CN114212278B - 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: a dual-mode flywheel is respectively arranged on each coordinate axis direction of a satellite triaxial 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 according to a plurality of interference moments; and each dual-mode flywheel drives a corresponding flywheel motor to carry out disturbance moment compensation according to the self-determined compensation rotating speed. The invention can effectively simplify the system single machine configuration of the satellite, reduce the satellite cost, lighten the satellite quality and reduce the emission cost on the premise of ensuring that the attitude stable control and the disturbance moment compensation of the satellite can be realized.
Description
Technical Field
The invention relates to the technical field of satellite interference moment compensation, in particular to a satellite stability control and interference compensation method.
Background
The satellite needs to provide different platform control strategies for the satellite by the attitude and orbit control subsystem according to different loads, and a stable platform is provided for satellite load work. The satellite with the three-axis earth attitude stabilization control is characterized in that one or a plurality of rotating or swinging components (rotating mechanisms for short) which rotate around a fixed shaft and have known motion rules are arranged on the satellite according to task requirements, the characteristics of the rotating mechanisms are different, interference moment introduced during working is different, the frequency can be up to several hertz or higher, the moment can reach a larger level, the moment cannot be absorbed through closed-loop stabilization control of an attitude and orbit control subsystem, non-negligible interference moment is generated for the attitude stabilization control, and the attitude control precision and stability of the satellite are reduced. The attitude control subsystem of the satellite realizes the triaxial earth steady control of the satellite, and simultaneously needs feedforward compensation for the interference moment, reduces or counteracts the interference moment, eliminates the influence of the interference moment on the attitude control, and realizes the high-precision earth steady control of the satellite.
For the satellite with the rotating mechanism, the traditional control strategy is to ignore the disturbance moment, so that the gesture stability control precision is lower. The part of satellites are provided with a flywheel for compensating the disturbance moment in the direction of generating the disturbance moment, and the flywheel in the direction is controlled to generate the compensation moment with the same magnitude as the disturbance moment and opposite direction at the same time of generating the disturbance moment by the movement of the rotating mechanism, so as to compensate the disturbance moment generated by the movement of the rotating mechanism. On the premise of not considering backup redundancy of the flywheel, three orthogonal reaction flywheels are arranged on the satellite platform and used for stable control of the satellite platform. If the disturbance moment exists in N directions, N flywheels are required to be installed for compensating the disturbance in N directions, namely three stable control flywheels and N disturbance moment compensating flywheels are required to be configured.
For satellites with rotating mechanisms, conventional design methods have 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 gesture control precision and stability are reduced.
(2) The satellite for moment compensation by utilizing the moment compensation wheel needs to be provided with at least N flywheel for interference compensation besides the triaxial stable control flywheel, and the single machine which needs to be put into is increased in a matched manner, so that the single machine cost of the satellite 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 aims to solve at least one of the technical problems in the related art to some extent. 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 a satellite, reduces the satellite cost, reduces the satellite quality, and reduces the emission cost on the premise of ensuring that the attitude stability control and the interference moment compensation of the satellite can be realized.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
a satellite stability control and interference compensation method comprises the following steps: step S1: a dual-mode flywheel is respectively arranged on each coordinate axis direction of a satellite triaxial 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 compensating rotating speed required to be output according to a plurality of interference moments; step S4: and each dual-mode flywheel drives a corresponding flywheel motor to carry out disturbance moment compensation according to the self-determined compensation rotating speed.
Optionally, each dual-mode flywheel also receives a corresponding attitude control rotating speed instruction respectively to obtain corresponding attitude control rotating speeds respectively, and superimposes the respective received attitude control rotating speeds and the compensating rotating speeds required to be output by the flywheel to obtain actual rotating speeds required to be output by the flywheel, and drives the corresponding flywheel motors to perform satellite stability control and disturbance moment compensation through the actual rotating speeds
Optionally, the step S3 includes: step S31: each dual-mode flywheel receives moment mode codes corresponding to each interference moment, and determines moment compensation components corresponding to each interference moment required to be output according to each moment mode code; step S32: integrating the moment compensation components corresponding to the interference moments by each dual-mode flywheel to obtain rotating speeds corresponding to the moment compensation components; step S33: and each dual-mode flywheel superimposes the rotating speeds to determine the compensating rotating speed required to be output by the dual-mode flywheel.
Optionally, the step 31 includes: step S311: each dual-mode flywheel queries a corresponding moment mode table according to each moment mode code so as to obtain compensation moment respectively corresponding to each disturbance moment; step S312: each dual-mode flywheel obtains a weighting coefficient corresponding to each compensation moment; step S313: and each dual-mode flywheel determines a moment compensation component corresponding to each disturbance moment, which is required to be output by the dual-mode flywheel, according to each weighting coefficient and each compensation moment.
Optionally, each dual-mode flywheel is provided with 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 on-board 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-board computer sends a gesture 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 swinging the rotating mechanism around different fixed shafts through a second serial port on each dual-mode flywheel.
Optionally, the moment mode code includes at least one of a polarity of the compensation moment, a moment instruction source, and a moment mode; wherein the torque pattern includes the magnitude, period and duration of the compensation torque.
