CN112660422A - Split type satellite on-orbit platform cabin quality identification method and system - Google Patents
Split type satellite on-orbit platform cabin quality identification method and system Download PDFInfo
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Abstract
The invention provides a quality identification method and a system for an on-orbit platform cabin of a split satellite, which are used for identifying the quality of the platform cabin after two cabins of the satellite are separated. The identification method specifically comprises the following steps: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins to move; the control system keeps open loop uncontrolled, collects the information measured by the displacement sensor of the two cabins, and obtains the relative movement information of the mass center of the two cabins according to the resolving model; carrying out secondary fitting on the relative movement information of the mass center, and differentiating the fitting result twice to obtain the acceleration information of the mass center of the two cabins; and resolving to obtain the platform cabin mass by combining the known inter-cabin acting force, the acceleration information and the load cabin mass information. The method can provide technical support for the on-orbit propellant residual quantity evaluation and relative position control of the split satellite.
Description
Technical Field
The invention relates to a composite control technology of a loading cabin of a satellite platform with ultrahigh pointing accuracy and ultrahigh stability (double-super), in particular to a quality identification method and system of a split type satellite on-orbit platform cabin.
Background
The requirements of the advanced spacecraft on the attitude pointing accuracy and the stability are two orders of magnitude higher than the current level, the traditional method adopts a load and platform fixed connection type design, the dynamic characteristics of the two are deeply coupled, so that the load double super index is difficult to realize, and although the methods of active and passive micro vibration suppression and the like are adopted to obtain a certain effect, the defect of the limited fixed connection type design is that the double super index is difficult to realize.
The 'double-super' satellite platform breaks through the traditional fixed connection design, adopts a non-contact, high-precision and time-delay-free displacement sensor to realize the separation of a load cabin only provided with a quiet component and a platform cabin provided with a movable component, and thoroughly eliminates the micro-vibration influence. The traditional control logic mainly based on a satellite platform is changed, and a brand new method of 'load cabin driving, platform cabin driven and two cabin relative positions cooperative decoupling control' is adopted for the first time, so that the double super-precision of the load cabin can be realized.
The accurate identification of the quality of the two cabins is a precondition for realizing high-precision position control between the two cabins. The split satellite comprises a load cabin and a platform cabin, wherein the load cabin mainly comprises a load and a supporting structure thereof. The on-orbit quality is not changed, and the on-orbit quality can be accurately measured on the ground. The pod contains propellant and will be constantly consumed on-track, so that the pod mass is variable and needs to be identified on-track. The two-chamber mass is an important input in the relative position feed-forward control. It is therefore necessary to obtain accurate two-compartment mass position information by means of on-track calibration.
Patent document CN106249749A discloses a master-slave non-contact dual-super satellite platform variable-centroid and variable-inertia attitude control system, which does not solve the technical problem of accurate identification of two-compartment rotational inertia position.
Patent document CN109870272A discloses a method for identifying the mass of a spacecraft in orbit based on momentum conservation, but the object of the method is an integrated satellite.
In the document [1] [2] [3] [4], a method for identifying the quality characteristics of the on-orbit spacecraft based on different algorithms is proposed, but all research objects of the method are all integrated satellites, and the method is not related to and is not suitable for identifying the quality characteristics of the split satellites in a separated state.
[1]Bergmann EV,Walker BK,Levy D R.Mass property estimation for control of asymmetrical satellites[J].Journal of Guidance,Control and Dynamics,1987,10(2):483-492.
[2]Bergmann E V,Dzielski J.Spacecraft mass property identification with torque-generating control[J].Journal of Guidance,Control,and Dynamics,1990,13(2):99-103.
[3]Wilson E,Lages C,Mah R.On-line,gyro-based,mass-property identification for thruster-controlled spacecraft using recursive least squares[C]//Proceedings of the 45th Midwest Symposium on Circuits and Systems.Moffett Field,California,Ames Research Center，Aug.4-7,2002
[4]Tanygin S,Williams T.Mass property estimation using coasting maneuvers[J].Journal of Guidance,Control,and Dynamics,1997,20(4):625-632
Disclosure of Invention
Aiming at the requirement of high-precision attitude control of a load cabin of a two-cabin non-contact type double-super satellite platform, the invention aims to provide a novel split type satellite on-orbit platform cabin quality identification method and system.
