CN115783312A - All-day-area sun vector autonomous capture control method of analog sun sensor - Google Patents
All-day-area sun vector autonomous capture control method of analog sun sensor Download PDFInfo
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- CN115783312A CN115783312A CN202211565934.0A CN202211565934A CN115783312A CN 115783312 A CN115783312 A CN 115783312A CN 202211565934 A CN202211565934 A CN 202211565934A CN 115783312 A CN115783312 A CN 115783312A
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Abstract
The invention discloses an all-day-area sun vector autonomous capture control method of an analog sun sensor, which comprises the following steps: and if the analog sun sensor is not illuminated or the absolute value of the sun angle of the rolling shaft is greater than a set threshold gamma, controlling the satellite platform to rotate around the rolling shaft at a constant rotating speed to search for the sun. In the rotating process of the rolling shaft, if the sun is not found after the rolling shaft rotates for a whole circle, or the sun angle of the rolling shaft is controlled to be converged, the satellite platform is controlled to rotate around the pitching shaft at a constant rotating speed to search for the sun. And in the rotation process of the pitching axis, if the analog sun sensor is illuminated and the absolute value of the solar angle of the pitching axis is less than or equal to the set threshold gamma, switching the pitching axis to the oblique switch line control law, and gradually converging the solar angle of the pitching axis. The invention solves the problem that the logic of the sun captured by the satellite is disordered due to the fact that the 0-1 type sun sensor is easy to be shielded or the light is reflected to output wrong sun directions.
Description
Technical Field
The invention relates to a satellite attitude and orbit control technology, in particular to an all-sky-region sun vector autonomous acquisition control method only depending on a limited-view-field analog sun sensor.
Background
The sun sensor is a common sun azimuth detector on a satellite, generally comprises three types of 0-1 type, analog type and digital type, most of domestic satellites are configured with the 0-1 type and the analog type to obtain sun azimuth at present, wherein the 0-1 type sun sensor is used for judging the approximate azimuth of the sun under the reference of a satellite body, the analog type sun sensor can output a sun azimuth with certain precision, and the sun azimuth and the analog type sun sensor can be matched to finish sun capture and sun-oriented control.
The traditional satellite has relatively small load, a satellite platform has enough space for arranging the sun sensors, the satellite attitude maneuvering mode is simple, the 0-1 type of satellite is guaranteed to be sensitive to obtain better illumination conditions, and the influence of shielding over-reflected light is avoided. Along with the improvement of precision requirements of ground remote sensing, space observation and the like, the amount of load is larger and larger, the layout space of the sun sensor on the satellite is compressed, and in addition, the diversification of the attitude maneuver mode and the increase of the maneuver angle of the satellite are increased, so that the 0-1 type sun sensor is greatly shielded by external extension parts such as an antenna, a battery array and a truss or is irradiated by reflected light of the external extension parts during the in-orbit flight, wrong sun azimuth information is output, the in-orbit normal capturing sun logic of the satellite is disturbed, and even the sun cannot be captured.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a full-day-area sun vector autonomous capture control method only depending on a limited-view-field analog type sun sensor, which utilizes the high reliability characteristic of the analog type sun sensor to complete traversal scanning of the full-day area through the rotation of a satellite platform under the conditions that the layout condition and the on-orbit illumination condition of the 0-1 type sun sensor are poor and a control system can isolate the 0-1 type sun sensor, thereby ensuring that the analog type sun sensor can find the sun and immediately complete sun capture and sun alignment after finding.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
an all-sky-region sun vector autonomous capture control method of an analog sun sensor, which installs the analog sun sensor on a-Zb surface of a satellite platform, comprises the following steps:
step S1, under the condition that gyroscope data is effective, if the analog sun sensor is not illuminated or the absolute value of the sun angle of the rolling shaft is larger than a set threshold value gamma, the satellite platform is controlled to rotate around the rolling shaft at a constant rotating speed to search for the sun.
And S2, in the rotating process of the rolling shaft, if the analog sun sensor is illuminated and the absolute value of the solar angle of the rolling shaft is less than or equal to a set threshold gamma, switching the rolling shaft to an oblique switch line control law to enable the solar angle of the rolling shaft to be gradually converged.
