CN114212278A - Satellite stability control and interference compensation method - Google Patents
Satellite stability control and interference compensation method Download PDFInfo
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Abstract
The invention discloses a satellite stability control and interference compensation method, which comprises the following steps: respectively installing a dual-mode flywheel in each coordinate axis direction of a satellite three-axis orthogonal coordinate system; determining a plurality of interference moments generated by a plurality of rotating mechanisms on the satellite respectively swinging around different fixed shafts; each dual-mode flywheel determines the compensation rotating speed required to be output by the flywheel according to a plurality of disturbance torques; and each dual-mode flywheel drives a corresponding flywheel motor to perform interference torque compensation according to the self-determined compensation rotating speed. The invention can effectively simplify the system single machine configuration of the satellite, reduce the cost of the satellite, reduce the mass of the satellite and reduce the emission cost on the premise of ensuring the stable control of the attitude of the satellite and the compensation of the interference moment.
Description
Technical Field
The invention relates to the technical field of satellite interference torque compensation, in particular to a satellite stability control and interference compensation method.
Background
According to different loads, the attitude and orbit control subsystem is required to provide different platform control strategies for the satellite, and a stable platform is provided for the satellite load work. The satellite for stably controlling the attitude of the three-axis earth is provided with one or a plurality of rotating or swinging parts (rotating mechanisms for short) which rotate around a fixed shaft and have known motion rules according to task requirements, the rotating mechanisms have different characteristics, interference moments introduced during working are different, the frequency can be as high as several hertz or higher, the magnitude of the moment can reach a larger level, the moment can not be absorbed through closed loop stable control of an attitude and orbit control subsystem, the non-negligible interference moment is generated for attitude stable control, and the attitude control precision and the stability of the satellite are reduced. The attitude control subsystem of the satellite needs to perform feedforward compensation on the disturbance moment while realizing the three-axis ground stable control of the satellite, reduces or counteracts the disturbance moment, eliminates the influence of the disturbance moment on the attitude control, and realizes the high-precision ground stable control of the satellite.
For the satellite with the rotating mechanism, the conventional control strategy is to ignore the disturbance moment, so that the attitude stability control precision is lower. The part of the satellite is characterized in that flywheels for compensating the interference torque are respectively arranged in the direction of generating the interference torque, and the flywheels in the direction are controlled to generate the compensation torque which is equal to the interference torque and opposite to the interference torque when the rotating mechanism moves to generate the interference torque, so as to compensate the interference torque generated by the movement of the rotating mechanism. On the premise of not considering the backup redundancy of the flywheels, three orthogonal reaction flywheels are arranged on the satellite platform and used for stably controlling the satellite platform. If the disturbance moment exists in N directions, N flywheels are required to be installed for compensating the disturbance in the N directions, namely three stable control flywheels and N disturbance moment compensation flywheels are required to be configured.
For a satellite with a rotating mechanism, the traditional design method has the following limitations:
(1) the satellite which does not compensate the disturbance moment generated by the rotating mechanism is influenced by the disturbance moment, and the attitude control precision and stability are reduced.
(2) The satellite using the moment compensation wheel to perform moment compensation needs to be configured with at least N flywheels for interference compensation besides the triaxial stable control flywheels, and the single machine matching needs to be increased, so that the cost of the satellite single machine is increased, the energy consumption of the whole satellite is increased, the total mass of the satellite is increased, and the emission cost is increased.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a satellite stability control and interference compensation method, which effectively simplifies the system single-machine configuration of the satellite, reduces the satellite cost, reduces the satellite quality, and reduces the launch cost on the premise of ensuring the realization of the attitude stability control and the interference torque compensation of the satellite.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a satellite stability control and interference compensation method comprises the following steps: step S1: respectively installing a dual-mode flywheel in each coordinate axis direction of a satellite three-axis orthogonal coordinate system; step S2: determining a plurality of interference moments generated by a plurality of rotating mechanisms on the satellite respectively swinging around different fixed shafts; step S3: each dual-mode flywheel determines the compensation rotating speed required to be output according to a plurality of disturbance torques; step S4: and each dual-mode flywheel drives a corresponding flywheel motor to perform interference torque compensation according to the compensation rotating speed determined by the dual-mode flywheel.
Optionally, each dual-mode flywheel further receives a corresponding attitude control rotation speed instruction to obtain a corresponding attitude control rotation speed, superimposes the received attitude control rotation speed and the compensation rotation speed required to be output by itself to obtain an actual rotation speed required to be output by itself, and drives a corresponding flywheel motor to perform satellite stability control and disturbance torque compensation through the actual rotation speed
Optionally, the step S3 includes: step S31: each dual-mode flywheel receives a moment mode code corresponding to each interference moment, and determines a moment compensation component which is required to be output by the dual-mode flywheel and corresponds to each interference moment according to each moment mode code; step S32: each dual-mode flywheel integrates the moment compensation component corresponding to each interference moment to obtain the rotating speed corresponding to each moment compensation component; step S33: and each dual-mode flywheel superposes all the rotating speeds to determine the compensating rotating speed required by the dual-mode flywheel.
Optionally, the step 31 includes: step S311: each dual-mode flywheel queries a corresponding torque mode table according to each torque mode code so as to obtain compensation torque corresponding to each interference torque; step S312: each dual-mode flywheel acquires a weighting coefficient corresponding to each compensation torque; step S313: and each dual-mode flywheel determines a moment compensation component which is required to be output by the dual-mode flywheel and corresponds to each interference moment according to each weighting coefficient and each compensation moment.
Optionally, each dual-mode flywheel has a first serial port and a second serial port, where the number of the first serial ports is 1, and the first serial ports are used for communicating with an on-satellite computer; the number of the second serial ports is the same as that of the rotating mechanisms, and the second serial ports are used for communicating with the corresponding rotating mechanisms.