According to one aspect of the invention, a novel split type satellite on-orbit platform cabin quality identification method is provided, and the method comprises the following steps:
a driving step: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins of the split satellite to move;
the collection step comprises: the control system of the split satellite is kept open-loop and uncontrolled, the measurement information of the displacement sensors of the two cabins of the split satellite is collected, and the relative motion information of the mass center of the two cabins of the split satellite is obtained according to the resolving model;
and fitting differentiation: carrying out secondary fitting on the relative motion information of the mass centers of the two cabins of the split satellite, and differentiating the fitting result twice to obtain the acceleration information of the mass centers of the two cabins of the split satellite;
a platform cabin quality resolving step: and resolving to obtain the platform cabin quality by combining the known acting force and acceleration information between the two cabins of the split satellite and the load cabin quality information.
Preferably, in the driving step, a plurality of magnetic actuators are arranged between the two cabins and used for finishing the three-axis attitude control of the load cabin and the relative position control between the two cabins, an open-loop instruction is sent to enable the magnetic actuators to be combined to output magnetic control force between the cabins, and the magnetic control force acting on the platform cabin is set to be FcbThe magnetic control force acting on the load compartment is-FcbUnder the action of magnetic control force between the cabins, the acceleration of the platform cabin is abAcceleration of the load compartment of apLet the mass of the load compartment be mpMass m of the platform cabinbSo, according to Newton's second law of motion, there is
The relative distance between the interstitial centers of the two cabins is PCJAnd if the magnetic control force between the two cabins drives the distance between the two cabins to be larger, the distance between the two cabins is larger
Wherein t is time.
Preferably, in the acquiring step, the three-axis relative attitude between the two cabins is set as
Three-axis relative centroid displacement of [ Delta x Delta y Delta z]Two compartments were provided with 9 displacement sensors A1, A2, A3, B1, B2, B3, C1, C2 and C3 for relative position measurement, and the measured values were [ Δ z ] respectivelyA1 ΔzA2 ΔzA3 ΔyB1 ΔyB2 ΔyB3 ΔxC1 ΔxC2 ΔxC3]The installation position of 9 displacement sensors in the mechanical coordinate system is set as [ x ]i yi zi],i＝A1,…C3The center of mass of the load compartment is set in the mechanical coordinate system as xpc ypc zpc]Then, the relationship between the relative position and attitude and the measured value of the displacement sensor is as follows:
is provided with
B＝[ΔzA1 ΔzA2 ΔzA3 ΔyB1 ΔyB2 ΔyB3 ΔxC1 ΔxC2 ΔxC3]T Equation 5
Then there is
A, X ═ B formula 7
Obtaining a pseudo-inverse solution according to a pseudo-inverse algorithm
X＝AT·(A·AT)-1B equation 8
Thereby obtaining the relative attitude and the relative position of the three axes and obtaining a resolving matrix of
M＝AT·(A·AT)-1Equation 9
Obtaining the relative distance P between the two interstitial centers according to the calculation modelCJThen there is
PCJ＝[Δx Δy Δz]TEquation 10
Preferably, in the step of fitting differentiation, the relative distance between the two capsule centers is set as PCJ_NHObtained by fitting
PCJ_NH＝p1·t2+p2·t+p3Equation 11
Wherein p is1As second order fitting coefficient, p2As first-order fitting coefficient, p3Is a constant coefficient, and the linear acceleration of the relative motion between the two cabins is set as aCJThen there is
aCJ＝2p1Equation 12.
Preferably, in the step of calculating the quality of the platform cabin, the magnetic control force F is generated between the cabinscbUnder the action of (2), the linear acceleration of the relative motion between the two compartments is expressed again as
In the above formula, aCJ、FcbAnd mpAre all known quantities, thus obtaining a platform cabin mass of
According to another aspect of the invention, a novel split type satellite on-orbit platform cabin quality identification system is provided, which comprises the following modules:
a driving module: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins of the split satellite to move;
an acquisition module: the control system of the split satellite is kept open-loop and uncontrolled, the measurement information of the displacement sensors of the two cabins of the split satellite is collected, and the relative motion information of the mass center of the two cabins of the split satellite is obtained according to the resolving model;
fitting a differential module: carrying out secondary fitting on the relative motion information of the mass centers of the two cabins of the split satellite, and differentiating the fitting result twice to obtain the acceleration information of the mass centers of the two cabins of the split satellite;
the platform cabin quality resolving module: and resolving to obtain the platform cabin quality by combining the known acting force and acceleration information between the two cabins of the split satellite and the load cabin quality information.