Optionally, the moment mode table stored in each of the dual-mode flywheels is the same, and each of the dual-mode flywheels can be replaced with each other.
Optionally, when the on-board computer communicates with the dual-mode flywheel where the first serial port is located through the first serial port, the on-board computer sends the identification code first, then sends corresponding data, and after the dual-mode flywheel where the first serial port is located identifies the identification code, responds to the corresponding data.
Optionally, when the identification code is the first identification code, the corresponding data is the gesture control rotating speed instruction; when the identification code is a second identification code, corresponding data is an immediate rotating speed instruction, wherein the dual-mode flywheel receives the immediate rotating speed instruction and then 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 a third identification code, the corresponding data is a dual-mode flywheel return information request instruction; and when the identification code is a fourth identification code, the corresponding data is a compensation moment information uploading modification request instruction.
The invention has at least the following technical effects:
(1) According to the invention, through the dual-mode flywheel, the rotating speed instruction of stable attitude control can be responded, and meanwhile, the feedforward compensation is carried out on the interference moment to be compensated, so that the interference moment is reduced or counteracted, and the high-precision steady-state control of the satellite on the ground is realized.
(2) The invention does not need to independently configure flywheel to compensate the disturbance moment, can simplify the system single machine configuration of the satellite needing moment compensation, reduce the satellite cost, lighten the satellite mass and reduce the emission cost.
(3) The dual-mode flywheel can use dual modes simultaneously to perform attitude stability control and disturbance moment compensation; or only one mode is used, and the mode is only used for attitude stabilization control or disturbance moment compensation, so that the flexibility of single-machine configuration of the satellite system is improved.
(4) The invention can improve the compensation effect of the disturbance moment by calibrating different disturbance moments respectively.
(5) The moment mode tables stored by the dual-mode flywheel are identical in content, and all the interference moments generated by all the rotating mechanisms can be traversed through distinguishing the moment mode codes, so that different dual-mode flywheels can be mutually rotated, 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 flow chart of a satellite stabilization control and interference compensation method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a projection of randomly oriented disturbance moment on each coordinate axis according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing the vector directions and projection of three moments generated by two loads according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the installation of a dual mode flywheel according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating command receiving and speed superposition of a dual-mode flywheel Lx according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of receiving a command and superimposing rotation speeds of a dual-mode flywheel Ly according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of receiving command and superimposing rotational speed of a dual-mode flywheel Lz according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating the dual mode flywheel command reception and rotational speed superposition according to 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 diagram illustrating a moment pattern code composition according to an embodiment of the present invention.
Detailed Description
The present embodiment is described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The satellite with 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 a non-negligible interference moment which needs to be compensated when in operation. The satellite control system is used for stably controlling the three-axis attitude of the satellite and compensating the interference moment generated when the rotating mechanism swings.
In order to achieve the above objective, the present embodiment provides a satellite stability control and disturbance compensation method, so as to implement triaxial steady state control of a satellite and feedforward compensation of disturbance moment.
The satellite stability control and interference compensation method of the present embodiment is described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a satellite stability control and interference compensation method according to an embodiment of the present invention. As shown in fig. 1, the method includes:
step S1: and a dual-mode flywheel is respectively arranged on each coordinate axis direction of the satellite triaxial orthogonal coordinate system.
In this embodiment, the three-axis orthogonal coordinate system of the satellite has a roll axis (denoted as x-axis), a pitch axis (denoted as y-axis), and a yaw axis (denoted as z-axis), respectively. When a rotating mechanism such as a satellite is loaded on the satellite, the rotating mechanism swings back and forth around a fixed shaft such as a zeta axis, thereby generating a disturbance moment along the zeta axis. In order to perform feedforward compensation on the disturbance moment and realize triaxial steady-state control of the satellite, a dual-mode flywheel can be respectively installed on each coordinate axis direction of a triaxial orthogonal coordinate system of the satellite under the condition of not considering satellite redundancy design. For example, a dual-mode flywheel Lx is mounted on the roll axis (x-axis), a dual-mode flywheel Ly is mounted on the pitch axis (y-axis), and a dual-mode flywheel Lz is mounted on the yaw axis (z-axis).
Step S2: a plurality of interference moments generated by a plurality of rotating mechanisms on the satellite respectively swinging around different fixed shafts are determined.
Specifically, the rotating mechanism generates a plurality of disturbing moments when swinging around a plurality of fixed shafts. Taking two rotating mechanisms on the satellite as an example, the two rotating mechanisms are respectively marked as a first rotating mechanism and a second rotating 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 was determined that the first and second rotational mechanisms on the satellite produced a total of 3 disturbance moments.
The rotating mechanism generates corresponding actual interference moment, which is marked as T, when swinging around a fixed shaft such as a zeta shaft. According to the swing motion characteristics of the rotating mechanism, the size of T can be approximately fitted by using a curve, the information (including amplitude, direction, period and the like) of the interference moment is obtained by calibrating the physical and mechanical characteristics and the rotation characteristics of the rotating mechanism, and the calibrating precision can be ensured. Wherein the calibration value may be considered to be equal to the true value.