Optionally, the on-satellite computer sends an attitude control rotation speed instruction corresponding to the dual-mode flywheel in which the first serial port is located through the first serial port; and the rotating mechanism sends each moment mode code corresponding to each interference moment generated by the rotating mechanism swinging around different fixed shafts through second serial ports on each dual-mode flywheel.
Optionally, the torque mode code includes at least one of a polarity of the compensation torque, a torque command source, and a torque mode; wherein the torque pattern comprises the magnitude, period and action time of the compensation torque.
Optionally, the torque mode table stored in each dual-mode flywheel is the same, and each dual-mode flywheel can be replaced with another dual-mode flywheel.
Optionally, when the on-board computer communicates with the dual-mode flywheel in which the first serial port is located through the first serial port, the on-board computer sends the identification code first and then sends corresponding data, and after the dual-mode flywheel in which the first serial port is located identifies the identification code, the on-board computer responds to the corresponding data.
Optionally, when the identification code is the first identification code, the corresponding data is the attitude control rotating speed instruction; when the identification code is a second identification code, corresponding data is an immediate rotating speed instruction, wherein after the dual-mode flywheel receives the immediate rotating speed instruction, the dual-mode flywheel performs dual-mode flywheel rotating speed control according to a rotating speed value corresponding to the immediate rotating speed instruction; when the identification code is the third identification code, the corresponding data is a dual-mode flywheel return information request instruction; and when the identification code is the fourth identification code, corresponding data is a compensation torque information uploading modification request instruction.
The invention has at least the following technical effects:
(1) the invention can respond to the rotating speed instruction of attitude stable control by the dual-mode flywheel, and simultaneously performs feedforward compensation on the disturbance torque needing to be compensated, reduces or counteracts the disturbance torque, and realizes the high-precision ground stable control of the satellite.
(2) The invention does not need to separately configure a flywheel to compensate the interference torque, can simplify the system single machine configuration of the satellite needing torque compensation, reduces the cost of the satellite, lightens the mass of the satellite and reduces the emission cost.
(3) The dual-mode flywheel can simultaneously use dual modes to perform attitude stabilization control and disturbance torque compensation; or only one mode is used, and only the mode is used as attitude stabilization control or disturbance moment compensation, so that the flexibility of the satellite system single-machine configuration is increased.
(4) The invention can improve the compensation effect of the interference torque by respectively calibrating different interference torques.
(5) The dual-mode flywheel of the invention has the same stored torque mode table content, can traverse all the interference torques generated by all the rotating mechanisms by distinguishing through the torque mode codes, thereby different dual-mode flywheels can be alternated mutually, and the complexity of system design can be reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a method for satellite stability control and interference compensation according to an embodiment of the present invention;
fig. 2 is a schematic projection diagram of an arbitrarily-oriented disturbance moment on each coordinate axis according to an embodiment of the present invention;
FIG. 3 is a schematic view showing the vector directions and the projection of three moments generated by two loads according to an embodiment of the present invention;
FIG. 4 is a schematic view illustrating an installation of a dual mode flywheel according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating command reception and speed superposition for a dual-mode flywheel Lx according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating command reception and speed superposition for the dual-mode flywheel Ly according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating dual mode flywheel Lz command reception and speed overlay according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating an exemplary dual mode flywheel command reception and speed overlay in accordance with an embodiment of the present invention;
FIG. 9 is a schematic diagram of a dual-mode flywheel serial port design according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a moment pattern code according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present embodiments, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The satellite with the stable control of the three-axis attitude to the ground comprises a rotating mechanism with a known motion law, and the rotating mechanism can generate an interference torque which is not negligible and needs to be compensated when in work. The control system of the satellite needs to compensate the interference torque generated when the rotating mechanism swings while stably controlling the three-axis attitude of the satellite.
In order to achieve the above object, the present embodiment provides a method for satellite stability control and disturbance compensation, so as to implement three-axis steady-state control and disturbance torque feedforward compensation of a satellite.
The satellite stability control and interference compensation method of the present embodiment is described below with reference to the drawings.
Fig. 1 is a flowchart of a method for satellite stability control and interference compensation according to an embodiment of the present invention. As shown in fig. 1, the method includes:
step S1: and respectively installing a dual-mode flywheel in each coordinate axis direction of the satellite three-axis orthogonal coordinate system.
In this embodiment, each coordinate axis of the three-axis orthogonal coordinate system of the satellite is a roll axis (denoted as x axis), a pitch axis (denoted as y axis), and a yaw axis (denoted as z axis). When a satellite has a rotating mechanism such as a satellite load, the rotating mechanism is reciprocated around a fixed shaft such as a zeta axis, thereby generating a disturbance torque in the zeta axis direction. In order to perform feedforward compensation on the interference torque and realize the three-axis steady-state control of the satellite, a dual-mode flywheel can be respectively installed on each coordinate axis direction of the three-axis orthogonal coordinate system of the satellite without considering the redundant design of the satellite. For example, a dual mode flywheel Lx is installed in the roll axis (x-axis), a dual mode flywheel Ly is installed in the pitch axis (y-axis), and a dual mode flywheel Lz is installed in the yaw axis (z-axis).
Step S2: and determining a plurality of interference moments generated by swinging of a plurality of rotating mechanisms on the satellite around different fixed shafts respectively.
Specifically, the rotating mechanism generates a plurality of disturbing moments when swinging around a plurality of fixed shafts. Taking the satellite with two rotation mechanisms as an example, the rotation mechanisms are respectively referred to as a first rotation mechanism and a second rotation mechanism. Wherein, the first rotating mechanism swings around the fixed shaft 1 and the fixed shaft 2, and the second rotating mechanism swings around the fixed shaft 1. When the first rotating mechanism swings around the fixed shaft 1, a first disturbing moment is generated, and when the first rotating mechanism swings around the fixed shaft 2, a second disturbing moment is generated. When the second rotating mechanism swings around the fixed shaft 1, a third disturbing moment is generated. From this, it can be determined that the first rotating mechanism and the second rotating mechanism on the satellite generate 3 disturbing moments in total.
