CN114476135A - Hot standby method for satellite bias momentum flywheel - Google Patents
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Abstract
A satellite bias momentum flywheel hot standby method comprises the following steps: two flywheels of the satellite are arranged around a pitching shaft in a V shape and are respectively marked as an N1 flywheel and an N2 flywheel, and the other flywheel is arranged along a yawing shaft and is marked as an Nr flywheel; the three flywheels are powered on for a long time, the power supply state of each flywheel is monitored, and if the power supply state of one flywheel is unpowered, the corresponding flywheel is judged to have a power failure fault; if the Nr flywheel has power failure, performing power failure processing on the Nr flywheel by the ground; if the N1 flywheel or the N2 flywheel has power failure, the attitude of the pitching shaft is controlled by the flywheel without power failure, the attitude of the rolling shaft is controlled by air injection of a thruster, and the Nr flywheel is controlled by the rotating speed; and finally, carrying out power failure fault processing on the N1 flywheel or the N2 flywheel by the ground.
Description
Technical Field
The invention relates to a hot standby method for a satellite bias momentum flywheel, and belongs to the field of spacecraft fault diagnosis.
Background
According to rolling and pitching attitude measurement information and yaw observer estimation information, an early Geosynchronous (GEO) offset momentum satellite utilizes angular momentum inertial orientation characteristics and rolling-yaw coupling characteristics to realize triaxial stabilization and control. The offset momentum satellite can reduce the system configuration, the system weight and the satellite cost on the premise of ensuring the satellite attitude control index and the wheel control system reliability, thereby being widely applied to the GEO commercial communication satellite.
In the prior art, a certain satellite flywheel adopts a V + L configuration, namely two 50Nms flywheels are arranged around a pitching shaft in a V shape, and 1 25Nms flywheel is arranged along a yawing shaft. FIG. 1 is a schematic view of the installation of a "V + L configuration" flywheel. During normal operation, two flywheels N1 and N2 (referred to as V-wheels for short) mounted in a V-shape perform three-axis attitude control, and the flywheel Nr is not powered at ordinary times to serve as a cold backup of the V-wheels. When one of the flywheels N1 and N2 breaks down, the ground starts the flywheel Nr, and the flywheel N1+ Nr or the flywheel N2+ Nr form a +/-L-shaped wheel for attitude control.
According to the actual in-orbit flight performance, the flywheel has the hidden danger of no sign abnormal power failure due to the influence of space high-energy particles and a complex electromagnetic environment during the long-term operation of the satellite. When the flywheel is in abnormal power failure, the ground station cannot timely recover the power supply of the flywheel (the satellite cannot independently supply power to the flywheel), so that the satellite attitude error is increased, the service is influenced, the ground station recovery operation is complicated, and the like.
Chinese patent CN201910439284.7 discloses a method for reconstructing a flywheel system of a spacecraft under orbital offset control, which comprises the steps of establishing a flywheel set linear programming model under an inequality constraint condition according to a spacecraft offset momentum control target, formulating a flywheel reconstruction strategy according to an optimization criterion, realizing the maximization of the output of the offset angular momentum of a pitch axis, reconstructing a flywheel control system, and performing iterative optimization solution by adopting a simplex method to replace a gyroscope to ensure that a satellite normally operates in orbit, but the method is complex. The chinese patent CN201710053249.2 is applicable to a satellite with a reaction flywheel respectively arranged in four directions of a spacecraft, and after the data of the flywheel is abnormal, the failed flywheel is automatically isolated, and the system is switched to other healthy reaction flywheel access systems to work.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method is used for powering up the backup flywheel Nr for a long time to perform hot backup under the condition of not changing the configuration of the conventional satellite. When the power failure fault occurs to the flywheel N1 or N2, the control mode is automatically switched according to the power-on states of other flywheels, the rotating speed of the backup flywheel Nr is actively controlled, the satellite attitude is maintained to be stable for a period of time, time is won for the operation of a ground station, and the ground recovery operation steps are reduced.
