CN113619816B - Modularized attitude control unit for satellite - Google Patents
Modularized attitude control unit for satellite Download PDFInfo
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- CN113619816B CN113619816B CN202111037823.8A CN202111037823A CN113619816B CN 113619816 B CN113619816 B CN 113619816B CN 202111037823 A CN202111037823 A CN 202111037823A CN 113619816 B CN113619816 B CN 113619816B
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 2
- 230000008859 change Effects 0.000 claims description 2
- 229910052744 lithium Inorganic materials 0.000 claims description 2
- 230000036544 posture Effects 0.000 claims 2
- 238000007726 management method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
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- 238000012423 maintenance Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 230000005358 geomagnetic field Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
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- 230000010354 integration Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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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
- B64G1/244—Spacecraft control systems
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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
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/285—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using momentum wheels
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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
- B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
- B64G1/369—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors using gyroscopes as attitude sensors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a modularized attitude control unit for a satellite, which comprises a shell, a momentum wheel and a magnetic torquer. The surface of the shell comprises at least one standard interface, and the modularized attitude control unit is connected to other functional modules of the satellite through the standard interface; the momentum wheel and the magnetic torquer are arranged in the shell, the momentum wheel is used for controlling the satellite attitude so as to maintain the angular momentum of the system, and the magnetic torquer is used for controlling the satellite attitude or managing the unloading of the momentum wheel.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a modularized attitude control unit for satellites.
Background
The attitude control system of the satellite is mainly used for controlling the attitude of the satellite so that the attitude control system can meet the working requirements of the satellite. The attitude control of the satellite comprises two main types of passive attitude control and active attitude control. The active attitude control is a mode of forming a control command through an attitude error and further generating a control moment to realize attitude control, and belongs to a closed-loop control system.
Most satellites need to control three mutually perpendicular axial directions during flight, which is called three-axis attitude stabilization, and for achieving the purpose, an attitude sensor, an attitude controller and an attitude actuator are usually required to cooperate together. In the existing satellite, the attitude sensor, the attitude controller and the attitude actuating mechanism are generally distributed at different positions of the satellite, so that on-orbit maintenance is difficult to perform.
Disclosure of Invention
In view of some or all of the problems in the prior art, the present invention provides a modular attitude control unit for a satellite, comprising:
a housing, the surface of which comprises at least one standard interface through which the modular attitude control unit is connected to other functional modules of the satellite;
the momentum wheel is arranged in the shell and used for controlling the satellite attitude so as to maintain the angular momentum of the system; and
and the magnetic torquer is arranged in the shell and is used for carrying out attitude control or momentum wheel unloading management on the satellite.
Further, the standard interface includes:
the power-on interface is used for power supply transmission;
the communication module is used for data interaction and communication; and
and the magnetic attraction module is used for realizing the physical connection between the modularized attitude control unit and other functional modules of the satellite.
Further, the modular attitude control unit further includes:
the star sensor is arranged in the shell and comprises a photosensitive part, the photosensitive part extends out of the shell through a through hole on the surface of the shell, and the star sensor is used for determining the three-axis posture of a satellite relative to a celestial coordinate system; and
the triaxial gyroscope is arranged in the shell and used for sensing the change of the satellite attitude.
Further, the modular attitude control unit comprises three momentum wheels and three magnetic torquers.
Further, the three momentum wheels and the three magnetic torquers are deployed in three axes.
The modularized attitude control unit for the satellite is connected with other functional modules of the satellite through the standard interface, specifically, the physical connection with the other functional modules of the satellite is realized through an electromagnetic adsorption mode, and the modularized attitude control unit is convenient to install, can realize on-orbit expansion or replacement by matching with a corresponding operation robot, and can improve the on-orbit service life of the satellite attitude control unit by periodically replacing the component modules.
Drawings
To further clarify the above and other advantages and features of embodiments of the present invention, a more particular description of embodiments of the invention will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. In the drawings, for clarity, the same or corresponding parts will be designated by the same or similar reference numerals.
FIGS. 1a-1d illustrate an in-orbit modular assembled and reconfigurable cellular satellite in accordance with one embodiment of the present invention;
FIG. 2 shows a schematic diagram of a cell unit for a cell satellite according to one embodiment of the invention;
FIGS. 3a-3c respectively show schematic structural views of a gesture control unit according to various embodiments of the present invention; and
figure 4 shows a schematic diagram of an operating robot mounting a cell unit in one embodiment of the invention.
Detailed Description
In the following description, the present invention is described with reference to various embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details, or with other alternative and/or additional methods, materials, or components. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention. Similarly, for purposes of explanation, specific numbers, materials and configurations are set forth in order to provide a thorough understanding of the embodiments of the invention. However, the invention is not limited to these specific details. Furthermore, it should be understood that the embodiments shown in the drawings are illustrative representations and are not necessarily drawn to scale.
