CN112591149B - Periodic disturbance torque identification and compensation method - Google Patents
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Abstract
The invention provides a periodic disturbance torque identification and compensation method, which is used for carrying out phase identification and torque compensation on periodic disturbance torque borne by a satellite, applying control torque with a fixed amplitude and a known period to the satellite, sending a feedforward compensation torque instruction to a torque compensation flywheel on the satellite, and randomly appointing an initial phase of the compensation torque, and comprises the following steps: measuring the satellite angular velocity in real time and extracting the fluctuation variation range of the angular velocity; when the angular velocity fluctuation variation range is larger than a first preset threshold value, judging that phase shift control is needed, performing phase scanning by taking an initial phase as a starting point, and updating a feedforward compensation moment according to the current phase in the phase scanning process; and when the angular velocity fluctuation variation range is reduced to a second preset threshold value, judging that the phase shift control is finished, wherein the current phase is the phase of the disturbance torque, and updating the feedforward compensation torque according to the phase of the disturbance torque. The invention can realize the identification and compensation of the periodic interference moment of the satellite and improve the control precision of the satellite.
Description
Technical Field
The invention relates to the technical field of spacecrafts, in particular to a periodic disturbance moment identification and compensation method.
Background
With the continuous development of the space mission, the functions of the satellite are more and more, and the requirements of the control system design on the control precision and the attitude stability of the satellite are higher and higher. For some large rotating parts on the satellite, when the rotating parts rotate at a high speed, due to the existence of the mass center offset, the satellite can be subjected to periodic interference moment, and the moment can affect the attitude stability of the satellite to a certain extent. Meanwhile, when the frequency of a plurality of disturbing moments is close to certain frequencies of flexible accessories on the satellite, the flexible accessories can vibrate, and the satellite is further disturbed.
Therefore, it is desirable to provide a method for accurately identifying a periodic disturbance torque according to on-orbit information of a satellite, so as to implement accurate compensation and improve the control accuracy of the satellite.
Disclosure of Invention
The invention aims to provide a periodic disturbance moment identification and compensation method, electronic equipment and a readable storage medium, so as to realize identification and compensation of a satellite periodic disturbance moment and improve satellite control precision.
In order to achieve the above object, the present invention provides a method for identifying and compensating a periodic disturbance torque, which is used for performing phase identification and torque compensation on the periodic disturbance torque received by a satellite, applying a control torque with a fixed amplitude and a known period to the satellite, sending a feedforward compensation torque instruction to a torque compensation flywheel on the satellite, and arbitrarily assigning an initial phase of the compensation torque, and comprises:
s1, measuring the satellite angular velocity in real time and extracting the fluctuation range of the angular velocity;
s2, when the fluctuation variation range of the angular velocity is larger than a first preset threshold value, judging that phase shift control is needed, carrying out phase scanning by taking the initial phase as a starting point, and updating a feedforward compensation moment according to the current phase in the phase scanning process;
s3, when the fluctuation range of the angular velocity is reduced to be smaller than a second preset threshold value, judging that the phase shift control is finished, wherein the current phase is the phase of the disturbance torque, and updating the feedforward compensation torque according to the phase of the disturbance torque; wherein the second preset threshold is smaller than the first preset threshold.
Further, in the above method for identifying and compensating for the periodic disturbance torque, the phase scanning in S2 includes: changing the phase with a fixed step length in a given direction by taking the initial phase as a starting point to realize the monotone increment or the monotone decrement of the phase:
the current phase φ (k) is calculated using the following equation: phi (k) ═ phi (k-1) + P dir Δφ；
Where phi (k-1) is the last phase, P dir Which indicates the phase shift control direction, and delta phi is the phase shift step.
Further, in the above method for identifying and compensating the periodic disturbance moment, in the S2 phase scanning process, if the variation range of the angular velocity fluctuation is in a decreasing trend, the scanning is continued according to the current phase scanning direction; otherwise, the process is reversed.
Further, in the periodic disturbance torque identification and compensation method, in the phase scanning process of S2, it is determined whether the variation range of the angular velocity fluctuation is in a decreasing trend every preset time interval.
Further, in the above method for identifying and compensating for the periodic disturbance torque, in S1, the measuring the angular velocity of the satellite in real time to extract the variation range of the angular velocity fluctuation includes:
sampling the angular velocity of the satellite by taking the control period of the satellite as a sampling interval;
and carrying out stacking and averaging processing on the sampling points to obtain the angular velocity fluctuation variation range.
Further, in the above method for identifying and compensating for a periodic disturbance torque, the stacking and averaging process includes: is continuous N 1 Taking the maximum value and continuous N of angular velocity at each sampling point 2 The maximum value of the angular speed is averaged to open up a fixed storage space, namely, the position of the first entering data in the storage space is extruded by the data which enters the storage space newly.