Preferably, in the driving module, a plurality of magnetic suspension actuators are arranged between two cabins and used for finishing three-axis attitude control of the load cabin and relative position control between the two cabins, an open-loop instruction is sent to enable the magnetic suspension actuators to be combined to output magnetic control force between the cabins, and the magnetic control force acting on the platform cabin is set to be FcbThe magnetic control force acting on the load compartment is-FcbUnder the action of magnetic control force between the cabins, the acceleration of the platform cabin is abAcceleration of the load compartment of apLet the mass of the load compartment be mpMass m of the platform cabinbSo, according to Newton's second law of motion, there is
The relative distance between the interstitial centers of the two cabins is PCJAnd if the magnetic control force between the two cabins drives the distance between the two cabins to be larger, the distance between the two cabins is larger
Wherein t is time.
Preferably, in the acquisition module, the three-axis relative attitude between the two cabins is set as
Three-axis relative centroid displacement of [ Delta x Delta y Delta z]Two compartments are provided with 9 displacement sensors A1, A2, A3, B1, B2, B3, C1, C2 and C3 forRelative position measurement, respectively
[ΔzA1ΔzA2ΔzA3ΔyB1ΔyB2ΔyB3ΔxC1ΔxC2ΔxC3]The installation position of 9 displacement sensors in the mechanical coordinate system is set as [ x ]i yi zi],i＝A1,…C3The center of mass of the load compartment is arranged in a mechanical coordinate system
[xpc ypc zpc]Then, the relationship between the relative position and attitude and the measured value of the displacement sensor is as follows:
is provided with
B＝[ΔzA1ΔzA2ΔzA3ΔyB1ΔyB2ΔyB3ΔxC1ΔxC2ΔxC3]T Equation 5
A, X ═ B formula 7
Obtaining a pseudo-inverse solution according to a pseudo-inverse algorithm
X＝AT·(A·AT)-1B formula 8
Thereby obtaining the relative attitude and the relative position of the three axes and obtaining a resolving matrix of
M＝AT·(A·AT)-1Equation 9
Obtaining the relative distance P between the two interstitial centers according to the calculation modelCJThen there is
PCJ＝[ΔxΔyΔz]TEquation 10
Preferably, theIn the fitting differential module, the relative distance between the centers of two cabins is set as PCJ_NHObtained by fitting
PCJ_NH＝p1·t2+p2·t+p3Equation 11
Wherein p is1As second order fitting coefficient, p2As first-order fitting coefficient, p3Is a constant coefficient, and the linear acceleration of the relative motion between the two cabins is set as aCJThen there is
aCJ＝2p1Equation 12
Preferably, in the platform cabin quality resolving module, the magnetic control force F between the cabinscbUnder the action of (2), the linear acceleration of the relative motion between the two compartments is expressed again as
In the above formula, aCJ、FcbAnd mpAre all known quantities, thus obtaining a platform cabin mass of
Compared with the prior art, the invention has the following beneficial effects:
1. the method can provide technical support for the evaluation of the residual quantity of the on-orbit propellant and the control of the relative position of the split satellite;
2. the accurate identification of the rotational inertia of the two cabins is realized through the design of the on-orbit identification method of the rotational inertia of the two cabins;
3. the technical problem that accurate identification is difficult due to the influence of gravity and an unfolding component on the ground is solved.
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 schematic diagram of the mass identification principle of a novel split type satellite in-orbit platform cabin;
FIG. 2 is a schematic diagram of a quality identification method for a novel split satellite in-orbit platform cabin;
FIG. 3 is a schematic view of a measurement curve of a displacement sensor between two compartments;
FIG. 4 is a schematic diagram of relative distance measurement and fitting between two bays.
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 various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, such as changes in the magnitude or direction of the thrust of the magnetic levitation actuator, changes in the installation position and orientation of the magnetic levitation actuator, etc. All falling within the scope of the present invention.
The invention provides a novel split type satellite on-orbit platform cabin quality identification method, which comprises the following four steps:
a driving step: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins of the split satellite to move;
the collection step comprises: the control system of the split satellite is kept open-loop and uncontrolled, the measurement information of the displacement sensors of the two cabins of the split satellite is collected, and the relative motion information of the mass center of the two cabins of the split satellite is obtained according to the resolving model;
and fitting differentiation: carrying out secondary fitting on the relative motion information of the mass centers of the two cabins of the split satellite, and differentiating the fitting result twice to obtain the acceleration information of the mass centers of the two cabins of the split satellite;
a platform cabin quality resolving step: and resolving to obtain the platform cabin quality by combining the known acting force and acceleration information between the two cabins of the split satellite and the load cabin quality information.