It should be noted that the rotating mechanism generates a corresponding actual disturbance torque, denoted T, when it swings around a fixed axis, such as the zeta axis. According to the swing motion characteristic of the rotating mechanism, the size of T can be approximately fitted by a curve, the information (including amplitude, direction, period and the like) of the interference torque is calibrated by the physical mechanical characteristic and the rotation characteristic of the rotating mechanism, and the calibration precision can be ensured. Wherein the calibrated value can be considered as equal to the real value.
After the disturbance torque T is determined, the disturbance torque T on the ζ axis can be resolved and projected onto the respective coordinate axes. Specifically, the projection components of the disturbance torque T on the x-axis, the y-axis, and the z-axis are Tx, Ty, and Tz, respectively. Wherein the projection components and the projection coefficients kx, ky and kz have the following relations: tx kxT; Ty-kyT; tz kzT. Wherein the projection coefficients kx, ky and kz are related to the spatial angles α, β and γ as follows: kx ═ cos α; ky is cos β; kz is cos γ. In this embodiment, the spatial angles α, β, and γ are included angles between the zeta axis of the fixed axis and the x, y, and z axes, respectively. Thus, the moment components to be compensated for by the dual-mode flywheel on each coordinate axis are the projection components Tx, Ty, and Tz.
The specific embodiment of each dual-mode flywheel for determining its own compensation component and the corresponding compensation rotational speed for the presence of a plurality of disturbance torques is described below.
Step S3: each dual-mode flywheel determines the compensation rotating speed of the required output according to a plurality of disturbance torques.
Wherein, step S3 includes: step S31: each dual-mode flywheel receives a moment mode code corresponding to each interference moment, and determines a moment compensation component which is required to be output by the dual-mode flywheel and corresponds to each interference moment according to each moment mode code.
It should be noted that each dual-mode flywheel has a first serial port and a second serial port, wherein the number of the first serial ports is 1, and the first serial ports are used for communicating with an onboard computer; the number of the second serial ports is the same as that of the rotating mechanisms, and the second serial ports are used for communicating with the corresponding rotating mechanisms.
In the embodiment, the on-board computer sends the attitude control rotating speed instruction corresponding to the dual-mode flywheel where the first serial port is located through the first serial port; and the rotating mechanism sends each moment mode code corresponding to each interference moment generated by the rotating mechanism swinging around different fixed shafts through second serial ports on each dual-mode flywheel.
The first serial port on each dual-mode flywheel has the function of receiving and sending bidirectional data transmission. Each dual-mode flywheel is provided with m second serial ports which are communicated with the rotating mechanism, such as a serial port 1, a serial port 2 and a serial port …, and the second serial ports have a data receiving function. The communication serial port 1, the serial port 2 and the … serial port m are used for being connected with m different rotating mechanisms Q1, Q2 and … Qm, and the data transmission convention thereof ensures that the dual-mode flywheel directly receives the instruction information of the rotating mechanisms. The command information is composed of an identification code and a corresponding moment mode code.
As an example, a dual mode flywheel Lx is installed in the roll axis (x-axis), a dual mode flywheel Ly is installed in the pitch axis (y-axis), and a dual mode flywheel Lz is installed in the yaw axis (z-axis). If the satellite has 2 slewing mechanisms, 1 first serial port and 2 second serial ports are respectively arranged on the dual-mode flywheel Lx, the dual-mode flywheel Ly and the dual-mode flywheel Lz. The three dual-mode flywheels are communicated with the on-satellite computer through respective first serial ports. If the first of the 2 rotating mechanisms generates disturbance torques T1 and T2, the second rotating mechanism generates disturbance torque T3. At this time, the first rotating mechanism sends torque mode codes corresponding to the disturbance torques T1 and T2 to the dual-mode flywheels through the dual-mode flywheels Lx, the dual-mode flywheels Ly and the second serial ports (the second serial ports correspond to the first rotating mechanism) on the dual-mode flywheels Lz, and the second rotating mechanism sends torque mode codes corresponding to the disturbance torques T3 to the dual-mode flywheels through the dual-mode flywheels Lx, the dual-mode flywheels Ly and the second serial ports (the second serial ports correspond to the second rotating mechanism) on the dual-mode flywheels Lz.
After receiving a torque mode code corresponding to the disturbance torque T1, the dual-mode flywheel Lx determines a torque compensation component T1X which is required to be output by the dual-mode flywheel Lx and corresponds to the disturbance torque T1 according to the torque mode code; after receiving a torque mode code corresponding to the disturbance torque T2, the dual-mode flywheel Lx determines a torque compensation component T2X which is required to be output by the dual-mode flywheel Lx and corresponds to the disturbance torque T2 according to the torque mode code; after receiving the torque mode code corresponding to the disturbance torque T3, the dual-mode flywheel Lx determines a torque compensation component T3X corresponding to the disturbance torque T3, which is required to be output by the dual-mode flywheel Lx according to the torque mode code. Similarly, after the dual-mode flywheel Ly receives the torque mode code corresponding to the disturbance torque T1, the torque compensation component T1y corresponding to the disturbance torque T1 required to be output by the dual-mode flywheel Ly is determined according to the torque mode code; after receiving a torque mode code corresponding to the disturbance torque T2, the dual-mode flywheel Ly determines a torque compensation component T2y which is required to be output by the dual-mode flywheel Ly and corresponds to the disturbance torque T2 according to the torque mode code; after receiving the torque mode code corresponding to the disturbance torque T3, the dual-mode flywheel Ly determines the torque compensation component T3y corresponding to the disturbance torque T3, which is required to be output by the dual-mode flywheel Ly according to the torque mode code. Similarly, the dual-mode flywheel Lz obtains T1z, T2z, and T3z, respectively, in the manner described above.