And S3, if the sun is not found after the rolling shaft rotates for a full circle or the sun angle of the rolling shaft is controlled to be converged, controlling the satellite platform to rotate around the pitching shaft at a constant rotating speed to search for the sun.
And S4, in the process of rotating the pitching axis, if the analog sun sensor is illuminated and the absolute value of the solar angle of the pitching axis is smaller than or equal to a set threshold gamma, switching the pitching axis to an oblique switch line control law, and gradually converging the solar angle of the pitching axis.
And S5, returning to the step S1 if the rolling axis solar angle is not converged after the pitching axis solar angle is converged.
Optionally, the step S2 further includes: and after the rolling axis finds the sun and the sun angle of the rolling axis is within a set threshold value gamma, switching the rolling axis to an inclined switch line control law to finish the steps of capturing the sun by the rolling axis and orienting the sun.
Optionally, the step S4 includes: and after the sun is found by the pitching axis and the solar angle of the pitching axis is within the set threshold value gamma, switching the pitching axis to the oblique switch line control law to complete the sun capture of the pitching axis and the sun orientation.
Optionally, the step S5 includes: after the sun is captured by the pitch axis, if the roll axis sun angle is not converged, the process returns to step S1.
Optionally, before performing step S1, the method further includes: in an initial state, setting all three axes of the satellite platform as a default state of rate damping control so as to enable the satellite platform to keep inertial orientation in space.
The invention has at least one of the following advantages:
the invention solves the problem that the 0-1 type sun sensor is easy to be shielded or light reflected to output wrong sun direction, which causes the logic disorder of the sun captured by a satellite, by an autonomous capturing control method of the sun vector of the whole day area only depending on the limited view field analog type sun sensor, and realizes the traversal coverage of the whole day area by the analog type sun sensor through the platform rotation by utilizing the advantage of the reliable and stable output in the limited view field of the analog type sun sensor, thereby realizing the effective capturing of the sun and the directional control of the sun, and having higher reliability in the capturing process.
Drawings
FIG. 1 is a schematic diagram of the installation position of an analog sun sensor used in the present invention on a satellite;
FIG. 2 is a schematic view of a sky area swept by an analog sun sensor during rotation of a satellite platform according to the present invention;
FIG. 3 is a flowchart of a method for controlling the autonomous capturing of sun vectors in a whole day area by using only a limited field-of-view analog sun sensor according to an embodiment of the present invention;
reference numerals:
the system comprises an analog sun sensor 1, a sun sensor view field 2 and a satellite platform 3.
Detailed Description
The invention provides a full-day-area sun vector autonomous capturing control method only depending on a limited-field-of-view analog type sun sensor, which is further described in detail with reference to the accompanying drawings and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, etc. shown in the drawings and attached to the description are only for understanding and reading the disclosure of the present disclosure, and are not for limiting the scope of the present disclosure, so they do not have the essential meaning in the art, and any modifications of the structures, changes of the ratio relationships, or adjustments of the sizes, should fall within the scope of the present disclosure without affecting the efficacy and the achievable purpose of the present disclosure.
In the new practical situation, under the conditions of layout conditions of the 0-1 type sun sensor and poor on-orbit illumination conditions, the control system is required to isolate the 0-1 type sun sensor, so that the interference of wrong sun azimuth information on normal sun capturing logic is avoided, and the capability of capturing the sun and orienting the sun by only depending on the limited field-of-view simulation type sun sensor is also required.
According to the embodiment, the high reliability of the analog sun sensor is utilized, traversal scanning of all day areas is completed through rotation of the satellite platform, the analog sun sensor is ensured to be capable of finding the sun, and sun capture and sun alignment are completed immediately after finding.
As shown in fig. 1, the present embodiment takes the example that the analog sun sensor 1 is installed on the-Zb surface of the satellite platform 3, and describes a control method that only relies on the analog sun sensor 2 to capture the sun, and the effective field of view 2 of the analog sun sensor is set to ± 45 °, which belongs to the mainstream level. When the satellite platform 3 finishes the sun orientation of the analog sun sensor 1, the rolling axis solar angle alpha and the pitching axis solar angle beta output by the analog sun sensor 1 fluctuate near 0 degrees.