After the disturbance moment T is determined, the disturbance moment T on the ζ axis can be projected on the respective coordinate axes in a decomposed manner. Specifically, the projected components of the disturbance torque T in the x-axis, y-axis, and z-axis are Tx, ty, and Tz, respectively. Wherein the projection component has the following relation with the projection coefficients kx, ky and kz: tx= kxT; ty= kyT; tz= kzT. Wherein, the projection coefficients kx, ky and kz are related to the space angles alpha, beta and gamma as follows: kx=cos α; ky = cos β; kz=cos γ. In this embodiment, the space angles α, β and γ are the included angles between the ζ axis of the fixed shaft and the x, y and z axes, respectively. Therefore, moment components which need to be compensated by the dual-mode flywheel on each coordinate axis are respectively projection components, namely Tx, ty and Tz.
For the presence of a plurality of disturbance torques, specific embodiments for each dual-mode flywheel to determine its own compensation component and corresponding compensation rotational speed are described below.
Step S3: each dual-mode flywheel determines the required output compensation rotating speed according to a plurality of disturbance moments.
Wherein, step S3 includes: step S31: each dual-mode flywheel receives moment mode codes corresponding to each interference moment, and determines moment compensation components corresponding to each interference moment required to be output 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, where the number of the first serial ports is 1, and the first serial ports are used for communication with an on-board 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, an on-board computer sends a gesture control rotating speed instruction corresponding to a dual-mode flywheel where a first serial port is located through the first serial port; the rotating mechanism sends each moment mode code corresponding to each interference moment generated by swinging the rotating mechanism around different fixed shafts through a second serial port on each dual-mode flywheel.
The first serial port on each dual-mode flywheel has the functions of receiving and sending bidirectional data transmission. Each dual-mode flywheel is provided with m paths of second serial ports which are communicated with the rotating mechanism, such as serial port 1, serial port 2 and … serial ports m, and the second serial ports have a data receiving function. The communication serial port 1, the serial ports 2 and … and the serial port m are used for being connected with m different rotating mechanisms Q1, Q2 and … Qm, and the data transmission convention dual-mode flywheel is used for directly receiving instruction information of the rotating mechanisms. The instruction information consists of an identification code and a corresponding moment mode code.
As an example, a dual-mode flywheel Lx is mounted on the roll axis (x-axis), a dual-mode flywheel Ly is mounted on the pitch axis (y-axis), and a dual-mode flywheel Lz is mounted on the yaw axis (z-axis). If the satellite has 2 rotating 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-board computer through respective first serial ports. If a first rotating mechanism of the 2 rotating mechanisms generates disturbance moments T1 and T2, a second rotating mechanism generates disturbance moment T3. At this time, the first rotating mechanism transmits the moment mode codes corresponding to the disturbing moment T1 and T2 to each of the dual-mode flywheels through the dual-mode flywheel Lx, the dual-mode flywheel Ly and the second serial port (the second serial port corresponds to the second rotating mechanism) on the dual-mode flywheel Lz, and the second rotating mechanism transmits the moment mode codes corresponding to the disturbing moment T3 to each of the dual-mode flywheels through the dual-mode flywheel Lx, the dual-mode flywheel Ly and the second serial port (the second serial port corresponds to the second rotating mechanism) on the dual-mode flywheel Lz.
After receiving a moment mode code corresponding to the disturbance moment T1, the dual-mode flywheel Lx determines a moment compensation component T1X corresponding to the disturbance moment T1 which is required to be output according to the moment mode code; after receiving a moment mode code corresponding to the disturbance moment T2, the dual-mode flywheel Lx determines a moment compensation component T2X corresponding to the disturbance moment T2 which is required to be output according to the moment mode code; after receiving the moment mode code corresponding to the disturbance moment T3, the dual-mode flywheel Lx determines a moment compensation component T3X corresponding to the disturbance moment T3, which is required to be output by the dual-mode flywheel Lx, according to the moment mode code. Similarly, after receiving the moment mode code corresponding to the disturbance moment T1, the dual-mode flywheel Ly determines a moment compensation component T1y corresponding to the disturbance moment T1, which is required to be output by the dual-mode flywheel Ly, according to the moment mode code; after receiving a moment mode code corresponding to the disturbance moment T2, the dual-mode flywheel Ly determines a moment compensation component T2y corresponding to the disturbance moment T2 which is required to be output according to the moment mode code; after receiving the moment mode code corresponding to the disturbance moment T3, the dual-mode flywheel Ly determines a moment compensation component T3y corresponding to the disturbance moment T3, which is required to be output by the dual-mode flywheel Ly, according to the moment 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 moment mode table according to each moment mode code so as to obtain compensation moment respectively corresponding to each disturbance moment;
step S312: each dual-mode flywheel obtains a weighting coefficient corresponding to each compensation moment;
step S313: each dual-mode flywheel determines moment compensation components corresponding to each disturbance moment, which are required to be output by the flywheel, according to each weighting coefficient and each compensation moment.