In this embodiment, step S31 includes:
step S311: each dual-mode flywheel queries a corresponding torque mode table according to each torque mode code so as to obtain compensation torque corresponding to each interference torque;
step S312: each dual-mode flywheel acquires a weighting coefficient corresponding to each compensation moment;
step S313: and each dual-mode flywheel determines a moment compensation component which is required to be output by the dual-mode flywheel and corresponds to each interference moment according to each weighting coefficient and each compensation moment.
Specifically, different disturbance torques T1, T2, … Tm are generated due to different amplitudes, directions, periods and the like of the swing of the rotating mechanism, so different compensation torques T1', T2', … Tm ' are required, and the torque mode codes correspond to the compensation torques one by one and are used for inquiring a torque mode table stored in the dual-mode flywheel. The moment mode code comprises at least one of polarity of compensation moment, moment instruction source and moment mode; wherein the torque pattern comprises the amplitude, the period and the acting time of the compensation torque. It should be noted that, the torque pattern code is a 1111B torque pattern at the lower 4 bits, and information of the compensation torque is noted on the ground through a corresponding computer communication serial port. Preferably, the torque mode table stored in each dual-mode flywheel is the same, and each dual-mode flywheel can be replaced with each other, that is, the torque mode table stored in all the dual-mode flywheels has the same content, and all the torque modes of all the rotating mechanisms can be traversed through the torque mode codes.
In this embodiment, when the rotating mechanism rotates to generate the disturbance torque T, the corresponding torque pattern code is sent to the Lx, Ly, and Lz dual-mode flywheels, and the dual-mode flywheels query the torque pattern table in the memory according to the received torque pattern code to find the compensation torque T 'corresponding to the disturbance torque T, where T' is equal to T in magnitude and opposite in direction. The dual-mode flywheels Lx, Ly and Lz respectively acquire projection coefficients, namely weighting coefficients corresponding to the compensation torque T', and then perform weighting to output corresponding torque compensation components, specifically as follows:
weighting the dual-mode flywheel Lx and the weighting coefficient kx to obtain a torque compensation component Tx ', Tx ' is kxT ';
weighting the dual-mode flywheel Ly with a weighting coefficient ky to obtain a moment compensation component Ty ', Ty ' being kyT ';
after the dual-mode flywheel Lz is weighted by the weighting coefficient kz, a torque compensation component Tz ' to be output is obtained, and the Tz ' is kzT '.
It should be noted that, when the disturbance moments are different, since the disturbance moments are located in the direction of the fixed axis and the projection coefficients, that is, the weighting coefficients, are included angles between the fixed axis and each coordinate axis in space, when the different disturbance moments are located in the same direction of the fixed axis, the weighting coefficients are the same, and when the different disturbance moments are located in different directions of the fixed axis, the weighting coefficients are different, so that the weighting coefficients corresponding to the respective compensation moments (corresponding to the disturbance moments one to one) need to be obtained.
Thus, in the presence of a plurality of disturbance torques such as T1, T2 and T3, the dual-mode flywheels Lx, Ly and Lz can respectively obtain corresponding compensation torques T1', T2' and T3' and corresponding weighting coefficients kx1, ky1, kz1, kx2, ky2, kz2, kx3, ky3, kz 3. The dual-mode flywheels Lx, Ly and Lz determine torque compensation components corresponding to the disturbance torques T1, T2 and T3 of the required outputs of the dual-mode flywheels according to the weighting coefficients kx1, ky1, kz1, kx2, ky2, kz2, kx3, ky3, kz3 and the compensation torques T1', T2' and T3 '. The moment compensation components determined by the dual-mode flywheel Lx are T1x ', T2x ' and T3x '; the dual mode flywheel Ly determines the corresponding torque compensation components as T1y ', T2y ' and T3y '; the dual mode flywheel Lz determines the corresponding torque compensation components T1z ', T2z ' and T3z '.
Step S32: each dual-mode flywheel integrates the torque compensation component corresponding to each disturbance torque to obtain the rotating speed corresponding to each torque compensation component.
Specifically, when 1 disturbance torque T is generated, as described above, the dual-mode flywheel Lx obtains the torque compensation component Tx ' to be output, the dual-mode flywheel Ly obtains the torque compensation component Ty ' to be output, and the dual-mode flywheel Lz obtains the torque compensation component Tz ' to be output. Then, the dual-mode flywheels Lx, Ly and Lz integrate the moment compensation components Tx ', Ty ' and Tz ' respectively to obtain and output corresponding rotating speeds Rtx, Rty and Rtz, which are used for compensating the components of the disturbance moment T on the x axis, the y axis and the z axis, so as to realize the rapid compensation of the disturbance moment T.
In the embodiment, when the disturbance torques are a plurality of disturbance torques T1, T2 and T3, the dual-mode flywheel Lx can integrate the torque compensation components T1x ', T2x ' and T3x ' required to be compensated by the dual-mode flywheel Lx to obtain corresponding rotating speeds Rt1x, Rt2x and Rt3 x; the dual-mode flywheel Ly can integrate each moment compensation component T1y ', T2y ' and T3y ' required to be compensated by the dual-mode flywheel Ly to obtain corresponding rotating speeds Rt1y, Rt2y and Rt3 y; the dual-mode flywheel Lz can integrate the moment compensation components T1z ', T2z ' and T3z ' required to compensate the moment compensation components into corresponding rotating speeds Rt1z, Rt2z and Rt3 z. Thus, each dual mode flywheel can obtain a rotational speed corresponding to each torque compensation component.
Step S33: each dual-mode flywheel superposes all rotating speeds to determine the compensating rotating speed required by the flywheel.