Further, in the above-mentioned periodic disturbance torque identification and compensation method, in S2 and S3, the feedforward compensation torque T is calculated by using the following formula feedforward ：
In the formula, A is the amplitude of the control torque, T is the period of the control torque, and phi (k) is the current phase.
Further, in the above-described periodic disturbance torque identification and compensation method, the friction torque of the flywheel is feedforward compensated when the torque command is transmitted to the flywheel in S2 and S3.
Compared with the prior art, the invention has the following beneficial effects:
the phase of the interference torque is estimated by utilizing a trial and error idea and a superposition principle, the phase of the periodic interference torque is moved and compensated by a certain step length, and the change of the angular velocity of the satellite after moving is observed to determine whether the compensation effect is achieved, so that the accurate compensation of the periodic interference torque can be realized in a short time under the condition of less sampling data. The method is simple and reliable, and is suitable for on-orbit real-time calculation of the satellite.
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In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are an embodiment of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts according to the drawings:
FIG. 1 is a flowchart illustrating a method for identifying and compensating for a periodic disturbance torque according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an angular velocity envelope extraction curve;
FIG. 3 is a schematic diagram of the angular velocity curves of satellites before and after disturbance torque compensation;
FIG. 4a is a schematic diagram of the output torque and command torque curve of the flywheel without friction torque compensation;
FIG. 4b is a schematic diagram of the output torque versus command torque curve of the flywheel with friction torque compensation;
FIG. 5 is a block diagram of a torque-compensated flywheel after a friction torque compensation control is added.
Detailed Description
The periodic disturbance torque identification and compensation method, the electronic device and the readable storage medium according to the present invention will be described in detail with reference to fig. 1 to 5 and the following 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.
The core idea of the invention is to provide a phase identification and compensation method of periodic disturbance moment on a satellite, which can be applied to the satellite with a high-speed rotating part with large dynamic and static unbalance. The maximum envelope extraction and the phase shift control are carried out on the satellite angular velocity measured by the rate gyroscope, so that the accurate identification of the interference torque phase can be realized; furthermore, friction torque compensation is carried out on the flywheel instruction torque, and the output torque of the flywheel can well compensate the interference torque. The method can effectively improve the attitude stability of the satellite, is simple and reliable, and is suitable for on-orbit real-time calculation of the satellite.
First, the technical contents of the present invention will be described.
The periodic disturbance torque is compensated, and the following two conditions are simultaneously met: the periodic disturbance moment can be identified, and a moment compensation flywheel is arranged on the satellite.
The satellite attitude angular velocity can reflect the influence of the interference moment on the satellite, and necessary information (such as amplitude, phase and the like) of the interference moment can be obtained by processing the rate gyro sampling angular velocity. The gyro noise needs to be far smaller than the influence of the interference torque on the satellite, and the effectiveness of the identification of the interference torque is ensured. According to the Shannon sampling theorem, the gyro sampling frequency (frequency corresponding to the satellite control period) is not less than 2 times of the interference frequency (frequency corresponding to the interference moment period), and the interference moment periodic input can be recovered without distortion.
The periodic disturbance torque identification and compensation method provided by the invention is used for carrying out phase identification and torque compensation on the periodic disturbance torque borne by the satellite, applying control torque with a fixed amplitude and a known period to the satellite, sending a feedforward compensation torque instruction to a torque compensation flywheel on the satellite, and randomly appointing the initial phase of the compensation torque, wherein the initial phase is usually set to be 0, and can be set to other values according to experience.
As shown in fig. 1, a method for identifying and compensating for a periodic disturbance torque according to an embodiment of the present invention includes the following steps:
s1: and measuring the angular velocity of the satellite in real time and extracting the fluctuation variation range of the angular velocity.
In the embodiment, the angular velocity of the satellite can be measured in real time through the rate gyroscope, and the angular velocity of the satellite is sampled by taking the control period of the satellite as a sampling interval; and then, carrying out stacking and averaging processing on the sampling points to obtain the angular velocity fluctuation variation range.
The specific mode of obtaining the current angular velocity fluctuation amplitude is as follows: at each control cycle, the current N is calculated in the form of push-in and pull-out 1 Maximum value of angular velocity of each sampling point; to continuous N 2 And the maximum value of the angular speed of each control period is averaged to obtain the fluctuation variation range of the current angular speed. It should be noted that the number of samples N 1 The multiplication by the sampling interval (i.e. the control period) is preferably more than 10 times the load rotation period. The principle of the stacking and averaging process is as follows: is continuous N 1 Taking the maximum value and continuous N of angular velocity at each sampling point 2 The maximum value of the angular speed is averaged to open up a fixed storage space, namely, the position of the first entering data in the storage space is extruded by the data which enters the storage space newly.