Specifically, different interference moments T1, T2, … Tm can be generated due to different amplitude values, directions, periods and the like of the swing of the rotating mechanism, so that different compensation moments T1', T2', … Tm ' are needed, and the moment mode codes are in one-to-one correspondence with the compensation moments and are used for inquiring a moment mode table stored in the dual-mode flywheel. The moment mode code comprises at least one of the polarity of the compensation moment, a moment instruction source and a moment mode; the moment mode comprises the amplitude, period and acting time of the compensation moment. The moment mode with 1111B moment mode code at the lower 4 bits compensates moment information and is uploaded from the ground through the communication serial port of the computer. Preferably, the moment mode table stored in each dual-mode flywheel is the same, and each dual-mode flywheel can be replaced with each other, i.e. the moment mode tables stored in all dual-mode flywheels are the same in content, and all moment modes of all rotating mechanisms can be traversed through moment mode codes.
In this embodiment, the rotating mechanism rotates to generate the interference torque T and simultaneously transmits the corresponding torque mode code to three dual-mode flywheels Lx, ly and Lz, and the dual-mode flywheels query a torque mode table in the memory according to the received torque mode code to find a compensation torque T 'corresponding to the interference 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 corresponding to the compensation torque T', namely weighting coefficients, and then perform weighted output of corresponding torque compensation components, specifically as follows:
after the dual-mode flywheel Lx is weighted by the weighting coefficient kx, a moment compensation component Tx ' to be output is obtained, and Tx ' = kxT ';
after weighting the dual-mode flywheel Ly and the weighting coefficient ky, obtaining moment compensation components Ty ', ty ' = kyT ';
after the dual-mode flywheel Lz is weighted with the weighting coefficient kz, the torque compensation component Tz ', tz ' = kzT ' to be output is obtained.
When the disturbance torques are different, the disturbance torques are located in the fixed axis direction, and the projection coefficients, i.e., the weighting coefficients, are the angles between the fixed axis and the respective coordinate axes in space, so that when the different disturbance torques are located in the same fixed axis direction, the weighting coefficients are the same, and when the different disturbance torques are located in different fixed axis directions, the weighting coefficients are different, so that the weighting coefficients corresponding to the respective compensation torques (the compensation torques and the disturbance torques are in one-to-one correspondence) need to be obtained.
In the presence of a plurality of disturbance torques, such as T1, T2 and T3, the dual-mode flywheels Lx, ly and Lz can thus each have a corresponding compensation torque T1', T2' and T3' and a corresponding weighting factor kx1, ky1, kz1, kx2, ky2, kz2, kx3, ky3, kz3. The dual-mode flywheels Lx, ly and Lz determine torque compensation components corresponding to the respective disturbance torques T1, T2 and T3, which are required to be output by themselves, according to the respective weighting coefficients kx1, ky1, kz1, kx2, ky2, kz2, kx3, ky3, kz3 and the respective compensation torques T1', T2' and T3 '. The corresponding moment compensation components determined by the dual-mode flywheel Lx are T1x ', T2x ' and T3x '; the corresponding moment compensation components determined by the dual-mode flywheel Ly are T1y ', T2y ' and T3y '; the corresponding torque compensation components determined by the dual mode flywheel Lz are T1z ', T2z ', and T3z '.
Step S32: and integrating the moment compensation components corresponding to the interference moments by each dual-mode flywheel to obtain the rotating speed corresponding to each moment compensation component.
Specifically, when 1 disturbance torque T is generated, the dual-mode flywheel Lx obtains the torque compensation component to be output as Tx ', the dual-mode flywheel Ly obtains the torque compensation component to be output as Ty ', and the dual-mode flywheel Lz obtains the torque compensation component to be output as Tz ', as described above. Then, the dual-mode flywheels Lx, ly and Lz integrate the torque compensation components Tx ', ty ' and Tz ' respectively, to obtain and output corresponding rotational speeds Rtx, rty, rtz for compensating the components of the disturbance torque T in the x-axis, y-axis and z-axis, thereby realizing rapid compensation of the disturbance torque T.
In this embodiment, when the disturbance torque is a plurality of disturbance torques T1, T2, and T3, the dual-mode flywheel Lx may integrate each of the torque compensation components T1x ', T2x ', and T3x ' required to be compensated to obtain corresponding rotational speeds Rt1x, rt2x, and Rt3x; the dual-mode flywheel Ly can integrate moment compensation components T1y ', T2y ' and T3y ' required to be compensated to obtain corresponding rotating speeds Rt1y, rt2y and Rt3y; the dual-mode flywheel Lz can integrate the moment compensation components T1z ', T2z ' and T3z ' required to be compensated to obtain corresponding rotation speeds Rt1z, rt2z and Rt3z. Thus, each dual mode flywheel can obtain a rotational speed corresponding to each torque compensation component.
Step S33: each dual-mode flywheel superimposes the rotational speeds to determine the compensating rotational speed required to be output by the flywheel.
Specifically, if there are m rotating mechanisms, m disturbing moments T1, T2 … Tm can be generated simultaneously. The corresponding torque compensation components Tnx ', tny ' and Tnz ' (subscript n=1, 2, … m, representing the nth disturbance torque) on the dual mode flywheel Lx, ly and Lz, and the corresponding rotational speeds Rtnx, rtny, rtnz (subscript n=1, 2, … m, representing the nth disturbance torque) should be output, can be obtained using the method described in steps S31 and S32.