Specifically, if there are m rotating mechanisms, m disturbing torques T1, T2 … Tm can be generated simultaneously. Then, using the method described in steps S31 and S32, the respective torque compensation components Tnx ', Tny ', and Tnz ' (subscript n is 1,2, … m, which represents the nth disturbance torque) of Tn (subscript n is 1,2, … m, which represents the nth disturbance torque) on the dual-mode flywheels Lx, Ly, and Lz are obtained, and the corresponding rotational speeds Rtnx, Rtny, Rtnz (subscript n is 1,2, … m, which represents the nth disturbance torque) should be output.
In this embodiment, the dual-mode flywheel Lx determines that the compensation rotation speed Rtx that should be output by itself to compensate for m disturbance torques is: rtx ═ Rt1x + Rt2x + … + Rtmx; the dual-mode flywheel Ly determines that the compensation rotating speed Rty which is required to be output by the dual-mode flywheel itself and used for compensating the m disturbance torques is as follows: rty ═ Rt1y + Rt2y + … + Rtmy; the dual-mode flywheel Lz determines that the rotation speed Rtz which is required to be output by the dual-mode flywheel Lz for compensating m disturbance torques is as follows: rtz ═ Rt1z + Rt2z + … + Rtmz.
Step S4: and each dual-mode flywheel drives a corresponding flywheel motor to perform interference torque compensation according to the compensation rotating speed determined by the dual-mode flywheel.
Specifically, the dual-mode flywheel Lx drives the corresponding flywheel motor to perform m interference torque compensations according to the determined compensation rotating speed Rtx; the dual-mode flywheel Ly drives the corresponding flywheel motor to perform m interference torque compensations according to the determined compensation rotating speed Rty; and the dual-mode flywheel Lz drives the corresponding flywheel motor to perform m disturbance torque compensations according to the determined compensation rotating speed Rtz.
In one embodiment of the invention, the method further comprises: each dual-mode flywheel also respectively receives corresponding attitude control rotating speed instructions to respectively obtain corresponding attitude control rotating speeds, the respectively received attitude control rotating speeds and the compensation rotating speed required to be output by the flywheel are superposed to obtain the actual rotating speed required to be output by the flywheel, and the corresponding flywheel motor is driven by the actual rotating speed to carry out satellite stability control and interference torque compensation.
Specifically, as described above, the on-board computer may send the attitude control rotation speed instruction corresponding to the dual-mode flywheel in which the first serial port is located through the first serial port, that is, in the normal flight process, the on-board computer sends the three attitude control rotation speed instructions Rwx, Rwy, and Rwz required for the three-axis attitude stabilization control of the satellite to the corresponding dual-mode flywheels Lx, Ly, and Lz through the first serial ports on the dual-mode flywheels, respectively, so that the dual-mode flywheels Lx, Ly, and Lz drive the three dual-mode flywheel motors to accelerate and decelerate according to the rotation speed instructions Rwx, Rwy, and Rwz, respectively, to generate a reaction torque, and perform momentum exchange with the satellite body, for the attitude stabilization control of the satellite.
Preferably, each dual mode flywheel can function in both a speed-responsive mode and a torque-responsive mode. In this embodiment, after the dual-mode flywheel Lx receives the attitude control rotational speed command Rwx for controlling the attitude stabilization through the first serial port on the dual-mode flywheel Lx and receives the torque mode codes corresponding to the m disturbance torques T1, T2 … Tm through the second serial ports on the dual-mode flywheel Lx, the attitude control rotational speed command Rwx and the compensation rotational speed Rtx for compensating the m disturbance torques are superposed to be used as the actual rotational speed Rx required to be output by the dual-mode flywheel Lx at present.
Wherein Rx Rwx + Rtx Rwx + Rt1x + Rt2x + … + Rtmx.
After the dual-mode flywheel Ly receives an attitude control rotating speed command Rwy for controlling stable attitude through a first serial port on the dual-mode flywheel Ly and receives torque mode codes corresponding to m interference torques T1 and T2 … Tm through a plurality of second serial ports on the dual-mode flywheel Ly, the attitude control rotating speed command Rwy and a compensation rotating speed Rty for compensating the m interference torques are superposed to be used as an actual rotating speed Ry required to be output by the dual-mode flywheel Ly at present.
Wherein, Ry is Rwy + Rty is Rwy + Rt1y + Rt2y + … + Rtmy.
After the dual-mode flywheel Lz receives an attitude control rotating speed instruction Rwz for controlling stable attitude through a first serial port on the dual-mode flywheel Lz and receives torque mode codes corresponding to m interference torques T1 and T2 … Tm through a plurality of second serial ports on the dual-mode flywheel Lz, the attitude control rotating speed instruction Rwz and a compensation rotating speed Rtz for compensating the m interference torques are superposed to be used as an actual rotating speed Rz required to be output by the dual-mode flywheel Lz at present.
Wherein Rz + Rwz Rtz Rwz Rt1z + Rt2z + … + Rtmz.
Furthermore, the dual-mode flywheels Lx, Ly and Lz simultaneously output Rx, Ry and Rz, angular momentum and reaction torque are generated to act on the satellite, and the purposes of steady-state control and disturbance torque compensation of the satellite are achieved simultaneously.
In one embodiment of the invention, when the on-board computer communicates with the dual-mode flywheel in which the first serial port is located through the first serial port, the on-board computer sends the identification code and then sends corresponding data, and the dual-mode flywheel in which the first serial port is located responds to the corresponding data after identifying the identification code.
When the identification code is the first identification code, the corresponding data is an attitude control rotating speed instruction; when the identification code is the second identification code, the corresponding data is an immediate rotating speed instruction, wherein after the dual-mode flywheel receives the immediate rotating speed instruction, the dual-mode flywheel performs dual-mode flywheel rotating speed control according to a rotating speed value corresponding to the immediate rotating speed instruction; when the identification code is the third identification code, the corresponding data is a dual-mode flywheel return information request instruction; and when the identification code is the fourth identification code, corresponding data is the compensation torque information and is annotated with the modification request instruction.