As shown in fig. 2, after the satellite platform 3 rotates a full circle around the rolling axis Yb and the pitching axis Xb in the inertial space, the sky area swept by the analog sun sensor can completely cover the whole sky area, and it is ensured that no omission exists. In fact, even if the field of view of the analog sun sensor is smaller than ± 45 °, the coverage of the whole day area can be realized by one circle of rolling axis scanning and several circles of pitching axis scanning under different rolling angles, and the related method provided by the embodiment is still applicable.
As shown in fig. 3, under the condition that gyro data is valid, a solar control process may start to be captured, and in an initial state, all three axes of the satellite platform 3 are set to be in a default state of rate damping control, so that the satellite platform 3 maintains inertial orientation in space (a three-axis rate damping control law is set by default).
Step S100, firstly judging the state that the rolling axis Yb captures the sun, if the rolling axis solar angle alpha output by the analog sun sensor is beyond a set threshold value gamma, entering step S101, at the moment, judging that the sun is not captured by the control system, and at the moment, meeting the following requirements:
abs(α)＞γ (1)
in the formula: the function "abs" represents the absolute value calculation.
In order to simplify the judgment process of the system and enable the logic of the captured sun to be more universal, when the analog sun sensor is not irradiated by the sun and cannot output an effective sun angle, the sun angle of the axis is artificially set to be a fixed value larger than a visual field range, such as 90 degrees, and the sun angles of the rolling axis and the pitching axis are processed according to the method.
Step S101, when the condition shown in the formula (1) is met, the satellite platform is required to rotate around a rolling axis to search for the sun or approach the sun, and the rotation angular speed is
ω x ＝-sign(α)·ω c (2)
In the formula: the function "sign" represents a sign-taking operation, ω c Is the set capture solar angular velocity.
I.e. the roll axis according to the angular speed of rotation omega x Or-omega x The other two shafts are controlled to be constant.
Step S102, if the satellite platform rotates around the rolling axis at the rotation angular speed omega x Or-omega x And (3) the condition shown in the formula (1) is always satisfied after the sun rotates for a whole circle, which indicates that the current sun is not in the sky area swept by the analog sun sensor when rotating around the rolling axis, and the rolling axis control algorithm is switched back to the rate damping control law, so that the rolling axis is despun.
With reference to fig. 3, in step S103, when the rolling axis captures the sun, if the condition shown in equation (1) is no longer satisfied, that is, abs (α) is less than or equal to γ, the rolling axis control algorithm is switched to the oblique on-off control law, and the solar angle α of the rolling axis is driven to gradually converge, so as to achieve the sun-to-sun orientation of the rolling axis, and the two-axis control law is maintained unchanged.
With continued reference to fig. 3, the pitch axis solar control continues whether the roll axis has completed solar capture and is oriented to the sun or no sun is found after a turn.
The process proceeds to step S104, and similarly, when the control system determines that the sun is not captured by the pitch axis, the conditions are satisfied:
abs(β)＞γ (3)
in the formula: beta is the pitching solar angle output by the analog sun sensor.
Step S105, controlling the satellite platform to rotate around the pitch axis at a constant speed at the moment, wherein the rotation angular speed omega y Is composed of
ω y ＝-sign(β)·ω c (4)
I.e. the pitch axis according to the angular velocity of rotation omega y Or-omega y Rotating at a constant speed, keeping the other two-axis control law unchanged, and returning to the step S104.
And S106, according to the field of view envelope of the analog sun sensor, the sun can be found in the rotation process of the pitching axis without fail, and when the condition shown in the formula (3) is no longer met, abs (beta) is less than or equal to gamma, which means that the sun capture is completed. The control algorithm of the pitching axis is switched to an oblique switch line control law, the sun angle of the pitching axis is driven to gradually converge, the sun orientation of the pitching axis is realized, and in addition, the two-axis control law is kept unchanged.
With continued reference to fig. 3, in step S107, if the rolling axis has already finished the sun-facing orientation in the foregoing flow, then both the rolling axis and the pitching axis finish the sun-facing orientation at this time, that is, the satellite realizes the autonomous capturing and orientation control of the sun vector.
And S108, if the sun is not found in the rolling axis scanning process, after the pitching axis is oriented to the sun, the rolling axis sun capturing control needs to be carried out again, and the control flow is the same as that of the first rolling axis capturing until the rolling axis captures the sun and orients to the sun. That is, steps S100 to S107 are repeated.