In this embodiment, the dual-mode flywheel Lx determines that the compensation rotational speed Rtx which is applied to compensate the m interference moments and is output by itself is: rtx=rt1x+rt2x+ … +rtmx; the dual-mode flywheel Ly determines that the compensation rotation speed Rty which is applied to the self-output and used for compensating the m disturbance moments is: rty =rt1y+rt2y+ … +rtmy; the dual-mode flywheel Lz determines that the rotational speed Rtz, which is itself applied to compensate for the m disturbance moments, is: rtz =rt1z+rt2z+ … +rtmz.
Step S4: and each dual-mode flywheel drives a corresponding flywheel motor to carry out disturbance moment compensation according to the self-determined compensation rotating speed.
Specifically, the dual-mode flywheel Lx drives the corresponding flywheel motor to carry out m interference moment compensations according to the determined compensation rotating speed Rtx; the dual-mode flywheel Ly drives the corresponding flywheel motor to carry out m disturbance moment compensation according to the determined compensation rotating speed Rty; the dual-mode flywheel Lz drives the corresponding flywheel motor to carry out m disturbance moment compensations according to the determined compensation rotating speed Rtz.
In one embodiment of the invention, the method further comprises: each dual-mode flywheel also receives corresponding attitude control rotating speed instructions respectively to obtain corresponding attitude control rotating speeds respectively, and superimposes the attitude control rotating speeds received respectively and the compensating rotating speeds required to be output by the dual-mode flywheel to obtain the actual rotating speeds required to be output by the dual-mode flywheel, and drives the corresponding flywheel motor to perform satellite stable control and disturbance moment compensation through the actual rotating speeds.
Specifically, as described above, the on-board computer may send, through the first serial port, a gesture control rotation speed instruction corresponding to the dual-mode flywheel in which the first serial port is located, that is, in a normal flight process, the on-board computer sends three gesture control rotation speed instructions Rwx, rwy and Rwz required for three-axis gesture stability control of the satellite to the corresponding dual-mode flywheels Lx, ly and Lz through the first serial ports on the dual-mode flywheels, so that the dual-mode flywheels Lx, ly and Lz drive the three dual-mode flywheel motors to accelerate and decelerate according to the Rwx, rwy and Rwz rotation speed instructions, respectively, to generate a reaction moment, and perform momentum exchange with the satellite body for satellite gesture stability control.
Preferably, each dual-mode flywheel can have the functions of responding to the rotating speed mode and responding to the moment mode at the same time. In this embodiment, after receiving the gesture control rotation speed command Rwx with stable control gesture through the first serial port on the dual-mode flywheel Lx and receiving moment mode codes corresponding to m interference moments T1, T2 … Tm through the plurality of second serial ports on the dual-mode flywheel Lx, the gesture control rotation speed command Rwx is overlapped with the compensation rotation speed Rtx for compensating the m interference moments, and is used as the actual rotation speed Rx required to be output currently.
Where rx= Rwx +rtx= Rwx +rt1x+rt2x+ … +rtmx.
After receiving a gesture control rotating speed instruction Rwy with stable control gesture through a first serial port on the dual-mode flywheel Ly and receiving moment mode codes corresponding to m interference moments T1 and T2 … Tm through a plurality of second serial ports on the dual-mode flywheel Ly, the gesture control rotating speed instruction Rwy is overlapped with a compensation rotating speed Rty for compensating the m interference moments, and the actual rotating speed Ry is used as the actual rotating speed Ry required to be output currently.
Where ry= Rwy + Rty = Rwy +rt1y+rt2y+ … +rtmy.
After receiving the gesture control rotating speed command Rwz with stable control gesture through the first serial ports on the dual-mode flywheel Lz and receiving moment mode codes corresponding to m interference moments T1 and T2 … Tm through the second serial ports on the dual-mode flywheel Lz, the gesture control rotating speed command Rwz is overlapped with the compensation rotating speed Rtz for compensating the m interference moments, and the gesture control rotating speed command Rwz is used as the actual rotating speed Rz required to be output currently.
Where rz=rwz+ Rtz =rwz+rt1z+rt2z+ … +rtmz.
Further, the dual-mode flywheels Lx, ly and Lz output Rx, ry and Rz simultaneously, and angular momentum and reaction moment are generated to act on the star body, so that the purposes of simultaneously realizing steady-state control and disturbance moment compensation of the satellite are achieved.
In one embodiment of the invention, when the on-board computer communicates with the dual-mode flywheel where the first serial port is located through the first serial port, the identification code is sent first, then corresponding data is sent, and after the dual-mode flywheel where the first serial port is located identifies the identification code, the corresponding data is responded.
When the identification code is the first identification code, the corresponding data is a gesture control rotating speed instruction; when the identification code is the second identification code, the corresponding data is an immediate rotation speed instruction, wherein the dual-mode flywheel receives the immediate rotation speed instruction and then performs dual-mode flywheel rotation speed control according to a rotation speed value corresponding to the immediate rotation 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, the corresponding data is the compensation moment information uploading modification request instruction.