Specifically, a data transmission mode of a first serial port for communication between the dual-mode flywheel and the on-satellite computer is agreed to be a master-slave communication mode with the dual-mode flywheel as a passive party. When the dual-mode flywheel is communicated with the on-satellite computer, the on-satellite computer firstly sends the identification code and corresponding data to the dual-mode flywheel, and the dual-mode flywheel responds and processes the corresponding data according to the received identification code.
When the identification code is 11H, the corresponding data represents the attitude control rotational speed command, i.e., Rwx, Rwy, Rwz described above. When the identification code is 22H, the corresponding data represents an immediate rotating speed instruction, namely the immediate rotating speed instruction is received, the dual-mode flywheel interrupts all current instruction tasks, the value of the immediately executed rotating speed instruction is used as a target value to control the rotating speed of the dual-mode flywheel, and the instruction is injected from the ground if necessary. When the identification code is 44H, corresponding data represents that the dual-mode flywheel is requested to return information, and the returned information comprises information such as the current motor rotating speed, the current of the motor, the execution condition of an upper injection instruction and the like, and is used for monitoring the state of the dual-mode flywheel. When the identification code is AAH, corresponding data represents the mode compensation torque information of which the lower 4 bits of the modified torque mode code are 1111B.
In order to make those skilled in the art clearly understand the satellite stability control and interference compensation method of the present embodiment, the satellite stability control and interference compensation method of the present embodiment will be described in detail with reference to specific examples.
Taking a certain three-axis attitude stability control satellite as an example, the load of the satellite is two rotating mechanisms which swing around a fixed shaft in a reciprocating manner, interference torque is generated in the swinging process of the load, and the interference torque can affect the attitude stability control of the satellite without compensation. The control system of the satellite needs to compensate the interference torque generated when the rotating mechanism swings while stably controlling the three-axis attitude of the satellite.
The three-axis orthogonal coordinate system of the three-axis attitude stabilization control satellite is a rolling axis (recorded as an x axis), a pitching axis (recorded as a y axis) and a yawing axis (recorded as a z axis). The coordinate relation between the disturbance moment in any direction and the star is shown in fig. 2, and the included angles with the x axis, the y axis and the z axis are respectively alpha, beta and gamma.
The satellite of this embodiment, as shown in fig. 3, is equipped with two rotation mechanisms, i.e., loads Q1 and Q2. Load Q1 oscillates back and forth about the zeta axis; the load Q2 may oscillate back and forth about the zeta axis or about the y axis. Zeta axis is located in xOz plane of orthogonal coordinate system of three axes of satellite, and included angles with x axis, y axis and z axis are alpha, beta and gamma respectively, wherein beta is 90 deg.
In the embodiment, when the load Q1 swings around the zeta axis, the corresponding actual disturbance moment is recorded as T1; the load Q2 produces a corresponding actual disturbance torque, denoted T2, when swinging about the ζ -axis and T3 when swinging about the y-axis. According to the motion characteristic of load swing, T1, T2 and T3 can be approximately fitted by a sine curve, the information (including amplitude, direction, period and the like) of the disturbance moment is calibrated by the physical mechanical characteristic and the rotation characteristic of the rotating mechanism, the calibration precision is ensured, and the calibrated value can be considered to be equal to the real value.
The disturbing torque T1 and the disturbing torque T2 are both along the zeta axis direction. The projection components of the disturbance torque T1 on the x-axis, the y-axis and the z-axis are T1x, T1y and T1z, respectively, and the projection components of the disturbance torque T2 on the x-axis, the y-axis and the z-axis are T2x, T2y and T2z, respectively, and have the following relations with the projection coefficients kx, ky and kz: t1x ═ kxT 1; t1y ═ kyT 1; t1z ═ kzT 1; t2x ═ kxT 2; t2y ═ kyT 2; t2z ═ kzT 2. The projection coefficients kx, ky, kz are related to the spatial angles α, β and γ as follows: kx ═ cos α; ky cos β is cos90 ° -0, i.e. the projected component of the disturbance torque on the y-axis is 0; kz is cos γ. The projected components of the disturbance moment T3 along the y-axis direction, the x-axis and the z-axis are all zero: t3x ═ T3z ═ 0; t3y ═ T3.
As shown in fig. 4, a dual-mode flywheel Lx is installed on the roll axis (x axis), a dual-mode flywheel Ly is installed on the pitch axis (y axis), a dual-mode flywheel Lz is installed on the yaw axis (z axis), and a dual-mode flywheel Ls is installed in the oblique installation direction (s axis).
The direction of the s axis is equal to the spatial included angles of the x axis, the y axis and the z axis, the dual-mode flywheel Ls on the s axis is used as a redundant cold backup, the satellite is not started up when in normal work, and the use of the dual-mode flywheel is not explained in the application of the embodiment.
In the normal flight process of the satellite, the on-board computer sends three attitude control rotating speed instructions Rwx, Rwy and Rwz required by the three-axis attitude stabilization control of the satellite to the three dual-mode flywheels Lx, Ly and Lz on the orthogonal axis respectively to drive the three dual-mode flywheel motors to accelerate and decelerate, so that reaction torque is generated, momentum exchange is carried out between the three dual-mode flywheel motors and the satellite body, and the three dual-mode flywheel motors are used for satellite attitude stabilization control.
