CN113212804A - Rope-tied satellite attitude and angular momentum integrated control method - Google Patents
Rope-tied satellite attitude and angular momentum integrated control method Download PDFInfo
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- CN113212804A CN113212804A CN202110477839.4A CN202110477839A CN113212804A CN 113212804 A CN113212804 A CN 113212804A CN 202110477839 A CN202110477839 A CN 202110477839A CN 113212804 A CN113212804 A CN 113212804A
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- 230000005484 gravity Effects 0.000 claims abstract description 18
- 239000011159 matrix material Substances 0.000 claims description 12
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- 230000006641 stabilisation Effects 0.000 claims description 5
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- 238000004590 computer program Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/34—Guiding or controlling apparatus, e.g. for attitude control using gravity gradient
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Abstract
A method for integrally controlling attitude and angular momentum of a tethered satellite comprises the following steps: realizing gravity gradient stable control of the tethered satellite attitude based on the attitude angular rate damping of the tethered torque; and the attitude control moment is utilized to ensure that the center of mass of the whole satellite deviates a certain degree from the tension direction of the tether, so that the unloading moment of the angular momentum of the momentum wheel is formed, the angular momentum of the momentum wheel is quickly unloaded, and the attitude with normal gravity gradient stability is restored after unloading, so that the integrated control of the attitude and the angular momentum of the tether satellite is completed. The invention ensures that the attitude stability of the tethered satellite and the unloading of the angular momentum of the actuating mechanism are completed simultaneously, and ensures that the tethered satellite has the capability of attitude adjustment all the time.
Description
Technical Field
The invention relates to a tethered satellite attitude and angular momentum integrated control method, and belongs to the technical field of tethered satellite attitude control.
Background
Tethered satellites present significant challenges to the attitude control of individual satellites due to the presence of the tether. The tensions of the tethers in different tensioning states are greatly different, the directions of the tensions of the tethers change along with the changes of the relative postures and the relative positions of the two stars, and the tethers cannot pass through the mass center of the satellite accurately under general conditions, so that the satellite posture is always influenced by disturbance of a tether moment with great uncertainty, and the key problem which needs to be solved is how to realize the posture stability of the satellite under the action of the tensions of the tethers and ensure that a posture execution mechanism is always in an unsaturated state.
Disclosure of Invention
The invention aims to: the method for integrally controlling the attitude and the angular momentum of the tethered satellite overcomes the defects in the prior art, and comprises the following steps: realizing gravity gradient stable control of the tethered satellite attitude based on the attitude angular rate damping of the tethered torque; and the attitude control moment is utilized to ensure that the center of mass of the whole satellite deviates a certain degree from the tension direction of the tether, so that the unloading moment of the angular momentum of the momentum wheel is formed, the angular momentum of the momentum wheel is quickly unloaded, and the attitude with normal gravity gradient stability is restored after unloading, so that the integrated control of the attitude and the angular momentum of the tether satellite is completed. The invention ensures that the attitude stability of the tethered satellite and the unloading of the angular momentum of the actuating mechanism are completed simultaneously, and ensures that the tethered satellite has the capability of attitude adjustment all the time.
The above purpose of the invention is realized by the following technical scheme:
a method for integrally controlling attitude and angular momentum of a tethered satellite comprises the following steps:
based on the gravity gradient stability, performing attitude control on the tethered satellite;
and when the accumulated amount of the angular momentum of the momentum wheel of the tethered satellite reaches a preset value, unloading the angular momentum of the momentum wheel to complete the integrated control of the attitude and the angular momentum of the tethered satellite.
In the above control method, preferably, the gravity gradient is stabilized under the following conditions: roll angle
And the pitch angle theta respectively tend to a certain fixed value, and the yaw angle psi is stably controlled to ensure that the sailboards of the tethered satellite are oriented to the sun.
Preferably, the above control method for controlling the attitude of the tethered satellite based on gravity gradient stabilization includes the following steps:
determining attitude matrix C of tethered satellite body relative to orbital coordinate systemBOTarget attitude matrix C of tethered satellite body relative to orbital coordinate systemTOTarget attitude angular velocity ωTO；
According to the attitude matrix CBOAnd the target attitude matrix CTORespectively determining corresponding quaternions qBO、qTO(ii) a Q is to beTOAnd q isBOSum of difference ωTOAngular velocity omega with tethered satellite bodyBOThe difference of (a) is used as a control amount.
In the above control method, preferably, when the tethered satellite is attitude-controlled, the attitude of the satellite is set to be described in 123-turn order.