Reference throughout this specification to "one embodiment" or "the embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.
It should be noted that the embodiments of the present invention describe the process steps in a specific order, however, this is merely to illustrate the specific embodiment and not to limit the order of the steps. In contrast, in various embodiments of the present invention, the order of the steps may be adjusted according to process adjustments.
In order to realize the long-term on-orbit maintenance and continuous upgrading capability of the satellite, on-orbit maintenance and continuous upgrading of each functional module of the satellite can be considered. Based on the above, the invention provides a modularized attitude control unit for a satellite, which is realized by a standard cell unit and can be applied to a cell satellite system, wherein the cell satellite system comprises a cell satellite and an operation robot, the cell satellite is formed by assembling a plurality of cell units and solar wings, and the operation robot can be installed on the surface of the cell units so as to assemble the cell satellite. The cell units may also be referred to as modular units. The cell units have uniform forms and corresponding standard interfaces, and different devices or modules are arranged on the cell units, so that any cell unit can independently execute one or more functions of the satellite platform, such as task planning, energy distribution, attitude control, satellite propulsion and the like, and the cell units with different functions can form a satellite product library. By means of the manipulator robot, the assembly of the satellites can be carried out on the ground or in space, while also enabling in-orbit evolutionary expansion. Specifically, in the satellite assembly or in-orbit process, the cell units contained in the satellite can be added, deleted or replaced according to the latest task and requirement, and the cell units can be arranged according to the number and functions of the cell units, so that different satellite forms can be formed by assembly, for example, the cell units can be arranged in a row; for another example, the cell units may be arranged in a plurality of columns, and the number of cell units contained in each column may be the same or different; for another example, the cell units may be combined into a multi-layer structure, and the number of cell units included in any one layer may be the same or different, and fig. 1a-1d respectively show schematic structures of cell satellites according to embodiments of the present invention, and it should be understood that, in practical applications, the number of cell units included in the cell satellites, and the assembly manners may be different from those of the embodiments shown in fig. 1a-1 d. The embodiments of the present invention will be further described with reference to the accompanying drawings.
In the present invention, the "first surface" refers to the outer surface of the cell unit casing, and the "second surface" refers to the inner surface of the cell unit casing.
Fig. 2 shows a schematic structure of a cell unit for a cell satellite according to an embodiment of the present invention. As shown in fig. 2, the cell unit has a cube structure, and includes a housing, at least one standard interface and a management module, where the standard interface may be disposed on a first surface of any side of the housing, the standard interface is used to take effects of mechanical connection, communication connection, power supply, and the management module is disposed inside the cell unit. As shown in fig. 2, the standard interface includes a power-on interface 311, a communication module 312, and a magnetic attraction module, where:
the power-on interface 311 comprises a thimble and an elastic sheet, wherein the elastic sheet is arranged inside the standard interface and is connected with the management module 302, the thimble is arranged corresponding to the position of the elastic sheet, and after two cell units are connected, the thimble is retracted and is contacted with the elastic sheet so as to be communicated with the management module, so that the identity and the in-place state of the module are identified and power supply transmission is provided;
the communication module 312 includes a data interface, which in one embodiment of the present invention includes 2 ring-shaped data interfaces, and which implements data interaction and communication using LVDS protocol; and
the magnetic attraction module comprises positive magnetic poles and negative magnetic poles for mechanical connection between the cell units, and in one embodiment of the invention, as shown in fig. 3, the positive magnetic poles 331 and the negative magnetic poles 332 are alternately arranged at intervals to form a circular ring-shaped magnetic attraction module, which surrounds the outside of the communication module 312.
In one embodiment of the invention, the standard interface may also be connected to the motor via a transmission, such that the standard interface is rotatable along the housing axis.
The management module 302 is disposed inside the cell unit, and includes:
a node self-identification chip 321, communicatively connected to the power-on interface 311, for identifying other cell units that manage the coordinated connection;
a wireless module 322 for transmitting backup data inside each cell unit;
the lithium battery module 323 is electrically connected with the magnetic attraction module and is used for providing basic electricity for the cell unit so as to ensure the basic electricity consumption and the electricity consumption requirement of an electromagnetic interface in the cell unit under the condition of no external energy source;
a power management module 324 for managing power usage of the cell units and providing 5V internal power; and
the electromagnetic unlocking module 325 is communicatively connected with the magnetic attraction module and is mainly used for managing the magnetic attraction modules of all standard interfaces of the cell units, so as to control the mechanical connection of the cell units with other cell units.
In one embodiment of the present invention, each module and chip of the management module are integrated on a standard board and inserted into the cell unit by means of a slot.