The satellite load Q1, while rotating to generate disturbance torque T1, sends the corresponding torque pattern code to Lx and Lz dual-mode flywheels (because no disturbance torque component is generated on the y axis, the dual-mode flywheels Ly are not sent), the dual-mode flywheels inquire the torque pattern table in the memory according to the received torque pattern code, find the compensation torque T1 'corresponding to T1, the magnitudes of T1' and T1 are equal, the directions are opposite, after the dual-mode flywheels Lx and the projection coefficient, namely the weighting coefficient kx are weighted, the moment compensation component to be output is obtained, T1x 'is kxT1', after the dual-mode flywheel Lz is weighted with the weight coefficient kz which is the projection coefficient, the torque compensation component to be output is obtained, T1z 'is kzT1', the dual-mode flywheels Lx and Lz integrate the torque compensation components T1x 'and T1z', and corresponding rotational speeds Rt1x and Rt1z are obtained and output for rapid compensation of the disturbance torque T1.
The satellite load Q2, while rotating to generate disturbance torque T2, sends the corresponding torque mode code to two dual-mode flywheels Lx and Lz, the dual-mode flywheels inquire a torque mode table in a memory according to the received torque mode code, find a compensation torque T2 'corresponding to T2, the magnitude of T2' is equal to that of T2, the direction is opposite, the dual-mode flywheels Lx and a projection coefficient, namely a weighting coefficient kx, obtain a torque compensation component to be output, T2x 'is kxT2', the dual-mode flywheels Lz and the projection coefficient, namely the weighting coefficient kz, obtain the torque compensation component to be output, T2z 'kzT 2', the dual-mode flywheels Lx and Lz integrate the torque compensation components T2x 'and T2z', obtain and output corresponding rotating speeds Rt2x and Rt2z, and are used for fast compensation of the disturbance torque T2.
The satellite load Q2 rotates to generate disturbance torque T3, and simultaneously sends a corresponding torque mode code to the dual-mode flywheel Ly (because disturbance torque components are not generated on an x axis and a z axis, the dual-mode flywheel Lx and Lz are not sent), the dual-mode flywheel queries a torque mode table in a memory according to the received torque mode code, finds a compensation torque T3 'corresponding to T3, the size of the T3' is equal to that of the T3, the directions of the T3 'and the T3 are opposite, the dual-mode flywheel Ly obtains a torque compensation component to be output, the T3y' is equal to that of the T3', the dual-mode flywheel Ly integrates the torque compensation component T3y', obtains and outputs a corresponding rotating speed Rt3y, and the rotating speed Rt3 is used for fast compensation of the disturbance torque T3.
As shown in fig. 5, after receiving an attitude control rotation speed command Rwx of the on-board computer, a torque mode code corresponding to a disturbance torque T1 of a load Q1 and a torque mode code corresponding to a disturbance torque T2 of a load Q2, the dual-mode flywheel Lx superimposes three rotation speeds of the rotation speed Rwx under the attitude control rotation speed command and the torque compensation rotation speeds Rt1x and Rt2x to obtain a currently output actual rotation speed Rx. Wherein Rx is Rwx + Rt1x + Rt2 x.
As shown in fig. 6, after receiving the attitude control rotation speed command Rwy of the on-board computer and the torque mode code corresponding to the disturbance torque T3 of the load Q2, the dual-mode flywheel Ly superimposes the rotation speed Rwy under the attitude control rotation speed command and the two rotation speeds of the torque compensation rotation speed Rt3y to obtain the currently output actual rotation speed Ry. Wherein Ry is Rwy + Rt3 y.
As shown in fig. 7, after receiving an attitude control rotational speed command Rwz of the onboard computer, a torque mode code corresponding to a load Q1 disturbance torque T1 and a torque mode code corresponding to a load Q2 disturbance torque T2, the dual-mode flywheel Lz superimposes the rotational speed Rwz under the attitude control rotational speed command with three rotational speeds of a torque compensation rotational speed Rt1z and a torque compensation rotational speed Rt2z to obtain a currently output actual rotational speed Rz. Wherein Rz + Rt1z + Rt2 z.
As shown in FIG. 8, each dual-mode flywheel can obtain the actual rotational speed of the current output, such as Rx, Ry and Rz, through the link structure of FIG. 8. Furthermore, after the dual-mode flywheels Lx, Ly and Lz simultaneously output Rx, Ry and Rz, angular momentum and reaction torque are generated to act on the satellite, and the purposes of realizing steady-state control and disturbance torque compensation of the satellite are achieved.
As shown in fig. 9, in the dual-mode flywheel of this application example, 2 serial ports 1 and 2, i.e., a first serial port, for communicating with a load are designed, and then 1 serial port 3, i.e., a second serial port, for communicating with an on-board computer is designed, and the dual-mode flywheel has a function of bidirectional data transmission for receiving and sending.
The communication serial ports 1 and 2 are used for being connected with two different loads Q1 and Q2, the data transmission appoints the command information of the loads to be directly received by the dual-mode wheel, and the command information consists of an identification code 5AH and a corresponding moment mode code. And searching corresponding output torque by the dual-mode flywheel according to the torque mode code, and integrating after weighting with projection coefficients, namely weighting coefficients kx, ky and kz respectively to obtain corresponding torque compensation rotating speeds Rtnx, Rtny and Rtnz.
The loads Q1 and Q2 have different swing amplitudes, directions, periods and the like, generate different disturbance torques T1, T2 and T3, need different compensation torques T1', T2' and T3', and the torque mode codes correspond to the compensation torques one by one and are used for inquiring a torque mode table stored in the dual-mode flywheel.
The torque pattern code, as illustrated in fig. 10, is designed to be one byte in length. The upper 2 bits represent the polarity of the compensation torque, 00B represents the positive polarity, 11B represents the negative polarity, the second upper 2 bits represent the signal source, 01B represents that the torque command is from the swinging load Q1, 10B represents that the torque command is from the swinging load Q2, the lower 4 bits are combined with the second upper 2 bits to determine the content of the compensation torque command information, and the content comprises the amplitude, the period, the acting time and other information of the torque, and is determined by the swinging information of the load. 0001B for the first compensation torque mode, 0010B for the second compensation torque mode, and so on. The mode with 1111B as the low 4 position is a reserved mode, and compensation torque information of the mode is noted on the ground through a communication serial port of the on-satellite computer.
