CN114476135B - Satellite bias momentum flywheel hot standby method - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
A satellite bias momentum flywheel hot standby method comprises the following steps: the three flywheels of the satellite are arranged in a V shape around a pitching axis, and are respectively marked as an N1 flywheel and an N2 flywheel, and the other one is arranged along a yawing axis and is marked as an Nr flywheel; the three flywheels are powered on for a long time, the power state of each flywheel is monitored, and if the power state of one flywheel is unpowered, the power failure of the corresponding flywheel is judged; if the Nr flywheel has a power failure fault, carrying out power failure fault treatment on the Nr flywheel by the ground; if the N1 flywheel or the N2 flywheel has a power failure, the pitching axis posture is controlled by adopting a flywheel which is not powered down, the rolling axis posture is controlled by adopting a thruster for air injection, and the Nr flywheel is controlled by adopting a rotating speed; and finally, carrying out power failure fault treatment on the N1 flywheel or the N2 flywheel by the ground.
Description
Technical Field
The invention relates to a satellite bias momentum flywheel hot standby method, and belongs to the field of fault diagnosis of space aircrafts.
Background
Early earth synchronization (GEO) offset momentum satellites utilized angular momentum inertial orientation characteristics and roll-yaw coupling characteristics to achieve triaxial stability and control based on roll and pitch attitude measurement information and yaw observer prediction information. The offset momentum satellite can reduce the system configuration and the system weight and reduce the satellite cost on the premise of ensuring the satellite attitude control index and the reliability of the wheel control system, so that the offset momentum satellite is widely applied to GEO commercial communication satellites.
In the prior art, a certain satellite flywheel adopts a V+L configuration, namely, two 50Nms flywheels are installed in a V shape around a pitching axis, and 1 25Nms flywheel is installed along a yawing axis. FIG. 1 is a schematic view of a flywheel installation in a "V+L configuration". During normal operation, the three-axis attitude control is carried out on two flywheels N1 and N2 (V-shaped wheels for short) installed in a V shape, and the flywheel Nr is not powered up at ordinary times and is used as cold backup of the V-shaped wheels. When one of the flywheels N1 and N2 fails, the ground starts the flywheel Nr, and the flywheel N1+Nr or the flywheel N2+Nr forms a + -L-shaped wheel for gesture control.
According to the actual on-orbit flight performance, during the long-term operation of the satellite, the flywheel has the hidden trouble of abnormal power failure without symptoms due to the influence of space high-energy particles and complex electromagnetic environment. When the flywheel is in abnormal power failure, the ground station cannot recover the power supply of the flywheel in time (the flywheel cannot be powered on automatically on the satellite), so that satellite attitude errors become large, the service is influenced, and the ground station is inconvenient to recover and operate.
Chinese patent CN201910439284.7 discloses a method for reconstructing flywheel system under the control of spacecraft on-orbit rotation bias, according to the control objective of spacecraft bias momentum, by establishing a flywheel set linear programming model under the inequality constraint condition, formulating a flywheel reconstruction strategy according to an optimization criterion, realizing the maximization of the output of bias angular momentum of a pitching axis, reconstructing the flywheel control system, and adopting a simplex method to carry out iterative optimization solution, instead of a gyroscope, to ensure that the satellite is running on orbit, but the invention adopts a complex realization method. The Chinese patent CN201710053249.2 is suitable for satellites with reaction flywheels arranged in four directions of a spacecraft respectively, and after the data of the flywheels are abnormal, the fault flywheels are automatically isolated and are switched to other healthy reaction flywheels to be connected with a system for operation, but the invention is not suitable for satellite control systems with three flywheels.
Disclosure of Invention
The invention aims to solve the technical problems that: the method is characterized in that the backup flywheel Nr is powered on for a long time to carry out hot backup under the condition that the configuration of the existing satellite is not changed. When the flywheel N1 or the flywheel N2 has power failure, the control mode is switched automatically according to the power-on state of other flywheels, the rotation speed of the backup flywheel Nr is controlled actively, the satellite attitude is maintained for a period of time to be stable, the time is strived for the ground station operation, and the ground recovery operation steps are reduced.
The invention aims at realizing the following technical scheme:
a satellite bias momentum flywheel hot standby method comprises the following steps:
the three flywheels of the satellite are arranged in a V shape around a pitching axis, and are respectively marked as a flywheel N1 and a flywheel N2, and the other one is arranged along a yawing axis and is marked as a flywheel Nr;
the three flywheels are powered on for a long time, the power state of each flywheel is monitored, and if the power state of one flywheel is unpowered, the power failure of the corresponding flywheel is judged;
if the flywheel Nr fails, the ground is used for carrying out power failure treatment on the Nr flywheel;
if the flywheel N1 or the flywheel N2 has a power failure, the pitching axis posture is controlled by adopting a flywheel which is not powered down, the rolling axis posture is controlled by adopting a thruster for air injection, and the flywheel Nr is controlled by adopting a rotating speed; and finally, carrying out power failure fault treatment on the flywheel N1 or the flywheel N2 by the ground.