The purpose of the invention is realized by the following technical scheme:
a satellite bias momentum flywheel hot standby method comprises the following steps:
two flywheels of the satellite are arranged around a pitching shaft in a V shape and are respectively marked as a flywheel N1 and a flywheel N2, and the other flywheel is arranged along a yawing shaft and is marked as a flywheel Nr;
the three flywheels are powered on for a long time, the power supply state of each flywheel is monitored, and if the power supply state of one flywheel is unpowered, the corresponding flywheel is judged to have a power failure fault;
if the power failure of the flywheel Nr occurs, performing power failure processing on the Nr flywheel by the ground;
if the flywheel N1 or the flywheel N2 has power failure, the attitude of the pitch shaft is controlled by the flywheel without power failure, the attitude of the roll shaft is controlled by air injection of a thruster, and the flywheel Nr is controlled by the rotating speed; and finally, carrying out power failure fault processing on the flywheel N1 or the flywheel N2 by the ground.
In one embodiment of the present invention, the flywheel Nr is controlled by the rotation speed, so that the angular momentum generated by the flywheel Nr can counteract the angular momentum caused by the rotation speed change of the flywheel N1 or the flywheel N2 as much as possible.
In one embodiment of the invention, the rotation speed control of the flywheel Nr is divided into two parts, wherein one part is to convert the rotation speed of the flywheel Nr according to the rotation speed of the flywheel without power failure aiming at the flywheel without power failure; and the other part is to perform Nr rotation speed conversion on a flywheel with power failure according to friction torque estimation and ground test data of the flywheel with power failure on the satellite.
In one embodiment of the present invention, when the flywheel N1 has a power failure, the output torque of the flywheel Nr should be:
wherein, TdN2Is the friction interference torque of the flywheel 2, beta is the included angle between the momentum wheel and the-Y axis,
torque generated for flywheel N2;
namely, the output is controlled by the flywheel Nr, so that the interference torque of the Z axis of the satellite approaches 0Nm, and the three-axis attitude of the satellite approaches 0 degree by controlling the rolling attitude and the pitching attitude of the satellite.
In one embodiment of the invention, the method can ensure that the maintenance is stably maintained on the ground for at least 10 minutes when the flywheel N1 or the flywheel N2 has power failure.
In one embodiment of the invention, when the power failure fault occurs to the flywheel N1 or the flywheel N2, the rolling change is not more than 0.2 degrees, the pitching is not more than 0.03 degrees, and the yawing change is not more than 0.2 degrees.
A satellite bias momentum flywheel hot standby system is characterized in that a satellite adopts three flywheels, wherein two flywheels are arranged around a pitching shaft in a V shape and are respectively marked as a flywheel N1 and a flywheel N2, and the other flywheel is arranged along a yawing shaft and is marked as a flywheel Nr; the three flywheels are electrified for a long time;
the hot standby system also comprises a monitoring module and a control module; the monitoring module is used for monitoring the power supply state of each flywheel, and if the power supply state of one flywheel is unpowered, the power failure fault of the corresponding flywheel is judged;
when the flywheel has power failure, the control module carries out power failure processing according to the flywheel with the power failure: if the power failure of the flywheel Nr occurs, performing power failure processing on the Nr flywheel by the ground; if the flywheel N1 or the flywheel N2 has power failure, the attitude of the pitch shaft is controlled by the flywheel without power failure, the attitude of the roll shaft is controlled by air injection of a thruster, and the flywheel Nr is controlled by the rotating speed; and finally, carrying out power failure fault processing on the flywheel N1 or the flywheel N2 by the ground.
In one embodiment of the present invention, the flywheel Nr is controlled by the rotation speed, so that the angular momentum generated by the flywheel Nr can counteract the angular momentum caused by the rotation speed change of the flywheel N1 or the flywheel N2 as much as possible.
In one embodiment of the invention, the rotation speed control of the flywheel Nr is divided into two parts, wherein one part is to convert the rotation speed of the flywheel Nr according to the rotation speed of the flywheel without power failure aiming at the flywheel without power failure; and the other part is to perform Nr rotation speed conversion on a flywheel with power failure according to friction torque estimation and ground test data of the flywheel with power failure on the satellite.
