.
S2, establishing a probe centroidal motion equation to obtain a spray pipe control model;
the motion equation of the detector around the center is as follows:
Figure GDA0003681598200000051
Figure GDA0003681598200000052
Figure GDA0003681598200000053
wherein Jx1、Jy1、Jz1The moment of inertia, omega, of the detector about the body axis relative to the center of massx1、ωy1、ωz1The arrow system angular velocities of the pitch, yaw and roll channels, respectively,
Figure GDA0003681598200000054
for three-directional disturbing moment coefficients caused by the start of the rail-controlled engine, b3_f、b3_p、d3Control moment coefficient, K, generated for each channel control system actuatorzk1、Kzk2、Kzk3、Kzk4、Kzk5、Kzk6For attitude control of engine switching value, Kgk1、Kgk2、Kgk3、Kgk4The switching value of the rail-controlled engine is controlled.
S3, based on the spray pipe control model, obtaining a single attitude control spray pipe control moment coefficient and a single rail control engine interference moment coefficient according to the structural parameters of the detector and the engine thrust;
controlling the moment coefficient:
Figure GDA0003681598200000055
disturbance moment coefficient:
Figure GDA0003681598200000056
wherein Fzk、FgkThe thrust of a single attitude control spray pipe and a single rail control engine is Jz、Jy、JxIs moment of inertia about the z, y, x axes, Lz、Ly、LxControlling the moment arm for pitching, yawing and rolling of the attitude control nozzle lz、ly、lxThe track control engine is a pitching, yawing and rolling interference force arm generated by structural interference.
S4, performing control distribution on each channel according to the control moment coefficient and the disturbance moment coefficient;
output N according to the roll control equation at this timeγ(nT) determining the manner of opening the yaw nozzles so that the generated interference can counteract part of the deviation of the rolling direction, wherein the manner of opening the yaw nozzles comprises the steps of selectively opening and controlling one of the yaw nozzles according to the rolling direction when positive angle deviation exists in the yaw direction, and if the rolling channel N at the momentγAnd (nT) > 0, opening the corresponding yaw spray pipe.
For example, referring to fig. 2 to 3 together, the control of the pitch channel is controlled by the nozzles # 5 and # 6 independently, and the yaw and roll control are shared by the nozzles. If the yaw adopts two sets of controls at the same time, the control capability is too large, which easily causes the angular speed to be increased rapidly; if one spray pipe is adopted for control, interference torque is inevitably brought to the rolling direction. For this purpose, only one control is adopted for yaw, and then the yaw jet pipe is opened according to the output of the rolling control equation at the moment, so that the generated interference can counteract part of the deviation of the rolling direction. When eliminating positive angular deviation in the yaw direction, the selection of 2# or 3# can be turned on according to the roll direction, and if N is the sameγ(nT) > 0, turn on 3# can be determined.
S5, selecting a corresponding control method to control the angular speed according to the working state of the rail-controlled engine;
the specific implementation steps of the step can be as follows:
s5.1, when the on-track control engine works, the advance angle speed control is adopted, and the influence of large interference on the angular speed is quickly reduced;
lead angle speed control, pitch channel control output
Figure GDA0003681598200000061
Yaw channel control quantity output
Figure GDA0003681598200000062
Rolling channel control output
Figure GDA0003681598200000063
Wherein the content of the first and second substances,
Figure GDA0003681598200000064
static and dynamic gain coefficients, omega, for pitch, yaw and roll channels, respectivelyz1,ωy1,ωx1The angular velocities of the arrow systems of the pitch, yaw and roll channels, respectively,
Figure GDA0003681598200000065
correction networks for pitch, yaw, roll channels, respectively.
S5.2, when the on-track control engine does not work, adopting pseudo rate feedback control, namely increasing a feedback signal
Figure GDA0003681598200000066
Increasing system damping, decreasing control angular velocity limit cycle, where KfFor feedback gain, TfIs a time constant and s is a time parameter.
The three-state nonlinear control rule of the attitude control spray pipe in the pseudo rate feedback control is
Figure GDA0003681598200000071
Wherein m isθIn order to be the loop back coefficient,
Figure GDA0003681598200000072
Eθ(N (nT)) represents the nonlinear characteristic of the tristate switch, KθOutputting instructions for nozzle control:
Figure GDA0003681598200000073
Kψ＝Eψ(Nψ(nT))，Kγ＝Eγ(Nγ(nT))，
Figure GDA0003681598200000074
is a switching threshold.
S6, modeling based on inertial group characteristics and attitude control nozzle characteristics to obtain a control system transfer function, and performing control system frequency domain stability design to obtain an angular velocity control coefficient in S5, wherein the angular velocity control coefficient comprises a gain coefficient and a correction network coefficient;
and S7, combining the angular velocity control coefficient and the control distribution result, performing mathematical simulation, further adjusting the angular velocity control parameters, performing accurate angular velocity control, completing the design of the attitude control system, and realizing the index requirement.
The high-precision angular velocity control method under the short-time large-boundary interference is a high-precision angular velocity control method based on fixed thrust attitude control spray pipe control under the short-time large-boundary interference, deep coupling analysis is carried out on the high-precision angular velocity control method and a guidance system, rail control information is incorporated into the attitude control system, when the rail control engine works to generate the short-time large interference, the angular velocity is quickly reduced by adopting advanced control, the defect that the pure false rate feedback transition time is long is overcome, when the angular velocity is reduced to a certain value and the rail control engine does not work, the system is switched to false rate feedback control, and the damping of the system is increased by utilizing the feedback control, so that a detector enters a small angular velocity limit loop.
