CN112928426A - Large-scale deployable satellite antenna profile precision in-orbit active control device and method - Google Patents
Large-scale deployable satellite antenna profile precision in-orbit active control device and method Download PDFInfo
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- CN112928426A CN112928426A CN202110210861.2A CN202110210861A CN112928426A CN 112928426 A CN112928426 A CN 112928426A CN 202110210861 A CN202110210861 A CN 202110210861A CN 112928426 A CN112928426 A CN 112928426A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/288—Satellite antennas
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
Abstract
The invention provides an on-orbit active control device and method for the profile accuracy of a large deployable satellite antenna, which comprises the following steps: the system comprises a deformation measurement system, a controller, an expandable satellite antenna and an actuator; the deformation measuring system monitors the deformation of the deployable satellite antenna structure; the controller inputs a control signal to the actuator; the deployable satellite antenna comprises a radiating surface, a frame and an antenna stay bar; the radiation surface is arranged on a frame, and the frame is formed by splicing antenna support rods or integrally formed; the actuator consists of a longitudinal actuator and a transverse actuator, the local profile precision of the radiating surface is adjusted through the longitudinal actuator arranged on the antenna frame, and the integral torsion and bending deformation of the frame are adjusted through the transverse actuator arranged on the antenna strut support. The adjusting device actively adjusts the on-orbit thermal deformation of the antenna array surface through the actuator, and controls the accuracy of the antenna profile so as to adapt to the imaging requirement of the high-accuracy high-resolution remote sensing satellite.
Description
Technical Field
The invention relates to the technical field of spacecraft structures and mechanisms, in particular to an in-orbit active control device and method for the profile accuracy of a large deployable satellite antenna.
Background
The new generation of deployable satellite antenna satellite has the characteristics of large size and high power, the satellite faces a complex temperature environment in orbit, and the size stability and the profile accuracy of the antenna structure are key factors influencing the performance of the antenna structure.
The traditional antenna thermal deformation control method mainly adopts passive control, for example, composite materials with lower thermal expansion coefficients are widely adopted on structures such as an antenna frame and a support rod, composite material layering is optimized, and flexible or free connection modes are adopted to reduce the thermal deformation of an antenna structure. However, for a large-sized satellite antenna, even a carbon fiber frame with a low expansion coefficient can be bent or twisted integrally; in addition, the deployable satellite antenna has specific requirements on the material of the radiating surface, and the deformation of the radiating surface is also caused by the inconsistent expansion coefficient between the radiating surface and the frame, so that the effect of passive control of the thermal deformation is very limited.
Patent document CN109002061A (application number: CN201810638635.2) discloses an active profile adjustment method and device for a microwave antenna. The adjusting device is aimed at a fixed-surface antenna, an antenna array surface is formed by a whole block of reflecting surface, and the adjusting mechanism is only aimed at the antenna reflecting surface. The expandable antenna array surface of the invention consists of a frame and a plurality of radiation surfaces, the integral deformation of the frame and the local deformation of the radiation surfaces are important factors influencing the profile accuracy of the frame, and the deformation of the frame and the local deformation of the radiation surfaces needs to be controlled simultaneously.
Patent document CN109004362A (application number: CN201810638644.1) discloses a device for actively controlling an on-track profile of a satellite antenna based on multipoint displacement adjustment. All the adjusting points are distributed on the reflecting surface, and the output displacement of the actuator is determined according to the deviation of the adjusting points from the ideal position. The invention decomposes the thermal deformation of the deployable antenna into the deformation of the frame and the local deformation of the radiation surface, adjusts the bending and torsion deformation of the frame through angle conversion, adjusts the local deformation of the radiation surface through plane fitting and inverse compensation, and adopts different methods and algorithms.
Other antenna profile active adjustment techniques are mostly limited to terrestrial antennas, and mainly use fixed-surface or mesh-shaped reflector antennas, and are not suitable for large-sized deployable satellite antennas. In order to meet the requirements of the new generation of deployable satellite antennas on high precision and high stability of the structure, a new deformation active control idea is necessary to be adopted to realize active adjustment of the antenna profile precision and repair the in-orbit thermal deformation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an in-orbit active control device and method for the profile accuracy of a large deployable satellite antenna.
