CN112596504B - Flywheel signal acquisition equipment for satellite attitude and orbit control general comprehensive test - Google Patents

Flywheel signal acquisition equipment for satellite attitude and orbit control general comprehensive test Download PDF

Info

Publication number
CN112596504B
CN112596504B CN202011533452.8A CN202011533452A CN112596504B CN 112596504 B CN112596504 B CN 112596504B CN 202011533452 A CN202011533452 A CN 202011533452A CN 112596504 B CN112596504 B CN 112596504B
Authority
CN
China
Prior art keywords
flywheel
satellite
angular momentum
attitude
coordinate system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202011533452.8A
Other languages
Chinese (zh)
Other versions
CN112596504A (en
Inventor
刘培玲
洪振强
徐增
关欣
邓泓
王田野
栗双岭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Institute of Satellite Engineering
Original Assignee
Shanghai Institute of Satellite Engineering
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Institute of Satellite Engineering filed Critical Shanghai Institute of Satellite Engineering
Priority to CN202011533452.8A priority Critical patent/CN112596504B/en
Publication of CN112596504A publication Critical patent/CN112596504A/en
Application granted granted Critical
Publication of CN112596504B publication Critical patent/CN112596504B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a flywheel signal acquisition device for satellite attitude and orbit control general comprehensive test, which comprises: the flywheel angular momentum calculation module calculates the angular motion of the single flywheel under the flywheel reference coordinate system according to the real steering signal alpha and the real rotating speed signal omega of the flywheelAmount and rate of change. The angular momentum calculation module under the satellite system obtains a corresponding installation matrix M according to the angular momentum, the change rate and the layout relation of the flywheel single machine on the satellite, so that the flywheel in a satellite body coordinate system ox is obtainedbybzbMedium angular momentum HbThereby obtaining a flywheel combined in a satellite body coordinate system oxbybzbMedium angular momentum H∑. The ground dynamics attitude simulation module is based on the angular momentum H∑And obtaining the relation between the satellite attitude and the flywheel control moment received by the satellite. The invention has simple composition, each module can modify parameters according to specific requirements to adapt to various satellite tasks and various flywheels, has good universality and can adapt to the comprehensive test of the satellite attitude and orbit control subsystem.