In one embodiment of the present invention, the flywheel Nr adopts rotational speed control, so that angular momentum generated by the flywheel Nr counteracts angular momentum caused by a rotational 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 aims at the flywheel which is not powered down, and the rotation speed conversion of the flywheel Nr is carried out according to the rotation speed of the flywheel which is not powered down; and the other part is aimed at a power-down flywheel, and the conversion of the Nr rotating speed of the flywheel is carried out according to the friction torque estimation and ground test data of the power-down flywheel on the satellite.
In one embodiment of the present invention, when the flywheel N1 fails, the flywheel Nr output torque should be:
wherein T is dN2 Is the friction interference moment of the flywheel 2, beta is the included angle between the momentum wheel and the-Y axis,moment generated for flywheel N2;
the flywheel Nr is used for controlling output, so that the interference moment of the satellite Z axis is close to 0Nm, and the satellite three-axis attitude is close to 0 degree by controlling the satellite rolling and pitching attitudes.
In one embodiment of the invention, the method can maintain the maintenance stably for at least 10 minutes when the flywheel N1 or the flywheel N2 fails.
In one embodiment of the invention, when the flywheel N1 or the flywheel N2 fails, the rolling change is not more than 0.2 degrees, the pitching is not more than 0.03 degrees, and the yaw change is not more than 0.2 degrees.
The satellite adopts three flywheels, wherein two of the three flywheels are installed in a V shape around a pitching axis and respectively marked as a flywheel N1 and a flywheel N2, and the other one of the three flywheels is installed along a yawing axis and marked as a flywheel Nr; all three flywheels are powered on 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 state of each flywheel, and if the power state of one flywheel is unpowered, the power failure of the corresponding flywheel is judged;
when the flywheel fails, the control module processes the failure according to the flywheel with the failure: if the flywheel Nr fails, the ground is used for carrying out power failure treatment on the Nr flywheel; if the flywheel N1 or the flywheel N2 has a power failure, the pitching axis posture is controlled by adopting a flywheel which is not powered down, the rolling axis posture is controlled by adopting a thruster for air injection, and the flywheel Nr is controlled by adopting a rotating speed; and finally, carrying out power failure fault treatment on the flywheel N1 or the flywheel N2 by the ground.
In one embodiment of the present invention, the flywheel Nr adopts rotational speed control, so that angular momentum generated by the flywheel Nr counteracts angular momentum caused by a rotational 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 aims at the flywheel which is not powered down, and the rotation speed conversion of the flywheel Nr is carried out according to the rotation speed of the flywheel which is not powered down; and the other part is aimed at a power-down flywheel, and the conversion of the Nr rotating speed of the flywheel is carried out according to the friction torque estimation and ground test data of the power-down flywheel 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 the flywheel on the satellite is not designed generally, and the flywheel switch is realized only by ground remote control. Once the flywheel is abnormally powered off due to space disturbance, emergency operation needs to be performed by the ground station to restore the flywheel powered-on state. Therefore, the recovery operation is often not timely, the satellite attitude cannot meet the requirements, and great pressure is brought to ground measurement and control management. According to the method, after the flywheel backup method is changed into hot standby and the corresponding attitude control algorithm is matched, emergency operation is changed into non-emergency general operation, so that the stability of satellite attitude is ensured, and the management pressure of ground measurement and control is greatly reduced.
(2) According to the invention, by the method for thermally preparing the Nr flywheel, the unknown angular momentum generated by the power-down flywheel can be counteracted in time by controlling the rotating speed of the Nr flywheel at the first time of power-down of the N1 flywheel or the N2 flywheel, the continuity of satellite attitude control is ensured, and the purposes of stable attitude and continuous service can be achieved.
(3) In the invention, the Nr flywheel is controlled by utilizing the existing information on the satellite and automatically processing the information through uploading software. The algorithm is simple and practical, and no extra hardware cost is increased.