The invention provides an on-orbit active control device for the profile accuracy of a large deployable satellite antenna, which comprises: the system comprises a deformation measurement system, a controller, an expandable satellite antenna and an actuator;
the deformation measurement system monitors the deformation of the deployable satellite antenna structure caused by the deployment repetition precision and the in-orbit temperature environment based on laser measurement and photogrammetry technologies;
the controller is integrated by a plurality of actuator control boxes, takes the deformation of the antenna structure as input, and inputs a control signal to the actuator through an inverse compensation control algorithm of an internal data processing system;
the deployable satellite antenna comprises a radiating surface, a frame and an antenna stay bar; the radiation surface is arranged on a frame, and the frame is formed by splicing antenna support rods or integrally formed; the radiation surface and the frame form an antenna array surface, and the shape of the antenna array surface is a plane in an unfolding state;
the actuator consists of a longitudinal actuator and a transverse actuator, the local profile precision of the radiating surface is adjusted through the longitudinal actuator arranged on the antenna frame, and the integral torsion and bending deformation of the frame are adjusted through the transverse actuator arranged on the antenna strut support.
Preferably, the structural form of the radiation surface comprises a metal panel and a carbon fiber skin sandwich plate.
Preferably, the stay bar is a carbon fiber rod with low expansion coefficient.
The method for actively controlling the profile accuracy of the large deployable satellite antenna in the on-orbit mode, provided by the invention, comprises the following steps:
step 1: measuring the deformation of the on-orbit profile of the antenna in real time through a deformation measuring system, and converting to obtain displacement data;
step 2: outputting the displacement data to a control processor to obtain a control signal;
and step 3: carrying out inverse compensation control algorithm processing on the control signal to form an actuating signal output to the actuator;
and 4, step 4: the actuator loads the displacement to the antenna structure to realize the adjustment and compensation of thermal deformation.
Preferably, the controller distributes the control signals to the respective actuators at the same time, and the actuators synchronously output displacements in parallel according to the control signals.
Preferably, the displacement output of the longitudinal actuator is determined as follows: the deformation measuring system measures the deformation of the radiation surface and fits the deformed radiation surface plane, and the difference of the longitudinal positions of the actuating points on the ideal plane and the deformation fitting plane is used as the actuating quantity of profile adjustment.
Preferably, the transverse actuators on the same side of the star body perform differential actuation, and the torsional deformation is adjusted by eliminating the deformation difference of the two frames.
Preferably, the transverse actuators on the same side of the star body keep the same displacement output, and the displacement action amount is determined through an angle conversion relation.
Preferably, the deformation measuring system has real-time performance, and when the adjustment is completed for one time, if the array surface generates new deformation, the adjustment is started for the second time until the ideal flatness requirement is met.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the invention, through inverse compensation control of the antenna radiation surface, the problem that the thermal expansion coefficient of the deployable satellite antenna frame is not matched with that of the radiation surface is solved, and the local profile precision of the array surface is ensured;
(2) the invention adjusts the whole torsion and bending deformation of the antenna frame through the transverse displacement actuator, solves the problem that the on-track profile precision of the large-size antenna is difficult to control, and ensures the whole profile precision of the array surface;
(3) the technical scheme has real-time performance, can realize real-time adjustment of the on-orbit state of the antenna, and meets the requirement of high-precision imaging of the remote sensing satellite.
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 an in-orbit thermal deformation profile active adjustment device for an expandable satellite antenna;
FIG. 2 is a front view of an active thermal deformation adjustment mechanism for a deployable satellite antenna;
FIG. 3 is a top view of an active thermal deformation adjustment mechanism for a deployable satellite antenna;
FIG. 4 is a schematic view of antenna radiation surface profile adjustment;
figure 5 is a schematic view of an antenna frame torsional deformation adjustment;
fig. 6 is a schematic view of antenna frame bending deformation adjustment;
FIG. 7 is a schematic view of the actuator operating principle;
FIG. 8 is a schematic view of the actuator operating principle;
FIG. 9 is a schematic view of the actuator operating principle;
in the figure: 1-antenna radiation surface, 2-actuator, 3-antenna frame, 4-antenna stay bar, 5-star structure, 6-star top stay point, 21-output shaft, 22-ball screw, 23-upper locking valve, 24-lower locking valve, and 25-outer shell.
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.
Example (b):
the invention provides a large-scale deployable satellite antenna profile precision in-orbit active control device which comprises an antenna in-orbit deformation measurement system, a controller, an actuator and a deployable satellite antenna.