In summary, the satellite stability control and interference compensation method of the embodiment can respond to the rotation speed instruction of the attitude stability control through the dual-mode flywheel, and simultaneously perform feedforward compensation on the interference torque to be compensated, so as to reduce or counteract the interference torque, realize high-precision ground-based steady-state control of the satellite, and the method does not need to separately configure the flywheel to compensate the interference torque, thereby simplifying the system single-machine configuration of the satellite requiring torque compensation, reducing the satellite cost, lightening the satellite quality, and reducing the emission cost. The dual-mode flywheel can also use dual modes at the same time to perform attitude stabilization control and disturbance torque compensation; or only one mode is used and is only used for attitude stabilization control or disturbance torque compensation, so that the flexibility of single machine configuration of the satellite system is increased, the torque mode tables stored by the dual-mode flywheel have the same content, and can be distinguished through the torque mode codes, and all disturbance torques generated by all rotating mechanisms can be traversed, so that different dual-mode flywheels can be alternated, the complexity of system design can be reduced, and the compensation effect of the disturbance torques can be improved by respectively calibrating different disturbance torques.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A satellite stability control and interference compensation method is characterized by comprising the following steps:
step S1: respectively installing a dual-mode flywheel in each coordinate axis direction of a satellite three-axis orthogonal coordinate system;
step S2: determining a plurality of interference moments generated by a plurality of rotating mechanisms on the satellite respectively swinging around different fixed shafts;
step S3: each dual-mode flywheel determines the compensation rotating speed required to be output according to a plurality of disturbance torques;
step S4: and each dual-mode flywheel drives a corresponding flywheel motor to perform interference torque compensation according to the compensation rotating speed determined by the dual-mode flywheel.
2. The method of claim 1, further comprising:
each dual-mode flywheel also respectively receives corresponding attitude control rotating speed instructions to respectively obtain corresponding attitude control rotating speeds, the respectively received attitude control rotating speeds and the compensation rotating speed required to be output by the flywheel are superposed to obtain the actual rotating speed required to be output by the flywheel, and the corresponding flywheel motor is driven by the actual rotating speed to carry out satellite stability control and interference torque compensation.
3. The satellite stability control and interference compensation method of claim 2, wherein the step S3 comprises:
step S31: each dual-mode flywheel receives a moment mode code corresponding to each interference moment, and determines a moment compensation component which is required to be output by the dual-mode flywheel and corresponds to each interference moment according to each moment mode code;
step S32: each dual-mode flywheel integrates the moment compensation component corresponding to each interference moment to obtain the rotating speed corresponding to each moment compensation component;
step S33: and each dual-mode flywheel superposes all the rotating speeds to determine the compensating rotating speed required by the dual-mode flywheel.
4. The satellite stability control and interference compensation method of claim 3, wherein the step S31 includes:
step S311: each dual-mode flywheel queries a corresponding torque mode table according to each torque mode code so as to obtain compensation torque corresponding to each interference torque;
step S312: each dual-mode flywheel acquires a weighting coefficient corresponding to each compensation torque;
step S313: and each dual-mode flywheel determines a moment compensation component which is required to be output by the dual-mode flywheel and corresponds to each interference moment according to each weighting coefficient and each compensation moment.
5. The satellite stability control and interference compensation method of claim 4, wherein each dual-mode flywheel has a first serial port and a second serial port, wherein the number of the first serial ports is 1, and the first serial ports are used for communicating with a satellite computer; the number of the second serial ports is the same as that of the rotating mechanisms, and the second serial ports are used for communicating with the corresponding rotating mechanisms.
6. The satellite stability control and interference compensation method of claim 5, wherein the on-board computer sends an attitude control rotational speed command corresponding to the dual-mode flywheel in which the first serial port is located through the first serial port; and the rotating mechanism sends each moment mode code corresponding to each interference moment generated by the rotating mechanism swinging around different fixed shafts through second serial ports on each dual-mode flywheel.
7. The satellite stability control and disturbance compensation method of claim 6, wherein the moment pattern code includes at least one of a polarity of a compensation moment, a moment command source, and a moment pattern; wherein the torque pattern comprises the magnitude, period and action time of the compensation torque.
8. The satellite stability control and disturbance compensation method of claim 7, wherein the stored torque pattern table of each dual-mode flywheel is the same, and each dual-mode flywheel can be replaced with another dual-mode flywheel.
9. The satellite stability control and interference compensation method of claim 8, wherein the on-board computer sends the identification code and then sends the corresponding data when communicating with the dual-mode flywheel in which the first serial port is located through the first serial port, and the dual-mode flywheel in which the first serial port is located responds to the corresponding data after identifying the identification code.
10. The satellite stability control and interference compensation method of claim 9, wherein when the identification code is a first identification code, the corresponding data is the attitude control rotational speed command; when the identification code is a second identification code, corresponding data is an immediate rotating speed instruction, wherein after the dual-mode flywheel receives the immediate rotating speed instruction, the dual-mode flywheel performs dual-mode flywheel rotating speed control according to a rotating speed value corresponding to the immediate rotating speed instruction; when the identification code is the third identification code, the corresponding data is a dual-mode flywheel return information request instruction; and when the identification code is the fourth identification code, corresponding data is a compensation torque information uploading modification request instruction.
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| CN115817858B (en) * | 2022-12-21 | 2024-05-28 | 长光卫星技术股份有限公司 | Installation method and design method of three-orthogonal oblique installation configuration of remote sensing satellite flywheel set |
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| CN117508642B (en) * | 2023-11-02 | 2024-05-28 | 清华大学 | Flexible spacecraft dual-mode attitude determination method and device |
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