Specifically, a data transmission mode of a first serial port of the communication between the dual-mode flywheel and the on-board computer agrees with a master-slave communication mode taking the dual-mode flywheel as a passive party. When the dual-mode flywheel is in communication with the on-board computer, the on-board computer firstly transmits the identification code and corresponding data to the dual-mode flywheel, and then 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 a gesture control rotating speed command, namely Rwx, rwy and Rwz. When the identification code is 22H, the corresponding data represent 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 immediate rotating speed instruction is taken 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, the corresponding data indicates that the dual-mode flywheel is requested to return information, and the returned information comprises the current motor rotation speed, motor current, the execution condition of the uploading instruction and the like and is used for monitoring the state of the dual-mode flywheel. When the identification code is AAH, the corresponding data represents mode compensation moment information with the lower 4 bits of the upper filling modification moment mode code being 1111B.
In order to enable those skilled in the art to clearly understand the satellite stabilizing control and interference compensation method of the present embodiment, the satellite stabilizing control and interference compensation method of the present embodiment will be described in detail with reference to specific examples.
Taking a certain triaxial attitude stabilization control satellite as an example, the load is two rotating mechanisms which swing reciprocally around a fixed shaft, the load generates interference moment in the swinging process, and the interference moment can influence the attitude stabilization control of the satellite without compensation. The satellite control system is used for stably controlling the three-axis attitude of the satellite and compensating the interference moment generated when the rotating mechanism swings.
The three-axis attitude stabilization control satellite has three orthogonal coordinate systems, namely a roll axis (denoted as x axis), a pitch axis (denoted as y axis) and a yaw axis (denoted as z axis). The coordinate relation between the randomly-directed disturbance moment and the star is shown in fig. 2, and the included angles between the disturbance moment and the x-axis, the y-axis and the z-axis are alpha, beta and gamma respectively.
In the satellite of this embodiment, as shown in fig. 3, two rotating mechanisms, i.e., loads Q1 and Q2, are installed. The load Q1 swings reciprocally around the zeta axis; the load Q2 may oscillate reciprocally about the ζ axis or about the y axis. The zeta axis is located in the xOz plane of the satellite triaxial orthogonal coordinate system, and the included angles with the x axis, the y axis and the z axis are alpha, beta and gamma respectively, wherein beta is 90 degrees.
In this embodiment, when the load Q1 swings around the ζ axis, a corresponding actual disturbance moment is generated and is denoted as T1; the load Q2 generates a corresponding actual disturbance moment T2 when swinging around the ζ axis, and a corresponding actual disturbance moment T3 when swinging around the y axis. According to the motion characteristics of load swing, T1, T2 and T3 can be approximately fitted by using sine curves, the information (including amplitude, direction, period and the like) of the interference moment is obtained by calibrating the physical and mechanical characteristics and the rotation characteristics of the rotating mechanism, the calibrating precision is ensured, and the calibrating value can be regarded as being equal to the true value.
Wherein, disturbance moment T1 and disturbance moment T2 are along zeta axis direction. The projection components of the interference moment T1 on the x axis, the y axis and the z axis are respectively T1x, T1y and T1z, the projection components of the interference moment T2 on the x axis, the y axis and the z axis are respectively T2x, T2y and T2z, and the following relation exists between the projection components and the projection coefficients kx, ky and kz: t1x= kxT1; t1y= kyT1; t1z= kzT1; t2x= kxT2; t2y= kyT2; t2z= kzT2. The projection coefficients kx, ky, kz are related to the spatial angles α, β and γ as follows: kx=cos α; ky=cos β=cos 90°=0, i.e. the projected component of the disturbance moment on the y-axis is 0; kz=cos γ. The disturbance moment T3 is along the y-axis direction, the projection components on 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 mounted on the roll axis (x axis), a dual-mode flywheel Ly is mounted on the pitch axis (y axis), a dual-mode flywheel Lz is mounted on the yaw axis (z axis), and a dual-mode flywheel Ls is mounted in the oblique direction (s axis).
The direction of the s-axis is equal to the included angle of the x-axis, the y-axis and the z-axis in space, the dual-mode flywheel Ls on the s-axis is used as a redundant cold backup, and the dual-mode flywheel is not started when the satellite works normally, and the use of the dual-mode flywheel is not illustrated in the application of the embodiment.
In the normal flight process, the satellite computer transmits three attitude control rotating speed instructions Rwx, rwy and Rwz required by the three-axis attitude stabilization control of the satellite to three dual-mode flywheels Lx, ly and Lz on the orthogonal axis respectively, drives three dual-mode flywheel motors to accelerate and decelerate to generate reaction moment, and performs momentum exchange with the satellite body for the satellite attitude stabilization control.
The satellite load Q1 generates a disturbance moment T1 during rotation, and transmits a corresponding moment mode code to two dual-mode flywheels Lx and Lz (because no disturbance moment component is generated on a y axis, the dual-mode flywheels Ly do not transmit), the dual-mode flywheels query a moment mode table in a memory according to the received moment mode code, find out that compensation moments T1', T1' corresponding to T1 are equal to T1 in size and opposite in direction, the dual-mode flywheels Lx and a projection coefficient, namely a weighting coefficient kx, weight to obtain moment compensation components to be output, the dual-mode flywheels Lx and the projection coefficient, namely a weighting coefficient kz, weight to obtain moment compensation components to be output, and the dual-mode flywheels Lx and Lz integrate the moment compensation components T1x 'and T1z' to obtain and output corresponding rotating speeds Rt1x and Rt1z for quick compensation of the disturbance moment T1.