The deployable satellite antenna comprises a radiation surface 1, an antenna frame 3, an antenna brace 4 and the like. The radiation surface of the antenna has the structural forms of a metal panel, a carbon fiber skin sandwich plate and the like, and is divided into a plurality of modules to be arranged on the frame; the frame is formed by splicing carbon fiber rod pieces with low expansion coefficients or is integrally formed. The radiating surface and the frame form an antenna array surface, and the ideal shape of the array surface in an unfolding state is a plane. The antenna in-orbit deformation measuring system monitors the deformation of the deployable satellite antenna structure caused by repeated deployment, in-orbit temperature environment and the like based on the technologies of laser measurement, photogrammetry and the like. The controller is integrated by a plurality of actuator control boxes, takes the deformation of the antenna structure as input, and distributes the actuating quantity to each actuator simultaneously through an inverse compensation control algorithm of an internal data processing system. The actuator is an active adjustable device between an antenna radiation surface and a frame and between a support rod and a star body, and consists of a longitudinal actuator arranged on the antenna frame and a transverse actuator arranged on an antenna support rod support, and each actuator has bidirectional large-stroke actuation capacity.
Four longitudinal actuators 2 are arranged between each radiating surface and the antenna frame, the instruction of the execution controller outputs the displacement to the radiating surface in parallel, and the deformation of the radiating surface is compensated, so that the profile precision of each radiating surface is optimal; a transverse actuator is arranged at the joint of each antenna strut and the star structure 5, after the deformation of the antenna frame on the rail is known, the transverse displacement is output by the actuator, and the integral flatness of the frame is repaired by adjusting the torsional deformation and the bending deformation.
The actuator uses piezoceramics as drive element, and piezoceramics drive locking valve rotates and drives the pivot and rotate, turns into linear motion with rotary motion through ball, produces the controllable linear displacement of high accuracy, like figure 7, figure 8, figure 9, it actuates the process as follows: the upper locking valve is opened, the lower locking valve drives the rotating shaft to rotate by an angle alpha under the drive of the piezoelectric ceramics, and the rotation is converted into the linear displacement of the output shaft under the action of the ball screw. After one-time actuation is completed, the upper locking valve is locked, and the lower locking valve is opened and reset and locked after rotating by an angle of-alpha. The process is repeated to realize large-stroke output.
The implementation principle of the invention is shown in figure 1, a deformation measurement system measures the deformation of the on-orbit profile of an antenna in real time, displacement data is output to a control processor and processed by an inverse compensation control algorithm to form an actuating signal output to an actuator, and the actuator loads the displacement to an antenna structure to realize the adjustment and compensation of thermal deformation.
As shown in fig. 2 and 3, the actuator of the deployable satellite antenna profile active adjustment device comprises a longitudinal actuator 2 mounted on an antenna frame and a transverse actuator 2 mounted on an antenna strut support, and outputs displacement in the vertical direction and the horizontal direction respectively, and each actuator has bidirectional output capability. Each side of the antenna frame is provided with 3 radiation surface 1 modules, and each module is provided with 4 longitudinal actuators; each side antenna frame is connected to the star by two struts 4, each having 1 lateral actuator below.
Further, taking a radiation surface 1 as an example, for a longitudinal actuator 2 installed on an antenna frame, the profile adjustment principle is shown in fig. 4, and the output quantity of the actuator is determined as follows:
the method comprises the following steps: measuring the deformation of all measuring points on the radiation surface, and fitting a deformed radiation surface plane;
step two: according to the fitting plane equation Ax + By + Cz ═ 0, and the in-plane coordinates (x1, y1), (x2, y2), (x3, y3), (x4, y4) of the four actuator points, the longitudinal coordinate set { z1, z2, z3, z4} of the projection of the actuator points on the fitting plane is solved reversely.
Step three: assuming that the longitudinal coordinate of an ideal plane is z0, the output displacements of the four actuators are combined into { z0-z1, z0-z2, z0-z3, and z0-z4}, so that the cooperative inverse compensation control on the profile of the radiation surface is realized.
Further, taking a side antenna frame 3 as an example, the adjusting steps of the transverse actuator 2 mounted on the antenna strut support are as follows:
the method comprises the following steps: adjusting torsional deformation of the antenna frame 3;
the torsional deformation of the frame is induced by the difference in the amount of deformation of the two frames, as shown in fig. 5. The adjustment of the torsional deformation is to eliminate the deformation difference of the two frames. Suppose that the longitudinal displacement of the two frame ends measured by the deformation measuring system is dz respectively1，dz2Then the corresponding adjusted displacement output dx of the two lateral actuators 21，dx2Comprises the following steps:
in the formula, h is the height from the star top supporting point 6 to the supporting rod support, and l is the length of the single-side antenna frame.