(4) The method is easy to operate, is applicable to satellites with similar configurations, and is convenient to popularize. For the communication satellite, the 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 flywheel installation in the V+L configuration;
FIG. 2 is a flow chart of a bias momentum flywheel power failure process;
FIG. 3 is a three-axis attitude control curve during a N1 flywheel power down;
fig. 4 is a graph of the flywheel rotational speed during N1 power down, N1, N2, nr.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
In-orbit data show that if a flywheel is powered down in a long-term running mode of a certain satellite, the satellite attitude obviously fluctuates in about 10 seconds, and the system is triggered to enter a safe mode controlled by a thruster. By the method, the backup flywheel Nr flywheel is heated for a long time to be backed up, and after the power failure of the flywheel occurs, the control mode of the flywheel is automatically switched on the satellite to realize stable control of the gesture. The technical scheme of the method comprises the following steps:
(1) And if the power state of the flywheel is unpowered (abnormal power failure), a corresponding flywheel power failure fault alarm is set.
(2) After the power failure, the control mode is switched automatically according to the power-on state of the flywheel, and the control logic is shown in the following table 1.
TABLE 1
Aiming at N1 or N2 power failure, taking N2 power failure as an example, the processing scheme of the method is described. After N2 is powered down, under the action of friction torque, the rotation speed of N2 is gradually reduced, so that the angular momentum Hy and Hz of the Y axis and the Z axis of the satellite are changed, and interference torque is generated by the change, so that the satellite attitude error is increased. The method comprises the following specific control processes:
(a) Flywheel control is adopted for pitching axis (Y axis) gesture
And performing closed-loop attitude control on the pitching axis by using the flywheel N1 without power failure.
(b) The attitude of the rolling shaft (X-axis) is controlled by adopting a thruster for air injection
The rolling axis thruster of the Dongfour-civil star has almost no residual components on other axes, and according to the characteristic, the sensor is used for measuring information, and closed-loop attitude control is directly carried out.
(c) Nr employs rotational speed control
The rotational speed of N1 and N2 can change the angular momentum on the Z axis, and the purpose of controlling the rotational speed of Nr is to hopefully cancel the angular momentum caused by the rotational speed change of N1 and N2 by the angular momentum generated by Nr, so that the Z axis of the satellite only slowly changes at the previous residual angular speed.
The rotating speed control of Nr is divided into two parts, namely, N1 which is not powered down is subjected to corresponding Nr rotating speed conversion according to the read N1 rotating speed; the other part is N2 for power failure, and the part needs Nr rotation speed conversion according to the on-board N2 friction torque estimation and ground test data.
(3) And within the limited time, the ground station powers the power-down flywheel again, and the satellite autonomously restores the V-shaped wheel control.
Examples:
the satellite bias momentum flywheel hot standby method provided by the invention consists of 3 main steps, and the specific implementation principle is shown in figure 2. Taking a certain communication satellite as an example, the nominal angular momentum of the flywheel N1 is 50Nms (rotating speed 4600 r/min), the nominal angular momentum of the flywheel N2 is 50Nms (rotating speed 4600 r/min), and the nominal angular momentum of the flywheel Nr is 25Nms (rotating speed 4600 r/min), and the specific implementation process is as follows:
(1) The three flywheels are powered on in an on-orbit and long-term manner, wherein the flywheels N1 and N2 are subjected to attitude control in a V-shaped bias momentum control mode, the configuration is shown in the figure 1, and the power state of the flywheels is monitored on the satellite autonomously in real time.
(2) Taking flywheel N1 power failure as an example, a calculation method and steps are provided.
The small-angle dynamic equation of the rigid body of the whole-star offset angular momentum V-shaped wheel control satellite is as follows:
wherein I is x Is the inertia of the X axis of the satellite, I y Is the inertia of the satellite Y-axis.
Available from wheel mounting
Wherein C is w A matrix is mounted for the flywheel.
Where β is the angle between the momentum wheel and the-Y axis, typically 20 degrees.And->Moment generated by flywheel N1, flywheel N2 and flywheel Nr respectively, +.>And->And the resultant moment in Y and Z directions generated by the action of flywheel moment on the star body respectively.
After the flywheel N1 is powered down, there is
Wherein T is dN1 Is an unknown friction interference moment generated after the flywheel 1 is powered down. Substitution into formula (2) yields:
substituting (4) into (1) to obtain
In the method, in the process of the invention,θ, ψ are the satellite roll, pitch, yaw attitude, ω, respectively 0 For satellite orbital angular velocity, H 0 Angular momentum is offset for the satellite.
The active control of the flywheel on the pitching axis is considered, namely the pitch angle is controlled by utilizing the flywheel N2, so thatSubstitution (5 b) to obtain
As can be seen from equation (6), ifThe flywheel Nr output torque should be
Wherein T is dN2 For friction disturbance moment of flywheel 2, I z Is the inertia of the satellite Z axis.