Description

Flywheel signal acquisition equipment for satellite attitude and orbit control general comprehensive test
Technical Field
The invention relates to the field of satellite attitude and orbit control system testing, in particular to flywheel signal acquisition equipment for satellite attitude and orbit control general comprehensive testing.
Background
The test work of the satellite attitude and orbit control subsystem is a main means for ensuring that the function and performance of the system meet the requirements of the whole satellite task, and is an important link in satellite development. The flywheel is used as a high-precision satellite attitude control actuating mechanism and is an important component of a satellite attitude and orbit control subsystem.
In the test process of the ground attitude and orbit control subsystem, the state of the flywheel changes more, and the requirements of satellites of different models on the flywheel are different, so that the signal acquisition of the flywheel and the design state of the introduced dynamics are complex in the test, a large amount of manpower and equipment resources are occupied, and the development efficiency and the cost of the satellite are seriously influenced. Therefore, a universal flywheel signal acquisition device is required to be formed to be suitable for testing of multiple models of satellite attitude and orbit control subsystems.
Flywheel signal acquisition equipment for satellite attitude and orbit control tests is researched. A standard test platform implementation scheme is proposed in a general test platform for a satellite control system based on ATML standard (see space control technology and application, 2013, 06 th stage, page number 29-33) paper by Wangyuyeng, Shejing and Wanghao, and the general test platform is divided into a general test station, a test adapter and a comprehensive development and operation environment. The test requirement and the test capability are decoupled through the ATML standard and a signal-oriented system description mode. No generalized flywheel signal acquisition device is described.
In the patent document "simulation test apparatus and test method for verifying the attitude control reliability of a small satellite" (CN101344788A), a simulation test apparatus and test method for verifying the attitude control reliability of a satellite are introduced. The ground test of the attitude control system proposed in the patent requires the acquisition of information of an actuating mechanism, but does not relate to a specific flywheel signal acquisition device.
In the patent document "satellite attitude control ground simulation test system based on satellite network and test method thereof" (CN101093387A), a measurement sensor signal simulation method is proposed. It is mentioned in the patent that the execution unit passes the actual execution information to the ground dynamics for satellite attitude information calculation. However, the method does not involve the specific steps of collecting and transmitting signals such as the position, the rotating speed and the like of a real flywheel to dynamics.
In the patent document "a satellite attitude control ground simulation test system" (CN 105974907a), a satellite attitude control ground simulation test system is provided, which includes descriptions of hardware functions and implementations of a control device, a simulation device and a collection simulation device, but does not relate to a specific flywheel signal collection device.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide flywheel signal acquisition equipment for satellite attitude and orbit control general comprehensive test.
The invention provides flywheel signal acquisition equipment for satellite attitude and orbit control general comprehensive test, which comprises: a dynamic computer and a serial port communication board card;
the serial port communication board card is installed on the dynamics computer and is connected with a ground test interface of the flywheel through a connecting cable to obtain a real steering signal alpha and a real rotating speed signal omega of the flywheel;
the dynamics computer includes:
flywheel angular momentum calculation module: calculating to obtain the angular momentum and the change rate of the single flywheel machine under a flywheel reference coordinate system according to the real steering signal alpha and the real rotation speed signal omega of the flywheel;
the lower angular momentum calculation module of the star system: obtaining a corresponding installation matrix M according to the angular momentum, the change rate and the layout relation of the flywheel single machine on the satellite, thereby obtaining a flywheel in a satellite body coordinate system oxbybzbMedium angular momentum HbThereby obtaining the flywheel combination in the satellite body coordinate system oxbybzbMedium angular momentum H∑；
The ground dynamics attitude simulation module: according to angular momentum H∑And obtaining the relation between the satellite attitude and the flywheel control moment received by the satellite.
Preferably, the serial port communication board includes:
the standard 422 communication board card adopts a PXI board card interface, the interface characteristics of the standard 422 communication board card conform to EIA RS-422 standard specifications, a bottom layer communication protocol is configurable, the default baud rate is 115200bps, odd check is carried out, a data receiving cache region and a data sending cache region are shared, and the space is not less than 1024 bytes.
Preferably, the flywheel angular momentum calculation module includes:
rotating shaft direction of flywheel rotor and flywheel reference coordinate system oRxRyRzRO of (a)RzRUniformity, JRFor internal rotation of flywheelThe sub-inertia is that in a reference coordinate system of the flywheel, the angular momentum and the change rate are as follows:
Figure GDA0003501685100000021
preferably, the satellite system lower angular momentum calculation module comprises:
Hb＝AhR
a is an installation matrix of the flywheel combination under a satellite body coordinate system.
Preferably, the flywheel is combined in the satellite body coordinate system oxbybzbMedium angular momentum H∑Comprises the following steps:
Figure GDA0003501685100000031
i is the serial number of the flywheel, and n is the total number of the flywheels.
Preferably, the ground dynamics attitude simulation module comprises:
resultant moment T generated by flywheel combination∑Comprises the following steps:
Figure GDA0003501685100000032
the satellite dynamic equation of the introduced flywheel control moment is as follows:
Figure GDA0003501685100000033
I、
Figure GDA0003501685100000034