The satellite load Q2 rotates to generate an interference moment T2, meanwhile, a corresponding moment mode code is sent to two dual-mode flywheels Lx and Lz, the dual-mode flywheels inquire a moment mode table in a memory according to the received moment mode code, the compensation moment T2', T2' corresponding to the T2 are found out, the size is equal to that of the T2, the direction is opposite, the dual-mode flywheels Lx and a projection coefficient, namely a weighting coefficient kx, are weighted to obtain a moment compensation component to be output, the dual-mode flywheels Lz and the projection coefficient, namely the weighting coefficient kz, are weighted to obtain a moment compensation component to be output, the dual-mode flywheels Lx and Lz integrate the moment compensation components T2x 'and T2z', and the corresponding rotating speeds Rt2x and Rt2z are obtained and output, and the moment compensation component to be used for fast compensation of the interference moment T2 are obtained.
The satellite load Q2 rotates to generate a disturbance moment T3 and simultaneously transmits a corresponding moment mode code to the dual-mode flywheel Ly (as no disturbance moment components are generated on the x axis and the z axis, the dual-mode flywheel Lx and Lz are not transmitted), the dual-mode flywheel searches a moment mode table in a memory according to the received moment mode code, finds out a compensation moment T3', T3' corresponding to the T3 to be equal to the T3 in size and opposite in direction, the dual-mode flywheel Ly obtains a moment compensation component to be output, the dual-mode flywheel Ly integrates the moment compensation component T3y ', and obtains and outputs a corresponding rotating speed Rt3y for quick compensation of the disturbance moment T3.
As shown in fig. 5, after receiving the gesture control rotation speed command Rwx of the on-board computer and the moment mode code corresponding to the disturbance moment T1 of the load Q1 and the moment mode code corresponding to the disturbance moment T2 of the load Q2, the dual-mode flywheel Lx superimposes the rotation speed Rwx under the gesture control rotation speed command with three rotation speeds of the moment compensation rotation speeds Rt1x and Rt2x to be the actual rotation speed Rx currently output. Where rx= Rwx +rt1x+rt2x.
As shown in fig. 6, after receiving a gesture control rotation speed command Rwy of the on-board computer and a moment mode code corresponding to the disturbance moment T3 of the load Q2, the dual-mode flywheel Ly superimposes two rotation speeds of the rotation speed Rwy under the gesture control rotation speed command and the moment compensation rotation speed Rt3y to be used as the actual rotation speed Ry of the current output. Where ry= Rwy +rt3y.
As shown in fig. 7, after receiving the gesture control rotational speed command Rwz of the on-board computer and the moment mode code corresponding to the disturbance moment T1 of the load Q1 and the moment mode code corresponding to the disturbance moment T2 of the load Q2, the dual-mode flywheel Lz superimposes the rotational speed Rwz under the gesture control rotational speed command with three rotational speeds of the moment compensation rotational speeds Rt1z and Rt2z, and uses the superimposed rotational speed Rwz as the actual rotational speed Rz of the current output. Where rz=rwz+rt1z+rt2z.
As shown in fig. 8, each dual-mode flywheel can obtain the actual rotation speed of the current output, such as Rx, ry and Rz, through the link structure of fig. 8. Further, after the dual-mode flywheels Lx, ly and Lz output Rx, ry and Rz simultaneously, angular momentum and reaction moment can be generated to act on the star body, so that the purposes of simultaneously realizing steady-state control and disturbance moment compensation of the satellite are achieved.
As shown in fig. 9, the dual-mode flywheel of the present application example designs 2 channels of serial ports 1 and 2 which communicate with the load, namely, a first serial port, and has a function of receiving data, and then designs 1 channel of serial ports 3 which communicate with an on-board computer, namely, a second serial port, and has a function of receiving and sending bidirectional data transmission.
The communication serial ports 1 and 2 are used for being connected with two different loads Q1 and Q2, the data transmission agreed double-mode wheel directly receives instruction information of the loads, and the instruction information consists of an identification code 5AH and a corresponding moment mode code. The dual-mode flywheel searches corresponding output torque according to the torque mode code, respectively weights the corresponding output torque with projection coefficients, namely weighting coefficients kx, ky and kz, and integrates the corresponding output torque to obtain corresponding torque compensation rotating speeds Rtnx, rtny and Rtnz.
The loads Q1 and Q2 are different in amplitude, direction, period and the like of swing, different disturbance moments T1, T2 and T3 are generated, different compensation moments T1', T2', T3' are needed, and the moment mode codes are in one-to-one correspondence with the compensation moments and are used for inquiring a moment mode table stored in the dual-mode flywheel.