In the driving step, a plurality of magnetic suspension actuators are arranged between the two cabins and used for finishing the three-axis attitude control of the load cabin and the relative position control between the two cabins, and an open-loop instruction is sent to enable the magnetic suspension actuators to be combined and output between the cabinsThe magnetic control force is set as FcbThe magnetic control force acting on the load compartment is-FcbUnder the action of magnetic control force between the cabins, the acceleration of the platform cabin is abAcceleration of the load compartment of apLet the mass of the load compartment be mpMass m of the platform cabinbSo, according to Newton's second law of motion, there is
The relative distance between the interstitial centers of the two cabins is PCJAnd if the magnetic control force between the two cabins drives the distance between the two cabins to be larger, the distance between the two cabins is larger
Wherein t is time.
In the collecting step, the three-axis relative attitude between the two cabins is set as
Three-axis relative centroid displacement of [ Delta x Delta y Delta z]Two compartments were provided with 9 displacement sensors A1, A2, A3, B1, B2, B3, C1, C2 and C3 for relative position measurement, and the measured values were [ Δ z ] respectivelyA1 ΔzA2 ΔzA3 ΔyB1 ΔyB2 ΔyB3 ΔxC1 ΔxC2 ΔxC3]The installation position of 9 displacement sensors in the mechanical coordinate system is set as [ x ]i yi zi],i＝A1,…C3The center of mass of the load compartment is set in the mechanical coordinate system as xpc ypc zpc]Then, the relationship between the relative position and attitude and the measured value of the displacement sensor is as follows:
is provided with
B＝[ΔzA1 ΔzA2 ΔzA3 ΔyB1 ΔyB2 ΔyB3 ΔxC1 ΔxC2 ΔxC3]T Equation 5
Then there is
A, X ═ B formula 7
Obtaining a pseudo-inverse solution according to a pseudo-inverse algorithm
X＝AT·(A·AT)-1B equation 8
Thereby obtaining the relative attitude and the relative position of the three axes and obtaining a resolving matrix of
M＝AT·(A·AT)-1Equation 9
Obtaining the relative distance P between the two interstitial centers according to the calculation modelCJThen there is
PCJ＝[Δx Δy Δz]TEquation 10
In the step of fitting differential, the relative distance between the two interstitial hearts is set as PCJ_NHObtained by fitting
PCJ_NH＝p1·t2+p2·t+p3Equation 11
Wherein p is1As second order fitting coefficient, p2As first-order fitting coefficient, p3Is a constant coefficient, and the linear acceleration of the relative motion between the two cabins is set as aCJThen there is
aCJ＝2p1Equation 12.
In the step of resolving the quality of the platform cabin, the magnetic control force F between the cabinscbUnder the action of (2), the linear acceleration of the relative motion between the two compartments is expressed again as
In the above formula, aCJ、FcbAnd mpAre all known quantities, thus obtaining a platform cabin mass of
In the present embodiment, the parameter setting rule is as shown in fig. 2. The magnetic suspension force between two cabins is set to be 0.02N, namely
Fcb＝0.02N
The system is in an open-loop uncontrolled state, under the action of magnetic control force between two cabins, the fitting result of the relative distance between the centers of the two cabins is shown in figure 4, and the linear acceleration of relative motion is obtained according to the fitting result
aCJ＝2.5304×10-4m/s2
If the weight of the load cabin is 110kg, the weight of the load cabin is set to be 110kg
The difference between the theoretical value of 280kg and the theoretical value of 280kg is only 0.83kg, and the identification precision is better than 0.3 percent.