and omega is the satellite inertia, the inertial angular velocity and the attitude angle under the satellite coordinate system respectively.
Preferably, the serial port communication board obtains the actual turning signal alpha and the actual rotating speed signal omega of the flywheel from the ground test interface of the flywheel through standard digital serial port communication according to the communication protocol of the flywheel.
Compared with the prior art, the invention has the following beneficial effects:
the invention designs the acquisition and transmission process of the flywheel signals in a modularized mode, has simple composition, can modify parameters according to specific requirements of each module so as to adapt to various types of satellite tasks and various types of flywheels, has good universality and can adapt to the comprehensive test of the satellite attitude and orbit control subsystem.
Configuration parameters of the module can be modified according to the model of the flywheel and the working mode of the satellite, and the method has good universality.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a block diagram of a flywheel signal acquisition device for a satellite attitude and orbit control general comprehensive test.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the present invention provides a flywheel signal collecting device for a satellite attitude and orbit control general comprehensive test, including: a dynamic computer and a serial port communication board card.
The main function of the dynamic computer is to run a plurality of computing modules to complete data communication. The hardware of the dynamics computer comprises a zero-slot controller, a case and an expansion interface. The dynamic computer supports the operation of a real-time operating system, has the function of expanding various board cards, and supports the expansion of a standard 422 communication board card and a standard 232 communication board card.
The standard 422 communication board card is installed on a dynamic computer, and a PXI board card interface is adopted, so that the plugging and the replacement are convenient. The interface characteristics of the board card conform to EIA RS-422 standard specifications, a bottom layer communication protocol is configurable, the default baud rate is 115200bps, and odd check is carried out; the space of the shared data receiving buffer area and the data sending buffer area is not less than 1024 bytes. Connecting the standard 422 communication board card with a ground test interface of the star sensor through a cable, and finishing the sending of the analog signal of the star sensor; the star sensor takes the received data as a self measurement result, and sends the data to a control computer of the attitude and orbit control subsystem according to a format agreed by the satellite for subsequent comprehensive test.
The dynamics computer includes:
1. flywheel angular momentum calculation module
The flywheel angular momentum calculation module is arranged in a dynamics computer and mainly used for calculating the angular momentum of a single flywheel.
And sending the real turning signal alpha and the real rotating speed signal omega of the flywheel to an attitude and orbit control subsystem according to a ground test interface communication protocol of the flywheel.
Based on the real steering signal alpha and the real rotation speed signal omega of the flywheel, the single-machine angular momentum and the change rate thereof under the reference coordinate system of the flywheel can be calculated according to the working principle of the flywheel.
Defining a reference coordinate system o of the flywheelRxRyRzRThe direction of the rotation axis of the flywheel rotor and the angle oRzRAnd (5) the consistency is achieved. J. the design is a squareRThe inertia of the inner rotor of the flywheel, in the reference coordinate system of the flywheel, the angular momentum of the flywheel and the change rate thereof are as follows:
Figure GDA0003501685100000041
2. satellite system lower angular momentum calculation module
Obtaining a corresponding installation matrix M according to the layout relation of the flywheel on the whole satellite, thereby obtaining the flywheel in a satellite body coordinate system oxbybzbMedium angular momentum HbComprises the following steps:
Hb＝AhR。
considering that a plurality of flywheels are configured on a satellite to complete three-axis attitude controlTherefore, the flywheel combined on the star coordinate system ox can be popularizedbybzbAngular momentum H of∑Comprises the following steps:
Figure GDA0003501685100000051
wherein i is the serial number of the flywheel, n is the total number of the flywheel,
a is an installation matrix of the flywheel combination under a satellite body coordinate system.
And is a 3 × n matrix.
Taking the configuration mode of three orthogonal and one inclined flywheels common in a three-axis stabilized satellite as an example, 1 flywheel is respectively configured on three axes of the satellite, and s flywheels are installed at positions forming angles of 54.44 degrees with the three axes, so that the flywheels are combined in a satellite coordinate system oxbybzbAngular momentum H of∑Comprises the following steps:
Figure GDA0003501685100000052
the installation matrix of the flywheel can adopt measured data reflecting the real installation position of the flywheel, so that the real installation error is introduced into the system, and the authenticity of the simulation of dynamics software in a dynamics computer is improved.
3. Ground dynamics attitude simulation module
The ground dynamics attitude simulation module is mainly used for calculating the satellite attitude dynamics influenced by the change of the angular momentum of the flywheel and reflecting the relation between the satellite attitude and the flywheel control moment received by the satellite.
In a star coordinate system, the resultant moment T generated by the flywheel combination∑Can be written as:
Figure GDA0003501685100000053
therefore, the satellite dynamics equation for introducing the flywheel control moment can be as follows:
Figure GDA0003501685100000054
in the above formula I,
Figure GDA0003501685100000055
And omega is the satellite inertia, the inertial angular velocity and the attitude angle under the satellite coordinate system respectively.
4. Universal module design method
The method for acquiring and transmitting the model signals of the flywheel is designed in a modularized mode, parameters can be modified according to the model of the flywheel and the working mode of the satellite, and the method has good universality.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (7)