It should be understood that, depending on the functions of different cell units, corresponding modules or devices may be added to the management module according to requirements, so as to implement more functions.
The attitude control unit can be formed by additionally arranging momentum wheel, magnetic torquer, star sensor, triaxial gyroscope and other devices in the cell unit. The attitude control unit is used for adjusting the whole satellite attitude of the satellite. One or more attitude control units can be contained in one satellite, and the attitude control units can be subjected to three-axis orthogonal combination so as to realize the control capability of three degrees of freedom. The attitude control unit comprises a momentum wheel 701, a magnetic torquer 702, a star sensor 703 and a three-axis gyroscope 704. The momentum wheel 701 is installed inside the attitude control unit, and is used for controlling the attitude of a satellite so as to keep the angular momentum of the system to be constant. The magnetic torquer 702 is installed inside the attitude control unit, and can interact with the geomagnetic field where the magnetic torquer is located, so that magnetic control torque is generated, and the magnetic torquer is used for carrying out attitude control or momentum wheel unloading management on satellites. The star sensor 703 is disposed on the interior of the attitude control unit, but the photosensitive portion of the star sensor 703 is exposed on the surface of the housing through a through hole on the housing, and the star sensor 703 can measure the three-axis attitude of the satellite relative to the celestial coordinate system by sensing the star radiation and output the three-axis attitude to the integrated electronic unit to determine the attitude adjustment scheme. The three-axis gyroscope 704 is installed inside the attitude control unit, and is used for sensing the attitude change condition of the satellite, and transmitting relevant data to the integrated electronic unit to form an attitude adjustment scheme. In the embodiment of the invention, the number of the momentum wheel 701, the magnetic torquer 702, the star sensor 703 and the tri-axis gyroscope 704 can be set according to practical requirements, and fig. 3a-3c respectively show the schematic structural diagrams of the attitude control units of the embodiments of the invention. As shown in fig. 3a, in an embodiment of the present invention, the gesture control unit includes a momentum wheel 701 and a magnetic torquer 702, wherein the momentum wheel 701 is installed at the center of the second surface of one side housing of the gesture control unit, and the magnetic torquer 702 is disposed at the edge of the second surface of the other side housing of the gesture control unit, and in this embodiment, the six-sided housing of the gesture control unit may be replaced by a standard interface. In yet another embodiment of the present invention, as shown in fig. 3b, the attitude control unit comprises a momentum wheel 701, a magnetic torquer 702, a star sensor 703 and a tri-axis gyroscope 704, and since a through hole is required to be provided on the housing corresponding to the photosensitive portion of the star sensor 703, in this embodiment, the side of the attitude control unit on which the star sensor 703 is mounted is generally not replaced by the standard interface. In order to meet the satellite task with a large demand for momentum wheels, in the embodiment of the invention, a plurality of attitude control units shown in fig. 3a and 3b can be installed on the satellite and subjected to three-axis orthogonal combination, so as to realize the three-degree-of-freedom control capability. Fig. 3c shows a schematic structural diagram of a gesture control unit according to a further embodiment of the present invention, in this embodiment, the gesture control unit includes three momentum wheels 701, three magnetic torquers 702, one star sensor 703 and one tri-axis gyroscope 704, where the three momentum wheels 701 and the three magnetic torquers 702 are deployed according to three axes, so that the gesture control unit can implement a full gesture control module integration, and can meet a satellite design with weaker gesture control capability requirements.
In one embodiment of the invention, the manipulator robot comprises at least one mechanical arm and a controller. The bottom of the mechanical arm is provided with a standard interface, and the standard interface can be connected with a standard interface of the cell unit, so that the operation robot can be fixed on the surface of the cell unit. In one embodiment of the invention, the robotic arm includes multiple degrees of freedom. In one embodiment of the invention, the manipulator comprises a mechanical arm, the controller is mounted at the bottom of the mechanical arm, and meanwhile, the mechanical arm comprises a clamping hand grip, the clamping hand grip is arranged at the tail end of the mechanical arm and can be used for grabbing a cell unit, and also can be used for grabbing handles of a heat insulation component, a heat dissipation component, a patch antenna and a patch solar module, so that replacement and mounting of the cell unit and/or other modules and components are realized. The operation robot comprises three mechanical arms and a controller. The controller is arranged at the tail end of the mechanical arm, so that on one hand, the control of each mechanical arm is realized, and on the other hand, the mechanical connection of three mechanical arms is realized. The mechanical arm is a multi-degree-of-freedom mechanical arm, and a standard interface is arranged at the bottom of the mechanical arm. In actual operation, as shown in fig. 4, two mechanical arms are fixedly connected with the cell units on the left and right sides of the preset assembly position through the standard interfaces respectively, and the remaining mechanical arm grabs the attitude control unit to be installed, specifically, the mechanical arms of the two mechanical arms which do not grab the attitude control unit separate the cell units on the two sides of the preset installation position, and then the cell units to be installed are installed on the preset installation position. In addition, the operation robot can also move in a mode that at least two mechanical arms which do not grab the cell units are alternately adsorbed to the surfaces of different cell units. In one embodiment of the invention, a camera can be further arranged at the tail end of the mechanical arm, and the camera is used for realizing situation awareness.