According to another aspect of the invention, a novel split type satellite on-orbit platform cabin quality identification system is provided, which comprises the following modules:
a driving module: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins to move;
an acquisition module: the control system keeps open loop uncontrolled, collects the information measured by the displacement sensor of the two cabins, and obtains the relative movement information of the mass center of the two cabins according to the resolving model;
fitting a differential module: carrying out secondary fitting on the relative movement information of the mass center, and differentiating the fitting result twice to obtain the acceleration information of the mass center of the two cabins;
the platform cabin quality resolving module: and resolving to obtain the platform cabin mass by combining the known inter-cabin acting force, the acceleration information and the load cabin mass information.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the respective functions may also be regarded as structures within both software modules and hardware components for performing the methods
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 (10)
1. A split type satellite in-orbit platform cabin quality identification method is characterized by comprising the following steps:
a driving step: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins of the split satellite to move;
the collection step comprises: the control system of the split satellite is kept open-loop and uncontrolled, the measurement information of the displacement sensors of the two cabins of the split satellite is collected, and the relative motion information of the mass center of the two cabins of the split satellite is obtained according to the resolving model;
and fitting differentiation: carrying out secondary fitting on the relative motion information of the mass centers of the two cabins of the split satellite, and differentiating the fitting result twice to obtain the acceleration information of the mass centers of the two cabins of the split satellite;
a platform cabin quality resolving step: and resolving to obtain the platform cabin quality by combining the known acting force and acceleration information between the two cabins of the split satellite and the load cabin quality information.
2. The split-type satellite on-orbit platform cabin quality identification method according to claim 1, wherein in the driving step, a plurality of magnetic suspension actuators are configured between two cabins and used for completing three-axis attitude control of the load cabin and relative position control between the two cabins, an open-loop instruction is sent to enable the magnetic suspension actuators to output magnetic control force between the cabins in a combined manner, and the magnetic control force acting on the platform cabin is set as FcbThe magnetic control force acting on the load compartment is-FcbUnder the action of magnetic control force between the cabins, the acceleration of the platform cabin is abAcceleration of the load compartment of apLet the mass of the load compartment be mpMass m of the platform cabinbSo, according to Newton's second law of motion, there is
The relative distance between the interstitial centers of the two cabins is PCJAnd if the magnetic control force between the two cabins drives the distance between the two cabins to be larger, the distance between the two cabins is larger
Wherein t is time.
3. The split-type satellite in-orbit platform cabin quality identification method according to claim 2, wherein in the acquisition step, the three-axis relative attitude between two cabins is set as
Three-axis relative centroid displacement of [ Delta x Delta y Delta z]Between two cabins9 displacement sensors a1, a2, A3, B1, B2, B3, C1, C2, and C3 are arranged for relative position measurement, and the measured values are each set to [ Δ z [ ]A1 ΔzA2 ΔzA3 ΔyB1 ΔyB2 ΔyB3 ΔxC1 ΔxC2 ΔxC3]The installation position of 9 displacement sensors in the mechanical coordinate system is set as [ x ]i yi zi],i＝A1,…C3The center of mass of the load compartment is set in the mechanical coordinate system as xpcypc zpc]Then, the relationship between the relative position and attitude and the measured value of the displacement sensor is as follows:
is provided with
B＝[ΔzA1 ΔzA2 ΔzA3 ΔyB1 ΔyB2 ΔyB3 ΔxC1 ΔxC2 ΔxC3]TEquation 5
Then there is
A, X ═ B formula 7
Obtaining a pseudo-inverse solution according to a pseudo-inverse algorithm
X＝AT·(A·AT)-1B equation 8
Thereby obtaining the relative attitude and the relative position of the three axes and obtaining a resolving matrix of
M＝AT·(A·AT)-1Equation 9
Obtaining the relative distance P between the two interstitial centers according to the calculation modelCJThen, thenIs provided with
PCJ＝[Δx Δy Δz]TEquation 10.
4. The split-type satellite on-orbit platform cabin quality identification method according to claim 3, wherein in the fitting differentiation step, the relative distance between the centers of two cabins is set as PCJ_NHObtained by fitting
PCJ_NH＝p1·t2+p2·t+p3Equation 11
Wherein p is1As second order fitting coefficient, p2As first-order fitting coefficient, p3Is a constant coefficient, and the linear acceleration of the relative motion between the two cabins is set as aCJThen there is
aCJ＝2p1Equation 12.
5. The split-type satellite in-orbit platform cabin quality identification method according to claim 4, wherein in the platform cabin quality resolving step, the magnetic control force F between the cabinscbUnder the action of (2), the linear acceleration of the relative motion between the two compartments is expressed again as
In the above formula, aCJ、FcbAnd mpAre all known quantities, thus obtaining a platform cabin mass of
6. A split type satellite in-orbit platform cabin quality identification system is characterized by comprising:
a driving module: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins of the split satellite to move;
an acquisition module: the control system of the split satellite is kept open-loop and uncontrolled, the measurement information of the displacement sensors of the two cabins of the split satellite is collected, and the relative motion information of the mass center of the two cabins of the split satellite is obtained according to the resolving model;
fitting a differential module: carrying out secondary fitting on the relative motion information of the mass centers of the two cabins of the split satellite, and differentiating the fitting result twice to obtain the acceleration information of the mass centers of the two cabins of the split satellite;
the platform cabin quality resolving module: and resolving to obtain the platform cabin quality by combining the known acting force and acceleration information between the two cabins of the split satellite and the load cabin quality information.