Compared with the prior art, the invention has the following beneficial effects:
(1) in the early satellite design, the function of automatically switching on and off the flywheel on the satellite is not generally designed, and the flywheel is switched on and off only by ground remote control. Once the flywheel is abnormally powered off due to space disturbance, an emergency operation needs to be performed by the ground station to restore the flywheel power-on state. Therefore, recovery operation is not timely, the satellite attitude cannot meet the requirement, and great pressure is brought to ground measurement and control management. According to the method, a flywheel backup method is changed into hot standby and is matched with a corresponding attitude control algorithm, and then emergency operation is changed into non-emergency general operation, so that the stability of the satellite attitude is ensured, and the management pressure of ground measurement and control is greatly reduced.
(2) According to the method, the unknown angular momentum generated by the power-down flywheel can be timely offset by controlling the rotating speed of the Nr flywheel at the first time of power-down of the N1 flywheel or the N2 flywheel through the method of warm standby of the Nr flywheel, so that the satellite attitude control continuity is ensured, and the purposes of stable attitude and continuous service can be achieved.
(3) In the invention, the control of the Nr flywheel is automatically processed by the upper note software by utilizing the existing information on the star. The algorithm is simple and practical, and extra hardware overhead is not increased.
(4) The method is easy to operate, is suitable for satellites with similar configurations, and is convenient to popularize. For the communication satellite, service interruption caused by abnormal power failure of the flywheel is avoided, so that economic loss is caused.
Drawings
FIG. 1 is a schematic view of a V + L configuration flywheel mounting;
FIG. 2 is a process flow of power-down fault handling for a biased momentum flywheel;
FIG. 3 is a three-axis attitude control curve during power-down of the N1 flywheel;
FIG. 4 is a plot of the speed of the N1, N2, Nr flywheels during a power-down period of N1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The orbit data shows that if a flywheel is powered off in a long-term operation mode of a certain satellite, the attitude of the satellite obviously fluctuates in about 10 seconds, and the system is triggered to enter a thruster-controlled safety mode. By the method, the backup flywheel Nr flywheel is electrified for a long time for hot backup, and after the flywheel power failure occurs, the onboard automatic switching flywheel control mode realizes stable control of the attitude. The technical scheme of the method comprises the following steps:
(1) the three flywheels are electrified on the track for a long time, the abnormal power failure fault of the flywheels is diagnosed in real time according to the monitoring of the power supply state of the flywheels, and if the power supply state of the flywheels is not electrified (abnormal power failure), the corresponding flywheel power failure fault alarm is set.
(2) After the power failure occurs, the control logic is as shown in table 1 below according to the autonomous switching control mode of the power-on state of the flywheel.
TABLE 1
For the power-down fault of N1 or N2, taking N2 as an example, the processing scheme of the method is described. After the N2 is powered off, under the action of friction torque, the rotating speed of the N2 is gradually reduced, so that the angular momentum Hy and the angular momentum Hz of the Y axis and the Z axis of the satellite are changed, interference torque is generated by the change, and the attitude error of the satellite is increased. The method specifically comprises the following control processes:
(a) the attitude of the pitching axis (Y axis) is controlled by a flywheel
And the flywheel N1 without power failure is utilized to carry out closed-loop attitude control on the pitch axis.
(b) The rolling axis (X axis) attitude is controlled by jet of a thruster
The rolling axis thruster of the DongSimin Mars has almost no residual component on other axes, and according to the characteristic, a sensor is used for measuring information and directly carrying out closed-loop attitude control.
(c) Nr using speed control
The rotation speed of N1 and N2 changes the angular momentum on the Z axis, and the purpose of controlling the rotation speed of Nr is to hopefully make the angular momentum generated by Nr offset the angular momentum caused by the rotation speed change of N1 and N2, so that the Z axis of the satellite only changes slowly with the previous residual angular speed.
The control of the Nr rotating speed is divided into two parts, namely, aiming at the N1 without power failure, the part only needs to convert the corresponding Nr rotating speed according to the read N1 rotating speed; the other part is N2 aiming at power failure, and the Nr rotating speed is converted according to N2 friction torque estimation on the satellite and ground test data.