After this adjustment, the frame is restored to pure bending deformation with a longitudinal displacement of the end of the frame of
Step two: adjusting bending deformation of the antenna frame 3;
the principle of bending deformation adjustment is shown in FIG. 6, in which the two lateral actuators 2 maintain the same displacement output dx when bending deformation is adjusted0The magnitude is given by the following equation by the angle conversion relation:
the invention also provides a simulation prediction method of the adjusting algorithm, namely, a group of data of the whole satellite temperature field is randomly specified, the profile change of the antenna array surface is obtained through finite element simulation, the deformed antenna array surface is used as a target for profile adjustment, the displacement of each actuator is calculated, the displacement is used as an input condition and returned to a simulation model, and the profile precision of the adjusted antenna array surface is simulated and calculated again.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
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 (9)
1. An in-orbit active control device for profile accuracy of a large deployable satellite antenna, comprising: the system comprises a deformation measurement system, a controller, an expandable satellite antenna and an actuator;
the deformation measurement system monitors the deformation of the deployable satellite antenna structure caused by the deployment repetition precision and the in-orbit temperature environment based on laser measurement and photogrammetry technologies;
the controller is integrated by a plurality of actuator control boxes, takes the deformation of the antenna structure as input, and inputs a control signal to the actuator through an inverse compensation control algorithm of an internal data processing system;
the deployable satellite antenna comprises a radiating surface, a frame and an antenna stay bar; the radiation surface is arranged on a frame, and the frame is formed by splicing antenna support rods or integrally formed; the radiation surface and the frame form an antenna array surface, and the shape of the antenna array surface is a plane in an unfolding state;
the actuator consists of a longitudinal actuator and a transverse actuator, the local profile precision of the radiating surface is adjusted through the longitudinal actuator arranged on the antenna frame, and the integral torsion and bending deformation of the frame are adjusted through the transverse actuator arranged on the antenna strut support.
2. The large deployable satellite antenna profile precision in-orbit active control device of claim 1, wherein the radiating surface is in the form of a structure comprising a metal panel and a carbon fiber skin sandwich panel.
3. The large deployable satellite antenna contour accuracy in-orbit active control device of claim 1, wherein the brace is a low expansion coefficient carbon fiber rod.
4. An in-orbit active control method for the profile accuracy of a large deployable satellite antenna, which is characterized in that the in-orbit active control device for the profile accuracy of the large deployable satellite antenna as claimed in any one of claims 1 to 3 is adopted, and comprises the following steps:
step 1: measuring the deformation of the on-orbit profile of the antenna in real time through a deformation measuring system, and converting to obtain displacement data;
step 2: outputting the displacement data to a control processor to obtain a control signal;
and step 3: carrying out inverse compensation control algorithm processing on the control signal to form an actuating signal output to the actuator;
and 4, step 4: the actuator loads the displacement to the antenna structure to realize the adjustment and compensation of thermal deformation.
5. The large deployable satellite antenna profile precision in-orbit active control device of claim 4, wherein the controller distributes control signals to the respective actuators simultaneously, and the actuators synchronously and concurrently output displacements according to the control signals.
6. The large deployable satellite antenna profile precision in-orbit active control device of claim 4, wherein the displacement output of the longitudinal actuator is determined as follows: the deformation measuring system measures the deformation of the radiation surface and fits the deformed radiation surface plane, and the difference of the longitudinal positions of the actuating points on the ideal plane and the deformation fitting plane is used as the actuating quantity of profile adjustment.
7. The active control device of claim 4, wherein the actuators on the same side of the star are actuated differentially, and the torsional deformation is adjusted by eliminating the deformation difference between the two frames.
8. The active control device for profile accuracy of large deployable satellite antennas of claim 4, wherein the lateral actuators on the same side of the star maintain the same displacement output, and the displacement momentum is determined by an angle conversion relationship.
9. The in-orbit active control device of the profile accuracy of the large deployable satellite antenna according to claim 4, wherein the deformation measurement system has real-time performance, and when a new deformation is generated on the wavefront after one adjustment is completed, the second adjustment is started until the ideal flatness requirement is met.
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| CN112928426B (en) | 2023-01-24 |
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