In the above control method, it is preferable that the method of unloading the angular momentum of the momentum wheel includes: when the angular momentum accumulation of any shaft of the momentum wheel reaches a preset value, determining the attitude offset added into the shaft according to the angular momentum accumulation of the shaft, and generating tether torque by the attitude offset to unload the angular momentum accumulation of the shaft.
In the above control method, it is preferable that the accumulated amount of angular momentum of a certain axis and the attitude deviation amount of the axis have a linear relationship.
In the above control method, the accumulated amount of angular momentum of a certain axis is preferably in a proportional relationship with the attitude offset of the axis.
The control method preferably adopts inertial device measurement to obtain the angular velocity omega of the tethered satellite bodyBO。
A computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the control method described above.
A tethered satellite attitude and angular momentum integrated control device, comprising:
the attitude control module is stable based on the gravity gradient and is used for performing attitude control on the tethered satellite;
and the angular momentum unloading module is used for unloading the angular momentum of the momentum wheel when the accumulated amount of the angular momentum of the momentum wheel of the tethered satellite reaches a preset value.
Compared with the prior art, the invention has the following advantages:
(1) the gravity gradient stable attitude control fully utilizes the control effect of tether torque on the attitude, and avoids the opposition of attitude actuating mechanisms with smaller output torque, such as a momentum wheel and the like, to the tether torque;
(2) the invention utilizes the tether tension to form unloading moment to effectively unload the angular momentum of the system, so that the angular momentum of the momentum wheel is always in an unsaturated state, and the satellite attitude is ensured to be in a controllable state;
(3) the invention realizes the integrated control of the attitude and the angular momentum of the tethered satellite, and can effectively save the executing mechanism specially arranged for unloading the angular momentum, thereby saving the satellite development cost and meeting the market demand of the rapid development of low-cost satellites.
Drawings
FIG. 1 is a flow chart illustrating the implementation of the present invention.
Fig. 2 is a force analysis of tethered satellites.
Fig. 3 is a graph of attitude angle and angular velocity of a satellite under gravity gradient stabilization.
FIG. 4 is a time plot of the moment of the tether unloading the resultant angular momentum of the momentum wheel system.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
as shown in fig. 1, the present invention provides an integrated control method for attitude and angular momentum of a tethered satellite, comprising the following steps:
step one, controlling the attitude of a tethered satellite based on gravity gradient stabilization:
if the satellite attitude is described by 123 rotation sequence, the three Euler angles under the rotation sequence can be represented by the attitude matrix C of the satellite body relative to the orbit coordinate systemBOIs obtained by
Wherein RPY is three Euler angles
The solving function of (2) can be based on the attitude matrix C of the satellite body relative to the orbit coordinate systemBOCalculating three Euler angles according to 123 turns
Wherein
The roll angle is real-time, theta is real-time pitch angle, and psi is real-time yaw angle.
Real-time roll angle under the action of gravity gradient
And the real-time pitch angle theta tends to a certain fixed value, but the real-time yaw angle psi still needs to be stably controlled to ensure that the sailboards are oriented in the sun, so that the three-axis target attitude
The method comprises the following steps:
wherein the content of the first and second substances,
is a target roll angle, thetaTIs a target pitch angle, psiTIs the target yaw angle. The control idea is not to control the roll angle and the pitch angle, but only to rate damp them.
Then the target attitude matrix CTOComprises the following steps:
in the formula, the DCM attitude conversion function can convert three target attitude angles
Calculating a corresponding attitude matrix C according to the 123 rotation sequenceTO。
And the target attitude angular velocity ωTOComprises the following steps:
ωTO＝[0,0,0]T
the control quantity is:
qBT＝Qim(qTO,qBO)
ωBT＝ωTO-ωBO
in the formula, qTOIs CTOCorresponding quaternion, qBOIs CBOCorresponding quaternion, Qim is the difference function of two quaternions, and two quaternions { q can be obtainedTO,qBODifference q of }BT；ωBOAngular velocity of the satellite body relative to orbital coordinates, obtained by gyroscopic measurements, ωBTIs the difference between the current satellite body angular velocity and the target angular velocity.
Step two, unloading by utilizing the momentum wheel angular momentum of the tether moment:
the satellite attitude is close to the equilibrium state under the action of the tether moment, but the synthetic angular momentum of the satellite momentum gear train is still accumulated, and the accumulated amount of the angular momentum of the X axis is delta HxThe accumulated angular momentum on the Y axis is Δ HyFor performing angular momentum of X-axis and Y-axisUnloading, adding offset to satellite X-axis and Y-axis attitude
And Δ θ is:
wherein k isxIs the X-axis angular momentum feedback coefficient, 100>kx>0；kyFor the Y-axis angular momentum feedback coefficient, 100>ky>0. By the amount of attitude deviation
And Δ θ, the accumulated amount of angular momentum can be unloaded.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the control method of the preceding claims.