The attitude control system is simple in assembly, so that the satellite can be assembled on the orbit, the satellite can control the operation robot to replace, add and delete the attitude control unit on the orbit according to the ground task instruction after the satellite is transmitted, the satellite task is expanded on the orbit, and the on-orbit reconstruction and expansion functions of the satellite system are realized. In addition, the attitude control unit can be assembled to a satellite on the ground, can be transmitted as a whole, can also be independently transmitted, and can be assembled in space.
In one embodiment of the invention, when no new task instruction exists and no cell unit is damaged, a camera arranged on the robot is operated to start working, a situation awareness task around the satellite is executed, and whether security threat exists is checked.
While various embodiments of the present invention have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to those skilled in the relevant art that various combinations, modifications, and variations can be made therein without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention as disclosed herein should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.
Claims (4)
1. A modular attitude control unit for a satellite, comprising:
a housing, the surface of which comprises at least one standard interface through which the modular attitude control unit is connected to other functional modules of the satellite, wherein the standard interface comprises:
a power-on interface configured to provide power transfer;
a communication module configured to enable data interaction and communication; and
the magnetic attraction module is configured to realize the physical connection of the modularized attitude control unit and other functional modules of the satellite;
the management module, set up in the inside of casing includes:
a node self-identification chip communicatively connected to the powered interface and configured to be able to identify other functional modules of the satellite connected to the modular attitude control unit;
a wireless module configured to be capable of transmitting backup data inside the modular gesture control unit;
the lithium battery module is electrically connected with the magnetic attraction module and is configured to provide basic electricity for the modularized gesture control unit; and
a power management module configured to be able to manage power usage of the modular gesture control unit and provide 5V internal power;
an electromagnetic unlocking module communicatively connected with the magnetic attraction module and configured to be capable of managing a standard interface of the modular attitude control unit;
a momentum wheel disposed inside the housing and configured to be capable of controlling satellite attitude to maintain system angular momentum; and
and the magnetic torquer is arranged inside the shell and is configured to be capable of performing attitude control or momentum wheel unloading management on the satellite.
2. The modular attitude control unit of claim 1, further comprising:
the star sensor is arranged in the shell and comprises a photosensitive part, the photosensitive part extends out of the shell through a through hole on the surface of the shell, and the star sensor is configured to be capable of determining the three-axis posture of a satellite relative to a celestial coordinate system; and
and the triaxial gyroscope is arranged inside the shell and is configured to be capable of sensing the change of satellite postures.
3. The modular attitude control unit of claim 1, wherein the modular attitude control unit includes three momentum wheels and three magnetic torquers.
4. A modular attitude control unit according to claim 3, wherein the three momentum wheels and three magnetic torquers are deployed in three axes respectively.
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| CN202111037823.8A CN113619816B (en) | 2021-09-06 | 2021-09-06 | Modularized attitude control unit for satellite |
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| CN202111037823.8A CN113619816B (en) | 2021-09-06 | 2021-09-06 | Modularized attitude control unit for satellite |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0493143A1 (en) * | 1990-12-21 | 1992-07-01 | AEROSPATIALE Société Nationale Industrielle | Attitude control system for a three-axis stabilized satellite, particularly for an observation satellite |
| CN113212804A (en) * | 2021-04-30 | 2021-08-06 | 北京控制工程研究所 | Rope-tied satellite attitude and angular momentum integrated control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060185277A1 (en) * | 2004-08-16 | 2006-08-24 | Utah State University | Modular platform system |
| CN101934863B (en) * | 2010-09-29 | 2013-04-03 | 哈尔滨工业大学 | Satellite posture all-round controlling method based on magnetic moment device and flywheel |
| CN108327926B (en) * | 2018-03-16 | 2023-10-27 | 清华大学 | Modular spacecraft capable of on-orbit allosteric |
| CN109747865B (en) * | 2018-12-25 | 2021-02-09 | 航天东方红卫星有限公司 | Modular primary and secondary satellite system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0493143A1 (en) * | 1990-12-21 | 1992-07-01 | AEROSPATIALE Société Nationale Industrielle | Attitude control system for a three-axis stabilized satellite, particularly for an observation satellite |
| CN113212804A (en) * | 2021-04-30 | 2021-08-06 | 北京控制工程研究所 | Rope-tied satellite attitude and angular momentum integrated control method |
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