The moment pattern code as described in fig. 10 is designed to be one byte in length. The high 2 bits represent the polarity of the compensation torque, 00B represents the positive polarity, 11B represents the negative polarity, the next high 2 bits represent the signal source, 01B represents that the torque command is derived from the swinging load Q1, 10B represents that the torque command is derived from the swinging load Q2, the low 4 bits are combined with the next high 2 bits to determine the content of the compensation torque command information, and the content of the compensation torque command information comprises the information such as the amplitude, the period, the acting time and the like of the torque, and is determined by the swinging information of the load. 0001B represents a first compensation torque mode, 0010B represents a second compensation torque mode, and so on. The mode with 1111B as the lower 4 bits is a reserved mode, and the compensation moment information of the mode is uploaded by the ground through an on-board computer communication serial port.
In summary, according to the satellite stability control and interference compensation method of the embodiment, through the dual-mode flywheel, the rotational speed command of the attitude stability control can be responded, meanwhile, the feedforward compensation is performed on the interference moment to be compensated, the interference moment is reduced or counteracted, the high-precision earth stability control of the satellite is realized, the flywheel is not required to be configured to compensate the interference moment, the system single-machine configuration of the satellite to be compensated can be simplified, the satellite cost is reduced, the satellite quality is reduced, and the emission cost is reduced. The dual-mode flywheel can also use dual modes simultaneously to perform attitude stability control and disturbance moment compensation; or only one mode is used and is only used for gesture stable control or disturbance moment compensation, the flexibility of single-machine configuration of a satellite system is improved, in addition, the moment mode tables stored by the dual-mode flywheel are identical in content and are distinguished through moment mode codes, all disturbance moments generated by all rotating mechanisms can be traversed, different dual-mode flywheels can be mutually rotated, complexity of system design can be reduced, and compensation effects of the disturbance moments can be improved by calibrating different disturbance moments respectively.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (8)
1. A satellite stability control and interference compensation method, comprising:
step S1: a dual-mode flywheel is respectively arranged on each coordinate axis direction of a satellite triaxial 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 compensating rotating speed required to be output according to a plurality of interference moments;
step S4: each dual-mode flywheel drives a corresponding flywheel motor to carry out disturbance moment compensation according to the self-determined compensation rotating speed;
each dual-mode flywheel is provided with 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 on-board 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;
the on-board computer sends a gesture 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 swinging the rotating mechanism around different fixed shafts through a second serial port on each dual-mode flywheel.
2. The satellite stability control and interference compensation method of claim 1, further comprising:
each dual-mode flywheel also receives corresponding attitude control rotating speed instructions respectively to obtain corresponding attitude control rotating speeds respectively, and superimposes the attitude control rotating speeds respectively received and the compensating rotating speeds required to be output by the dual-mode flywheel to obtain the actual rotating speeds required to be output by the dual-mode flywheel, and drives the corresponding flywheel motors to perform satellite stability control and disturbance moment compensation through the actual rotating speeds.
3. The method for satellite stability control and interference compensation according to claim 2, wherein said step S3 comprises:
step S31: each dual-mode flywheel receives moment mode codes corresponding to each interference moment, and determines moment compensation components corresponding to each interference moment required to be output according to each moment mode code;
step S32: integrating the moment compensation components corresponding to the interference moments by each dual-mode flywheel to obtain rotating speeds corresponding to the moment compensation components;
step S33: and each dual-mode flywheel superimposes the rotating speeds to determine the compensating rotating speed required to be output by the dual-mode flywheel.
4. The method for satellite stability control and interference compensation according to claim 3, wherein said step S31 comprises:
step S311: each dual-mode flywheel queries a corresponding moment mode table according to each moment mode code so as to obtain compensation moment respectively corresponding to each disturbance moment;
step S312: each dual-mode flywheel obtains a weighting coefficient corresponding to each compensation moment;
step S313: and each dual-mode flywheel determines a moment compensation component corresponding to each disturbance moment, which is required to be output by the dual-mode flywheel, according to each weighting coefficient and each compensation moment.
5. The satellite stability control and disturbance compensation method according to claim 1, wherein the torque pattern code includes at least one of a polarity of the compensation torque, a source of the torque command, and a torque pattern; wherein the torque pattern includes the magnitude, period and duration of the compensation torque.
6. The satellite stability control and disturbance compensation method according to claim 5, wherein each of said dual mode flywheels stores a same table of torque patterns, and each of said dual mode flywheels is interchangeable.
7. The method for stabilizing control and compensating interference of satellite according to claim 6, wherein when said on-board computer communicates with said dual-mode flywheel with said first serial port through said first serial port, said on-board computer first transmits an identification code and then transmits corresponding data, and said dual-mode flywheel with said first serial port recognizes said identification code and then responds to corresponding data.
8. The method for stabilizing control and interference compensation of satellite according to claim 7, wherein when said identification code is a first identification code, the corresponding data is said attitude control rotation speed command; when the identification code is a second identification code, corresponding data is an immediate rotating speed instruction, wherein the dual-mode flywheel receives the immediate rotating speed instruction and then 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 a third identification code, the corresponding data is a dual-mode flywheel return information request instruction; and when the identification code is a fourth identification code, the corresponding data is a compensation moment 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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