7. The split-type satellite on-orbit platform cabin quality identification system of claim 6, wherein in the driving module, a plurality of magnetic suspension actuators are arranged between two cabins and used for completing three-axis attitude control of the load cabin and relative position control between the two cabins, an open-loop instruction is sent to enable the magnetic suspension actuators to output magnetic control force between the cabins in a combined manner, and the magnetic control force acting on the platform cabin is set as FcbThe magnetic control force acting on the load compartment is-FcbUnder the action of magnetic control force between the cabins, the acceleration of the platform cabin is abAcceleration of the load compartment of apLet the mass of the load compartment be mpMass m of the platform cabinbSo, according to Newton's second law of motion, there is
The relative distance between the interstitial centers of the two cabins is PCJAnd if the magnetic control force between the two cabins drives the distance between the two cabins to be larger, the distance between the two cabins is larger
Wherein t is time.
8. The split-type satellite in-orbit platform cabin quality identification system according to claim 7, wherein the acquisition module is configured to set a three-axis relative attitude between two cabins as
Three-axis relative centroid displacement of [ Delta x Delta y Delta z]Two compartments were provided with 9 displacement sensors A1, A2, A3, B1, B2, B3, C1, C2 and C3 for relative position measurement, and the measured values were [ Δ z ] respectivelyA1 ΔzA2 ΔzA3 ΔyB1 ΔyB2 ΔyB3 ΔxC1 ΔxC2 ΔxC3]The installation position of 9 displacement sensors in the mechanical coordinate system is set as [ x ]i yi zi],i＝A1,…C3The center of mass of the load compartment is set in the mechanical coordinate system as xpcypc zpc]Then, the relationship between the relative position and attitude and the measured value of the displacement sensor is as follows:
is provided with
B＝[ΔzA1 ΔzA2 ΔzA3 ΔyB1 ΔyB2 ΔyB3 ΔxC1 ΔxC2 ΔxC3]TEquation 5
Then there is
A, X ═ B formula 7
Obtaining a pseudo-inverse solution according to a pseudo-inverse algorithm
X＝AT·(A·AT)-1B equation 8
Thereby obtaining the relative attitude and the relative position of the three axes and obtaining a resolving matrix of
M＝AT·(A·AT)-1Equation 9
Obtaining the relative distance P between the two interstitial centers according to the calculation modelCJThen there is
PCJ＝[Δx Δy Δz]TEquation 10.
9. The split-type satellite in-orbit platform cabin quality identification system according to claim 8, wherein in the fitting differential module, the relative distance between the centers of two cabins is PCJ_NHObtained by fitting
PCJ_NH＝p1·t2+p2·t+p3Equation 11
Wherein p is1As second order fitting coefficient, p2As first-order fitting coefficient, p3Is a constant coefficient, and the linear acceleration of the relative motion between the two cabins is set as aCJThen there is
aCJ＝2p1Equation 12.
10. The split satellite in-orbit platform cabin quality identification system according to claim 9, wherein in the platform cabin quality calculation module, the magnetic control force F between cabinscbUnder the action of (2), the linear acceleration of the relative motion between the two compartments is expressed again as
In the above formula, aCJ、FcbAnd mpAre all known quantities, thus obtaining a platform cabin mass of
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114408220A (en) * | 2022-01-25 | 2022-04-29 | 上海卫星工程研究所 | On-track calibration method and system for force arm of magnetic suspension actuator |
| CN114919774A (en) * | 2022-05-20 | 2022-08-19 | 南京航空航天大学 | On-orbit calibration method for Lorentz force actuator of non-contact load undisturbed satellite platform |
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| CN114408220B (en) * | 2022-01-25 | 2024-01-30 | 上海卫星工程研究所 | On-orbit calibration method and system for force arm of magnetic suspension actuator |
| CN114919774A (en) * | 2022-05-20 | 2022-08-19 | 南京航空航天大学 | On-orbit calibration method for Lorentz force actuator of non-contact load undisturbed satellite platform |
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| CN112660422B (en) | 2023-03-24 |
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