The output is controlled by utilizing the flywheel Nr, so that the disturbance moment of the satellite Z axis is close to 0Nm, and the satellite rolling and pitching gestures are controlled to ensure the satelliteThe three-axis posture of the theta and phi is close to 0 degree, and the three-axis posture of the satellite 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 the powered off flywheel again, and the satellite autonomously restores the V-shaped wheel control.
(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 yaw change is not more than 0.2 degree, the power is turned off for 10 minutes (the simulated power-off time is 1000s, but ten minutes can be maintained by conservative estimation in consideration of different initial rotation speeds of the flywheel), and the ground attitude can be stably maintained.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (10)
1. A satellite bias momentum flywheel hot standby method is characterized by comprising the following steps:
the three flywheels of the satellite are arranged in a V shape around a pitching axis, and are respectively marked as a flywheel N1 and a flywheel N2, and the other one is arranged along a yawing axis and is marked as a flywheel Nr;
the three flywheels are powered on for a long time, the power state of each flywheel is monitored, and if the power state of one flywheel is unpowered, the power failure of the corresponding flywheel is judged;
if the flywheel Nr fails, the ground is used for carrying out power failure treatment on the Nr flywheel;
if the flywheel N1 or the flywheel N2 has a power failure, the pitching axis posture is controlled by adopting a flywheel which is not powered down, the rolling axis posture is controlled by adopting a thruster for air injection, and the flywheel Nr is controlled by adopting a rotating speed; and finally, carrying out power failure fault treatment on the flywheel N1 or the flywheel N2 by the ground.
2. The method of claim 1, wherein the flywheel Nr is controlled by using a rotational speed, so that angular momentum generated by the flywheel Nr counteracts angular momentum caused by a change in the rotational speed of the flywheel N1 or the flywheel N2 as much as possible.
3. The method for hot standby of satellite offset momentum flywheel according to claim 1, characterized in that the rotation speed control of flywheel Nr is divided into two parts, one part is aimed at the flywheel which is not powered down, and the rotation speed conversion of flywheel Nr is carried out according to the rotation speed of flywheel which is not powered down; and the other part is aimed at a power-down flywheel, and the conversion of the Nr rotating speed of the flywheel is carried out according to the friction torque estimation and ground test data of the power-down flywheel on the satellite.
4. The method of claim 1, wherein when the flywheel N1 fails, the flywheel Nr output torque should be:
wherein T is dN2 Is the friction interference moment of the flywheel N2, beta is the included angle between the momentum wheel and the-Y axis,moment generated for flywheel N2;
the flywheel Nr is used for controlling output, so that the interference moment of the satellite Z axis is close to 0Nm, and the satellite three-axis attitude is close to 0 degree by controlling the satellite rolling and pitching attitudes.
5. The method of any one of claims 1 to 4, wherein the method is capable of maintaining a stable ground attitude for at least 10 minutes in the event of a power failure of the flywheel N1 or the flywheel N2.
6. The method of claim 5, wherein the rolling change is not more than 0.2 degrees, the pitching is not more than 0.03 degrees, and the yaw change is not more than 0.2 degrees when the flywheel N1 or the flywheel N2 fails.
7. The satellite bias momentum flywheel hot standby system is characterized in that a satellite adopts three flywheels, wherein two of the three flywheels are installed in a V shape around a pitching axis and respectively marked as a flywheel N1 and a flywheel N2, and the other one of the three flywheels is installed along a yawing axis and marked as a flywheel Nr; all three flywheels are powered on 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 state of each flywheel, and if the power state of one flywheel is unpowered, the power failure of the corresponding flywheel is judged;
when the flywheel fails, the control module processes the failure according to the flywheel with the failure: if the flywheel Nr fails, the ground is used for carrying out power failure treatment on the Nr flywheel; if the flywheel N1 or the flywheel N2 has a power failure, the pitching axis posture is controlled by adopting a flywheel which is not powered down, the rolling axis posture is controlled by adopting a thruster for air injection, and the flywheel Nr is controlled by adopting a rotating speed; and finally, carrying out power failure fault treatment on the flywheel N1 or the flywheel N2 by the ground.
8. The satellite-biased momentum flywheel thermal backup system of claim 7, wherein the flywheel Nr is speed controlled such that angular momentum generated by the flywheel Nr counteracts angular momentum caused by changes in the rotational speed 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 aimed at a flywheel which is not powered down, and the rotation speed conversion of the flywheel Nr is carried out according to the rotation speed of the flywheel which is not powered down; and the other part is aimed at a power-down flywheel, and the conversion of the Nr rotating speed of the flywheel is carried out according to the friction torque estimation and ground test data of the power-down flywheel on the satellite.
10. The satellite-biased momentum flywheel thermal backup system of claim 7, wherein maintenance is enabled to be stably maintained in a 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 yaw change is not more than 0.2 degree.
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