Specifically, let the input angular velocity signal be ω (i), i 1,2,. infinity, and sample N at sampling intervals corresponding to the control period of the satellite 1 And (3) obtaining the maximum value of the angular velocity of the current beat k (namely the current control period k) by secondary calculation:
note here that ω max (k) It is calculated in the form of in-and-out-of-stack, and is updated in the control period. Then for consecutive N 2 Omega of beat max (k) Averaging, i.e.
And obtaining the fluctuation variation range of the current angular speed. To continuous N 2 The maximum value is averaged, so that the judgment result of the phase shift control can be effectively prevented from being influenced by the calculation error caused by the gyro noise.
Fig. 2 shows an angular velocity envelope curve extracted from the angular velocity measured by the rate gyro, which reflects the angular velocity fluctuation range.
S2: and when the angular velocity fluctuation variation range is larger than a first preset threshold value, judging that phase shift control is required, carrying out phase scanning by taking the initial phase as a starting point, and updating the feedforward compensation moment according to the current phase in the phase scanning process.
S3, when the fluctuation range of the angular velocity is reduced to be smaller than a second preset threshold value, judging that the phase shift control is finished, wherein the current phase is the phase of the disturbance torque, and updating the feedforward compensation torque according to the phase of the disturbance torque; wherein the second preset threshold is smaller than the first preset threshold.
After the feedforward compensation torque is updated, a torque instruction is sent to the flywheel, and the flywheel outputs torque according to the torque instruction, so that the compensation torque is applied to the satellite.
It will be appreciated that the phase shift control need not be applied at all times, but need only be added when the amplitude of the angular velocity fluctuation is greater than a certain value. Specifically, if the fluctuation range of the current angular velocity is greater than a first preset threshold, the phase shift control is started; and if the fluctuation variation range of the current angular velocity is smaller than a second preset threshold value, ending the phase shift control.
Specifically, whether or not to add phase shift control may be determined in the form of a hysteresis comparator, and whether or not to perform phase shift control may be determined by setting an appropriate angular velocity threshold. For example, a first preset threshold ω is set 1 And a second preset threshold value omega 2 ，ω 1 ＞ω 2 . If the current angular velocity fluctuation variation range is larger than omega 1 The phase shift control is started if the angular velocity fluctuation range is less than ω 2 The phase shift control is ended.
Specifically, the phase scanning in S2 includes: changing the phase with a fixed step length in a given direction by taking the initial phase as a starting point to realize the monotone increasing or the monotone decreasing of the phase;
the current phase phi (k) is calculated by sampling the following formula: phi (k) ═ phi (k-1) + P dir Δφ；
Where phi (k-1) is the last phase, P dir Which indicates the phase shift control direction, and delta phi is the phase shift step.
Preferably, in the phase scanning process of S2, if the variation range of the angular velocity fluctuation is in a decreasing trend, the scanning is continued according to the current phase scanning direction; otherwise, the process is reversed. It can be understood that if the phase shift control direction is not determined to be correct during the phase scanning process, the compensation torque may be effectively applied only after the phase shift is performed for a long distance, and in addition, the compensation torque and the disturbance torque may have completely opposite polarities during the phase shift, and the disturbance torque is amplified, thereby further degrading the stability of the whole satellite.
The phase shift control direction can be judged according to the change condition of the angular velocity fluctuation amplitude of the current satellite, and if the angular velocity fluctuation change range shows an increasing trend, which indicates that the current phase shift control direction is wrong, the phase shift control direction needs to be changed. The phase shift control direction is determined by the variation trend of the angular velocity fluctuation variation range, and the time for reaching a specific phase is shortened.
Preferably, whether the variation range of the angular velocity fluctuation is in a reduction trend or not can be judged every preset time interval Ts. The selection of Ts may affect the accuracy of the phase shift direction determination, and if Ts is too small, phase oscillation may easily occur, otherwise, more serious hysteresis may occur.
Specifically, let P be the phase shift control direction variable dir The value is 1 or-1, and the counter variable is T count The initial value is zero. In each control period, if the fluctuation range of the angular speed of the current satellite is large and the phase shift control is allowed, then T is carried out count And accumulating.
Taking the angular velocity fluctuation range of the front and the back beats
And
calculating the angular velocity increment:
when Tcount is Ts, if Δ ω is larger than Ts max If greater than 0, let P dir ＝-P dir If Tcount is 0, otherwise, let P dir ＝P dir ，Tcount＝0。
In S2 and S3, specifically, the feedforward compensation torque T can be calculated by using the following formula feedforward ：
In the formula, A is the amplitude of the control torque, T is the period of the control torque, and phi (k) is the current phase.
In addition, the transfer function of the command torque to the output torque of the flywheel is
Thereby according to the transfer function G 1 And a feedforward compensation torque T feedforward Further calculating to obtain the command moment of the flywheel, thereby applying the feedforward compensation moment to the moment compensation flywheel.
The angular velocity curves of the satellite before and after the disturbance torque compensation are shown in fig. 3, and as can be seen from fig. 3, the method of the invention is adopted to carry out the phase identification and the torque compensation of the periodic disturbance torque, so that the accurate compensation of the periodic disturbance torque can be realized in a short time.
Furthermore, considering the existence of friction when the flywheel rotates, in S2 and S3, when calculating the flywheel command torque, the friction torque needs to be subjected to feedforward compensation, so that the flywheel output torque is more fit for design input, and the compensation effect is better.
Specifically, in order to compensate the friction torque of the flywheel, a PI controller of torque is added to counteract the influence of the friction torque, and the feedback control of the rotating speed of the flywheel is introduced, wherein the transfer function is
The block diagram after the addition of the PI controller is shown in fig. 5. Fig. 4a and 4b show curves of the output torque and the command torque of the flywheel without friction torque compensation and with friction torque compensation, respectively, and it can be known from fig. 4a and 4b that after the command torque of the flywheel is compensated for by friction torque, the control torque output by the flywheel can better compensate for the disturbance torque.
In summary, the periodic disturbance torque identification and compensation method provided by the invention estimates the phase of the disturbance torque by using the trial and error idea and the superposition principle, moves the phase of the compensated periodic disturbance torque by a certain step length, and observes the change of the angular velocity of the satellite after the movement to determine whether the compensation effect is achieved, so that the accurate compensation of the periodic disturbance torque can be realized in a short time under the condition of less sampling data. The method is simple and reliable, and is suitable for on-orbit real-time calculation of the satellite.
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 "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
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 (8)
1. A periodic disturbance torque identification and compensation method is used for carrying out phase identification and torque compensation on periodic disturbance torque borne by a satellite, applying control torque with a fixed amplitude and a known period to the satellite, sending a feedforward compensation torque instruction to a torque compensation flywheel on the satellite, and randomly appointing an initial phase of the compensation torque, and is characterized by comprising the following steps of:
s1, measuring the satellite angular velocity in real time and extracting the fluctuation variation range of the angular velocity;
s2, when the fluctuation variation range of the angular velocity is larger than a first preset threshold value, judging that phase shift control is needed, carrying out phase scanning by taking the initial phase as a starting point, and updating a feedforward compensation moment according to the current phase in the phase scanning process;
s3, when the fluctuation range of the angular velocity is reduced to be smaller than a second preset threshold value, judging that the phase shift control is finished, wherein the current phase is the phase of the disturbance torque, and updating the feedforward compensation torque according to the phase of the disturbance torque; wherein the second preset threshold is smaller than the first preset threshold.
2. The method for periodic disturbance torque identification and compensation according to claim 1, wherein the phase scanning in S2 includes: changing the phase with a fixed step length in a given direction by taking the initial phase as a starting point to realize the monotone increasing or the monotone decreasing of the phase;
the current phase φ (k) is calculated using the following equation: phi (k) ═ phi (k-1) + P dir Δφ；
Where phi (k-1) is the last phase, P dir Which indicates the phase shift control direction, and delta phi is the phase shift step.
3. The method according to claim 2, wherein in the S2 phase scanning process, if the variation range of the angular velocity fluctuation is decreasing, the scanning process continues according to the current phase scanning direction; otherwise, the process is reversed.
4. The method as claimed in claim 3, wherein in the S2 phase scanning process, it is determined whether the variation range of the angular velocity fluctuation is in a decreasing trend at preset time intervals.
5. The method for periodic disturbance torque identification and compensation according to claim 1, wherein the measuring the angular velocity of the satellite in real time at S1 to extract the variation range of the angular velocity fluctuation comprises:
sampling the angular velocity of the satellite by taking the control period of the satellite as a sampling interval;
and carrying out stacking and averaging processing on the sampling points to obtain the angular velocity fluctuation variation range.
6. The method of claim 5, wherein the stacking and averaging process comprises: is continuous N 1 Taking the maximum value and continuous N of angular velocity at each sampling point 2 The maximum value of the angular speed is averaged to open up a fixed storage space, namely, the position of the first entering data in the storage space is extruded by the data which enters the storage space newly.
7. The method for identifying and compensating for periodic disturbance torque according to claim 1, wherein the feedforward compensation torque T is calculated in S2 and S3 by using the following formula feedforward ：
In the formula, A is the amplitude of the control torque, T is the period of the control torque, and phi (k) is the current phase.
8. The method for periodically disturbing torque identification and compensation of claim 1, wherein in S2 and S3, the friction torque of the flywheel is feed forward compensated when the torque command is sent to the flywheel.
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