In summary, the embodiment discloses an all-day-area sun vector autonomous capture control method only depending on a limited-view-field analog type sun sensor, and for the problem that the complex-structure satellite 0-1 type sun sensor is easy to be shielded or cannot normally work due to light reflection, the sun is captured only depending on the limited-view-field analog type sun sensor, traversal of the analog type sun sensor on the all-day area is realized through spatial rotation control of a satellite platform, and the sun capture and the sun direction orientation can be ensured quickly by combining blind sun capture control logic only depending on the analog type sun sensor. Compared with the prior art, its beneficial effect is: in the process of capturing the sun, the wrong sun azimuth possibly output by the 0-1 type sun sensor is isolated, the disorder of the logic of capturing the sun caused by wrong information is avoided, the sun can be captured by the attitude rotation of the satellite platform under the blind sun capturing control logic by virtue of the advantage of reliable measurement of the sun vector in the limited field of view of the analog type sun sensor, and the reliability of the capturing process is higher.
It should be noted that, in this document, 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 phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
It should be noted that the apparatuses and methods disclosed in the embodiments herein can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments herein. In this regard, each block in the flowchart or block diagrams may represent a module, a program, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments herein may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (5)
1. An all-day-zone sun vector autonomous capture control method of an analog sun sensor is characterized in that the analog sun sensor is installed on a-Zb surface of a satellite platform, and the method comprises the following steps:
s1, under the condition that gyroscope data is effective, if the analog sun sensor is not illuminated or the absolute value of the sun angle of a rolling shaft is greater than a set threshold gamma, controlling the satellite platform to rotate around the rolling shaft at a constant rotating speed to search for the sun;
s2, in the rotating process of the rolling shaft, if the analog sun sensor is illuminated and the absolute value of the sun angle of the rolling shaft is smaller than or equal to a set threshold gamma, switching the rolling shaft to an oblique switch line control law to enable the sun angle of the rolling shaft to be gradually converged;
s3, if the sun is not found after the rolling shaft rotates for a whole circle, or the sun angle of the rolling shaft is controlled to be converged, the satellite platform is controlled to rotate around the pitching shaft at a constant rotating speed to search for the sun;
s4, in the rotation process of the pitching axis, if the analog sun sensor is illuminated and the absolute value of the solar angle of the pitching axis is smaller than or equal to a set threshold gamma, switching the pitching axis to an oblique switch line control law to enable the solar angle of the pitching axis to be gradually converged;
and S5, returning to the step S1 if the rolling axis solar angle is not converged after the pitch axis solar angle is converged.
2. The method for controlling the autonomous capture of the sun vector of the all-day-zone sun sensor according to claim 1, wherein the step S2 further comprises:
and after the rolling axis finds the sun and the sun angle of the rolling axis is within a set threshold value gamma, switching the rolling axis to an inclined switch line control law to finish the steps of capturing the sun by the rolling axis and orienting the sun.
3. The method for controlling the autonomous capturing of the whole-day-zone sun vector of the analog sun sensor according to claim 1, wherein the step S4 comprises: and after the sun is found by the pitching axis and the solar angle of the pitching axis is within the set threshold value gamma, switching the pitching axis to the oblique switch line control law to complete the sun capture of the pitching axis and the sun orientation.
4. The method for controlling the autonomous capturing of the whole-day-zone sun vector of the analog sun sensor according to claim 1, wherein the step S5 comprises: after the sun is captured by the pitch axis, if the roll axis sun angle is not converged, the process returns to step S1.
5. The method for controlling the autonomous capture of the sun vector of the all-day-zone sun sensor according to claim 1, further comprising, before performing step S1:
in an initial state, setting all three axes of the satellite platform as a default state of rate damping control so as to enable the satellite platform to keep inertial orientation in space.
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| CN202211565934.0A CN115783312A (en) | 2022-12-07 | 2022-12-07 | All-day-area sun vector autonomous capture control method of analog sun sensor |
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| CN202211565934.0A CN115783312A (en) | 2022-12-07 | 2022-12-07 | All-day-area sun vector autonomous capture control method of analog sun sensor |
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