(3) And in a limited time, the ground station powers up the power-down flywheel again, and the onboard automatic recovery V-shaped wheel control is realized.
Example (b):
the satellite bias momentum flywheel hot standby method provided by the invention comprises 3 main steps, and the specific implementation principle is shown in figure 2. Taking a communication satellite as an example, the nominal angular momentum of the flywheel N1 is 50Nms (rotation speed 4600 rpm), the nominal angular momentum of the flywheel N2 is 50Nms (rotation speed 4600 rpm), and the nominal angular momentum of the flywheel Nr is 25Nms (rotation speed 4600 rpm), and the specific implementation process is as follows:
(1) the three flywheels are electrified on the orbit for a long time, wherein the flywheels N1 and N2 are subjected to attitude control in a V-shaped bias momentum control mode, the configuration is shown in figure 1, and the power supply state of the flywheels is autonomously monitored on the satellite in real time.
(2) Taking the flywheel N1 as an example of power failure, a calculation method and steps are given.
The whole satellite bias angular momentum V-shaped wheel control satellite rigid body small angle dynamic equation is as follows:
wherein, IxInertia in the X-axis of the satellite, IyThe inertia of the Y axis of the satellite.
Can be mounted by wheels
Wherein, CwA matrix is installed for the flywheel.
Where β is the angle between the momentum wheel and the-Y axis, typically 20 degrees.
And
the moment generated by the flywheel N1, the flywheel N2 and the flywheel Nr respectively,
and
the resultant moments in the Y and Z directions generated by the flywheel moment acting on the star body are respectively.
After the flywheel N1 is powered down, there are
Wherein, TdN1The unknown friction interference torque generated after the flywheel 1 is powered down. Substituting equation (2) yields:
substituting (4) into (1) to obtain
In the formula (I), the compound is shown in the specification,
theta and psi are respectively the rolling, pitching and yawing attitude angles of the satellite, omega0Is the angular velocity of the satellite orbit, H0To bias angular momentum for the satellite.
Considering flywheel active control of the pitch axis, i.e. control of pitch angle using flywheel N2, allows for
Substituted into (5b) to obtain
From equation (6), if so
The output torque of the flywheel Nr should be
Wherein, TdN2Is a frictional disturbance torque of the flywheel 2, IzIs the inertia of the Z axis of the satellite.
Namely, the output is controlled by the flywheel Nr, so that the interference torque of the Z axis of the satellite approaches to 0Nm, and the rolling and pitching attitudes of the satellite are controlled to ensure that the satellite can roll and pitch
The theta and psi triaxial attitudes are close to 0 degree, and the satellite triaxial attitude can be kept stable to the ground in a short period.
(3) After the flywheel is powered off for a period of time, the ground station powers on the power-off flywheel again, and the onboard automatic recovery V-shaped wheel control is realized.
(4) The control effect is shown in fig. 3 and 4. The rolling change is not more than 0.2 degree, the pitching is not more than 0.03 degree, the yawing change is not more than 0.2 degree, the power failure is 10 minutes (the simulation power failure time is 1000s, but the conservative estimation can be maintained for ten minutes considering the difference of the initial rotating speeds of the flywheels), and the attitude to the ground can be stably maintained.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make possible variations and modifications of the present invention using the method and the technical contents disclosed above without departing from the spirit and scope of the present invention, and therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention are all within the scope of the present invention.
Claims (10)
1. A satellite bias momentum flywheel hot standby method is characterized by comprising the following steps:
two flywheels of the satellite are arranged around a pitching shaft in a V shape and are respectively marked as a flywheel N1 and a flywheel N2, and the other flywheel is arranged along a yawing shaft and is marked as a flywheel Nr;
the three flywheels are powered on for a long time, the power supply state of each flywheel is monitored, and if the power supply state of one flywheel is unpowered, the corresponding flywheel is judged to have a power failure fault;
if the power failure of the flywheel Nr occurs, performing power failure processing on the Nr flywheel by the ground;
if the flywheel N1 or the flywheel N2 has power failure, the attitude of the pitch shaft is controlled by the flywheel without power failure, the attitude of the roll shaft is controlled by air injection of a thruster, and the flywheel Nr is controlled by the rotating speed; and finally, carrying out power failure fault processing on the flywheel N1 or the flywheel N2 by the ground.