In the present specification, the embodiments are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same or similar parts between the embodiments are referred to each other. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (5)

1. A high-precision angular velocity control method under short-time large-boundary interference is characterized by comprising the following specific steps:
step 1, controlling and distributing attitude control spray pipes according to structural characteristics of a detector and configuration of the attitude control spray pipes;
step 2, establishing a probe centroidal motion equation to obtain a spray pipe control model;
the motion equation of the detector around the center in the step 2 is as follows:
Figure FDA0003681598190000011
Figure FDA0003681598190000012
Figure FDA0003681598190000013
wherein Jx1、Jy1、Jz1The moment of inertia, omega, of the detector about the body axis relative to the center of massx1、ωy1、ωz1The angular velocities of the arrow systems of the pitch, yaw and roll channels, respectively,
Figure FDA0003681598190000014
for three-directional disturbing moment coefficients caused by the start of the rail-controlled engine, b3_f、b3_p、d3Control moment coefficient, K, generated for each channel control system actuatorzk1、Kzk2、Kzk3、Kzk4、Kzk5、Kzk6For attitude control of engine switching value, Kgk1、Kgk2、Kgk3、Kgk4Controlling the switching value of the engine for the rail;
step 3, based on a spray pipe control model, obtaining a single attitude control spray pipe control moment coefficient and a single rail control engine interference moment coefficient according to the structural parameters of the detector and the engine thrust;
in the step (3), the step (c),
controlling the moment coefficient:
Figure FDA0003681598190000015
disturbance moment coefficient:
Figure FDA0003681598190000016
wherein Fzk、FgkThe thrust of a single attitude control spray pipe and a single rail control engine is Jz、Jy、JxIs moment of inertia about the z, y, x axes, Lz、Ly、LxControlling the moment arm for pitching, yawing and rolling of the attitude control nozzle lz、ly、lxThe interference force arms of pitching, yawing and rolling generated by the rail control engine due to structural interference;
step 4, performing control distribution on each channel according to the control moment coefficient and the interference moment coefficient;
step 5, selecting a corresponding control method to control the angular speed according to the working state of the rail-controlled engine;
step 6, modeling based on inertial measurement unit characteristics and attitude control nozzle characteristics to obtain a control system transfer function, and performing control system frequency domain stability design to obtain an angular velocity control coefficient in step 5, wherein the angular velocity control coefficient comprises a gain coefficient and a correction network coefficient;
and 7, combining the angular velocity control coefficient and the control distribution result, performing mathematical simulation, further adjusting the angular velocity control parameters, and performing accurate angular velocity control.
2. The method for controlling angular velocity with high precision under short-time large-boundary interference according to claim 1, wherein the step 4 comprises the following specific steps:
output N according to the roll control equation at this timeγ(nT) determining the manner of opening the yaw nozzles so that the generated interference can counteract part of the deviation of the rolling direction, wherein the manner of opening the yaw nozzles comprises the steps of selectively opening and controlling one of the yaw nozzles according to the rolling direction when positive angle deviation exists in the yaw direction, and if the rolling channel N at the momentγAnd (nT) > 0, opening the corresponding yaw spray pipe.
3. The method for controlling angular velocity with high precision under short-time large-boundary interference according to claim 2, wherein the step 5 comprises the following steps:
step 5.1, when the on-track control engine works, the advance angle speed control is adopted, so that the influence of large interference on the angular speed is reduced;
step 5.2, when the on-track control engine does not work, adopting pseudo rate feedback control, namely increasing feedback signals
Figure FDA0003681598190000021
Increasing system damping, decreasing control angular velocity limit cycle, where KfFor feedback gain, TfIs a time constant and s is a time parameter.
4. A high precision angular velocity control method under short-time large-boundary interference according to claim 3, characterized in that the advance angular velocity control in step 5.1,
pitch channel control output
Figure FDA0003681598190000022
Yaw channel control quantity output
Figure FDA0003681598190000023
Rolling channelOutput of control amount
Figure FDA0003681598190000031
Wherein the content of the first and second substances,
Figure FDA0003681598190000032
static and dynamic gain coefficients, omega, for pitch, yaw and roll channels, respectivelyz1,ωy1,ωx1The angular velocities of the arrow systems of the pitch, yaw and roll channels, respectively,
Figure FDA0003681598190000033
correction networks for pitch, yaw, roll channels, respectively.
5. The method for controlling the angular velocity with high precision under the short-time large-boundary interference according to claim 4, wherein the three-state nonlinear control law of the attitude control nozzle in the pseudo-rate feedback control in step 5.2 is as follows:
Figure FDA0003681598190000034
wherein m isθIn order to be the loop back coefficient,
Figure FDA0003681598190000035
ψ、γ，Eθ(N (nT)) represents the nonlinear characteristic of the tristate switch, KθOutputting instructions for nozzle control:
Figure FDA0003681598190000036
Kψ＝Eψ(Nψ(nT))，Kγ＝Eγ(Nγ(nT))，
Figure FDA0003681598190000037
is a switching threshold.
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