1. A flywheel signal acquisition device for satellite attitude and orbit control general comprehensive test is characterized by comprising: a dynamic computer and a serial port communication board card;
the serial port communication board card is installed on the dynamics computer and is connected with a ground test interface of the flywheel through a connecting cable to obtain a real steering signal alpha and a real rotating speed signal omega of the flywheel;
the dynamics computer includes:
flywheel angular momentum calculation module: calculating to obtain the angular momentum and the change rate of the single flywheel machine under a flywheel reference coordinate system according to the real steering signal alpha and the real rotation speed signal omega of the flywheel;
the lower angular momentum calculation module of the star system: obtaining a corresponding installation matrix M according to the angular momentum, the change rate and the layout relation of the flywheel single machine on the satellite, thereby obtaining a flywheel in a satellite body coordinate system oxbybzbAngle motion ofQuantity HbThereby obtaining the flywheel combination in the satellite body coordinate system oxbybzbMedium angular momentum H∑；
The ground dynamics attitude simulation module: according to angular momentum H∑And obtaining the relation between the satellite attitude and the flywheel control moment received by the satellite.
2. The flywheel signal acquisition device for the universal comprehensive satellite attitude and orbit control test according to claim 1, wherein the serial port communication board comprises:
the standard 422 communication board card adopts a PXI board card interface, the interface characteristics of the standard 422 communication board card conform to EIA RS-422 standard specifications, a bottom layer communication protocol is configurable, the default baud rate is 115200bps, odd parity is checked, a data receiving cache region and a data sending cache region are shared, and the space is not less than 1024 bytes.
3. The flywheel signal acquisition device for the satellite attitude and orbit control general purpose integrated test according to claim 1, wherein the flywheel angular momentum calculation module comprises:
rotating shaft direction of flywheel rotor and flywheel reference coordinate system oRxRyRzRO of (a)RzRUniformity, JRThe inertia of the inner rotor of the flywheel is characterized in that in a reference coordinate system of the flywheel, the angular momentum and the change rate are as follows:
Figure FDA0003501685090000011
4. the flywheel signal acquisition device for the satellite attitude and orbit control general comprehensive test according to claim 3, wherein the satellite system lower angular momentum calculation module comprises:
Hb＝AhR
a is an installation matrix of the flywheel combination under a satellite body coordinate system.
5. The flywheel signal collecting device for the satellite attitude and orbit control general comprehensive test as claimed in claim 4, wherein the flywheel is combined in a satellite body coordinate system oxbybzbMedium angular momentum H∑Comprises the following steps:
Figure FDA0003501685090000021
i is the serial number of the flywheel, and n is the total number of the flywheels.
6. The flywheel signal acquisition device for satellite attitude and orbit control general purpose integrated test according to claim 3, wherein the ground dynamics attitude simulation module comprises:
resultant moment T generated by flywheel combination∑Comprises the following steps:
Figure FDA0003501685090000022
the satellite dynamic equation of the introduced flywheel control moment is as follows:
Figure FDA0003501685090000023
I、
Figure FDA0003501685090000024
and omega is the satellite inertia, the inertial angular velocity and the attitude angle under the satellite coordinate system respectively.
7. The flywheel signal acquisition equipment for the satellite attitude and orbit control general comprehensive test is characterized in that the serial port communication board card is used for obtaining a real steering signal alpha and a real rotating speed signal omega of the flywheel from an earth test interface of the flywheel through standard digital serial port communication according to a communication protocol of the flywheel.
CN202011533452.8A 2020-12-22 2020-12-22 Flywheel signal acquisition equipment for satellite attitude and orbit control general comprehensive test Active CN112596504B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011533452.8A CN112596504B (en) 2020-12-22 2020-12-22 Flywheel signal acquisition equipment for satellite attitude and orbit control general comprehensive test