A tethered satellite attitude and angular momentum integrated control device, comprising:
the attitude control module is stable based on the gravity gradient and is used for performing attitude control on the tethered satellite;
and the angular momentum unloading module is used for unloading the angular momentum of the momentum wheel when the accumulated amount of the angular momentum of the momentum wheel of the tethered satellite reaches a preset value.
Example (b):
the tether connecting point of the tether satellite is arranged on the satellite-Z plane, the tether tension is 0.14N, and the deviation of {374.922E-3,374.922E-3} m exists between the tension direction and the satellite centroid in the X direction and the Y direction, theoretical calculation shows that the tether moment caused by the deviation enables the attitude of the satellite to change in rolling angle-27.92 degrees and pitch angle-32 degrees, and the satellite stress analysis is shown in figure 2. The simulation effect of the control method of the invention is shown in fig. 3 and fig. 4, wherein fig. 3 shows that the gravity gradient stabilization control is completed, and fig. 4 shows that the unloading of the angular momentum of the system is completed. Simulation shows that the satellite attitude can be stabilized to a preset rolling angle and a preset pitch angle under the action of angular rate damping matched with tether torque, and the synthetic angular momentum of the momentum wheel is effectively unloaded and tends to zero, so that the attitude and the angular momentum are integrally controlled.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. A method for integrally controlling attitude and angular momentum of a tethered satellite is characterized by comprising the following steps:
based on the gravity gradient stability, performing attitude control on the tethered satellite;
and when the accumulated amount of the angular momentum of the momentum wheel of the tethered satellite reaches a preset value, unloading the angular momentum of the momentum wheel to complete the integrated control of the attitude and the angular momentum of the tethered satellite.
2. The control method according to claim 1, characterized in that the conditions under which the gravity gradient is stable are: roll angle
And the pitch angle theta respectively tend to a certain fixed value, and the yaw angle psi is stably controlled to ensure that the sailboards of the tethered satellite are oriented to the sun.
3. The control method according to claim 2, wherein the method of attitude control of tethered satellites based on gravity gradient stabilization comprises the steps of:
determining attitude matrix C of tethered satellite body relative to orbital coordinate systemBOTarget attitude matrix C of tethered satellite body relative to orbital coordinate systemTOTarget attitude angular velocity ωTO；
According to the attitude matrix CBOAnd the target attitude matrix CTORespectively determining corresponding quaternions qBO、qTO(ii) a Q is to beTOAnd q isBOSum of difference ωTOAngular velocity omega with tethered satellite bodyBOThe difference of (a) is used as a control amount.
4. The control method according to claim 3, wherein in the attitude control of the tethered satellite, the attitude of the satellite is set to be described in 123-turn order.
5. The control method according to claim 1, wherein the angular momentum of the momentum wheel is unloaded by: when the angular momentum accumulation of any shaft of the momentum wheel reaches a preset value, determining the attitude offset added into the shaft according to the angular momentum accumulation of the shaft, and generating tether torque by the attitude offset to unload the angular momentum accumulation of the shaft.
6. The control method according to claim 5, wherein the accumulated amount of angular momentum of a certain axis is linearly related to the amount of attitude deviation of the axis.
7. The control method according to claim 5, wherein the accumulated amount of angular momentum of a certain axis is in a direct relationship with the attitude offset of the axis.
8. Control method according to claim 3 or 4, characterized in that inertial device measurements are used to obtain the tethered satellite body angular velocity ωBO。
9. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the control method of any one of claims 1 to 7.
10. A rope system satellite attitude and angular momentum integrated control device is characterized by comprising:
the attitude control module is stable based on the gravity gradient and is used for performing attitude control on the tethered satellite;
and the angular momentum unloading module is used for unloading the angular momentum of the momentum wheel when the accumulated amount of the angular momentum of the momentum wheel of the tethered satellite reaches a preset value.
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| CN113619816A (en) * | 2021-09-06 | 2021-11-09 | 中国科学院微小卫星创新研究院 | Modular attitude control unit for satellite |
| CN116280274A (en) * | 2023-04-27 | 2023-06-23 | 中国人民解放军32039部队 | Control method and device for automatic management of GEO satellite angular momentum |
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| CN116280274B (en) * | 2023-04-27 | 2023-10-27 | 中国人民解放军32039部队 | Control method and device for automatic management of GEO satellite angular momentum |
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