2. The method for hot standby of the satellite offset momentum flywheel of claim 1, wherein the rotational speed of the flywheel Nr is controlled so that the angular momentum generated by the flywheel Nr can counteract the angular momentum caused by the rotational speed change of the flywheel N1 or the flywheel N2 as much as possible.
3. The satellite offset momentum flywheel hot standby method according to claim 1, wherein the rotation speed control of the flywheel Nr is divided into two parts, one part is to perform flywheel Nr rotation speed conversion according to the rotation speed of the flywheel without power failure aiming at the flywheel without power failure; and the other part is to perform Nr rotation speed conversion on a flywheel with power failure according to friction torque estimation and ground test data of the flywheel with power failure on the satellite.
4. The method for hot standby of the satellite offset momentum flywheel as claimed in claim 1, wherein when the flywheel N1 has a power failure, the output torque of the flywheel Nr is:
wherein, TdN2Is the friction interference torque of the flywheel 2, beta is the included angle between the momentum wheel and the-Y axis,
torque generated for flywheel N2;
namely, the output is controlled by the flywheel Nr, so that the interference torque of the Z axis of the satellite approaches 0Nm, and the three-axis attitude of the satellite approaches 0 degree by controlling the rolling attitude and the pitching attitude of the satellite.
5. The satellite offset momentum flywheel hot standby method according to any one of claims 1 to 4, wherein the method enables maintenance to be stably maintained in the ground attitude for at least 10 minutes when a power failure occurs in the flywheel N1 or the flywheel N2.
6. The satellite offset momentum flywheel hot standby method according to claim 5, wherein when a power failure occurs in the flywheel N1 or the flywheel N2, the rolling change is not more than 0.2 degrees, the pitching is not more than 0.03 degrees, and the yawing change is not more than 0.2 degrees.
7. A satellite bias momentum flywheel hot standby system is characterized in that a satellite adopts three flywheels, wherein two flywheels are arranged around a pitching shaft in a V shape and are respectively marked as a flywheel N1 and a flywheel N2, and the other flywheel is arranged along a yawing shaft and is marked as a flywheel Nr; the three flywheels are electrified for a long time;
the hot standby system also comprises a monitoring module and a control module; the monitoring module is used for monitoring the power supply state of each flywheel, and if the power supply state of one flywheel is unpowered, the power failure fault of the corresponding flywheel is judged;
when the flywheel has power failure, the control module carries out power failure processing according to the flywheel with the power failure: if the power failure of the flywheel Nr occurs, performing power failure processing on the Nr flywheel by the ground; if the flywheel N1 or the flywheel N2 has power failure, the attitude of the pitch shaft is controlled by the flywheel without power failure, the attitude of the roll shaft is controlled by air injection of a thruster, and the flywheel Nr is controlled by the rotating speed; and finally, carrying out power failure fault treatment on the flywheel N1 or the flywheel N2 by the ground.
8. The satellite offset momentum flywheel hot standby system according to claim 7, wherein the flywheel Nr adopts rotation speed control, so that the angular momentum generated by the flywheel Nr can counteract the angular momentum caused by the rotation speed change of the flywheel N1 or the flywheel N2 as much as possible.
9. The satellite bias momentum flywheel hot standby system according to claim 7, wherein the rotation speed control of the flywheel Nr is divided into two parts, one part is that for the flywheel without power failure, the rotation speed of the flywheel Nr is converted according to the rotation speed of the flywheel without power failure; and the other part is to perform Nr rotation speed conversion on a flywheel with power failure according to friction torque estimation and ground test data of the flywheel with power failure on the satellite.
10. The satellite offset momentum flywheel hot standby system of claim 7, wherein the maintenance can be stably maintained in the ground attitude for at least 10 minutes in the event of a power failure of flywheel N1 or flywheel N2; and the rolling change is not more than 0.2 degree, the pitching is not more than 0.03 degree, and the yawing change is not more than 0.2 degree.
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