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011533452.8A CN112596504B (en) 2020-12-22 2020-12-22 Flywheel signal acquisition equipment for satellite attitude and orbit control general comprehensive test

Publications (2)

Publication Number Publication Date
CN112596504A CN112596504A (en) 2021-04-02
CN112596504B true CN112596504B (en) 2022-06-03

Family

ID=75200201

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011533452.8A Active CN112596504B (en) 2020-12-22 2020-12-22 Flywheel signal acquisition equipment for satellite attitude and orbit control general comprehensive test

Country Status (1)

Country Link
CN (1) CN112596504B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113998151B (en) * 2021-12-02 2023-11-03 中国星网网络应用有限公司 On-board angular momentum control preprocessing system and preprocessing method

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107239036B (en) * 2017-06-27 2019-10-01 上海航天控制技术研究所 A kind of near-earth satellite redundant flywheel angular momentum self-management method
CN110104217A (en) * 2019-03-29 2019-08-09 上海卫星工程研究所 The configuration and control method of satellite gravity anomaly and big angle momentum compensation multiplexing flywheel
CN110884691B (en) * 2019-11-01 2021-04-13 上海卫星工程研究所 Method for testing rotation speed closed-loop control polarity of redundancy momentum wheel set under whole satellite
CN111061247B (en) * 2019-12-11 2021-05-11 上海卫星工程研究所 Polarity test system and test method for closed-loop control of angular momentum of flywheel under whole satellite
CN111308911B (en) * 2020-02-28 2023-05-09 上海航天控制技术研究所 Full-function modularized simulation processing system and method based on satellite attitude and orbit control

Also Published As

Publication number Publication date
CN112596504A (en) 2021-04-02

Similar Documents

Publication Publication Date Title
CN101093387B (en) Ground simulation test system and test method for controlling satellite attitude based on network on satellites
CN100476837C (en) MPU FPGA verification device supporting stochastic instruction testing
CN111308911B (en) Full-function modularized simulation processing system and method based on satellite attitude and orbit control
CN112596504B (en) Flywheel signal acquisition equipment for satellite attitude and orbit control general comprehensive test
CN110488630A (en) A kind of control increases steady flight control computer test macro and test method
CN112632700B (en) Flywheel signal acquisition method and system for satellite attitude and orbit control general comprehensive test
CN116068915B (en) High-simulation-degree distributed simulation device and method for GNC system of spacecraft
CN116227112A (en) Semi-physical simulation system and simulation method oriented to remote sensing satellite constellation system collaboration
CN112668107B (en) Space carrier test method and device based on vertical rotary table and storage medium
CN112129322A (en) Method for detecting and correcting installation error of strapdown inertial measurement unit and three-axis rotary table
CN111457789A (en) Earth rotation correction method and system under laboratory coordinate system
CN114330176A (en) Chip verification method and device, electronic equipment and storage medium
CN108037676A (en) A kind of semi physical ground simulating device suitable for aircraft navigation Guidance and control
CN103033209A (en) Three-dimensional motion testing device
CN111879320A (en) Teaching-oriented composite inertial system
CN112550771B (en) Control moment gyro signal acquisition method and system for attitude and orbit control general comprehensive test
CN102411312A (en) Sensor simulator and satellite closed loop simulation system
CN112181843A (en) Development test verification system based on satellite-borne software
CN112461123A (en) Multi-transmitting station implementation method and device of space positioning system
CN113108809A (en) Star sensor signal simulation equipment and method for satellite attitude and orbit control comprehensive test
CN111381982B (en) Three-computer data interaction and voting method suitable for Mars detection
CN210466095U (en) Pipeline magnetic leakage internal detection data acquisition unit
CN112857400A (en) Carrier rocket initial alignment method based on ten-table redundant strapdown inertial measurement unit
CN202903222U (en) Three-dimensional motion test device
CN110647091A (en) Pipeline magnetic leakage internal detection data acquisition unit and design and acquisition method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant