CN116048123A - Spacecraft attitude orbit control scheme design method and system based on model - Google Patents
Spacecraft attitude orbit control scheme design method and system based on model Download PDFInfo
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Abstract
A design method and system of spacecraft attitude orbit control scheme based on model, firstly, a standardized overall input model of spacecraft attitude and orbit control system is established, which comprises standardized models of attitude characteristic, orbit characteristic, function requirement, performance index and the like, and a high-precision digital simulation model and a model spectrum model of a common actuating mechanism and a single sensor product of the spacecraft are established; establishing a spacecraft attitude and orbit control common algorithm model, and carrying out spacecraft attitude and orbit control system scheme design according to the model, wherein the spacecraft attitude and orbit control system scheme design comprises characteristic analysis, component configuration and layout analysis, performance index analysis, attitude control and orbit control algorithm design, function and performance closed-loop simulation verification, and if the function and performance index subjected to closed-loop simulation meet the requirements, completing the design; if the requirement is not met, iterating with the index requirement of the step one overall or repeating the step four redesign until the requirement is met.
Description
Technical Field
The invention relates to a model-based spacecraft attitude orbit control scheme design method and system, and belongs to the technical field of spacecraft attitude and orbit control design.
Background
The attitude and orbit control of the spacecraft are an important ring of spacecraft system engineering, standardized modeling is required from design input and index requirements to single-machine model and algorithm design, the degree of knowledge sharing is improved, expert maturity in the field of excavation and solidification and professional technology and knowledge of the system are improved, and scheme design and verification of a satellite control system are more efficiently completed, so that the development quality of the satellite control system is improved, and the development period is shortened. With more and more space missions and shorter development periods, the traditional spacecraft system engineering method based on text cannot meet the development requirements, and a spacecraft system engineering method based on a model is needed.
Disclosure of Invention
The invention solves the technical problems that: aiming at the problem that a spacecraft system engineering method based on a model is needed in the prior art, a spacecraft attitude orbit control scheme design method and system based on the model are provided.
The invention solves the technical problems by the following technical proposal:
a spacecraft attitude orbit control scheme design method based on a model comprises the following steps:
establishing a standardized overall input model of a spacecraft attitude and orbit control system;
establishing a digital simulation model and a model spectrum model of a spacecraft actuating mechanism and a sensor;
establishing a spacecraft attitude and orbit control general algorithm model;
establishing a spacecraft attitude and orbit control special algorithm model;
according to a standardized overall input model, a digital simulation model, a model spectrum model, a general algorithm model and a special algorithm model, the spacecraft attitude and orbit control scheme is designed and simulation verification is carried out;
judging whether the designed spacecraft attitude and orbit control scheme meets the model task index requirements.
The standardized overall input model comprises a gesture characteristic standardized model, an orbit characteristic standardized model, a functional requirement standardized model and a performance index standardized model, wherein the gesture characteristic standardized model and the orbit characteristic standardized model are described by adopting standard variables and values, the functional requirement standardized model is described by adopting a general attribute special attribute description of a spacecraft gesture and an orbit control system, the performance index standardized model is described by adopting an attribute keyword and an attribute value mode, and the overall input model is transmitted by adopting a Json format and is used for designing a spacecraft gesture and an orbit control system scheme.
The actuating mechanism comprises a momentum wheel, a CMG, a magnetic torquer, a sailboard driving mechanism, a chemical thruster, an electric thruster and other general actuating mechanisms; the sensor comprises a GNSS, a star sensor, a three-floating gyroscope, a fiber optic gyroscope, an infrared earth sensor, a digital sun sensor, an analog sun sensor, an accelerometer and other sensors, wherein:
the model spectrum model is used for component model selection and index analysis in the scheme design process, and the digital simulation model is used for simulation verification of the scheme design result after being configured according to the selected single model spectrum parameter.
The general algorithm model comprises a numerical integration orbit extrapolation algorithm, a star-sensitive gyroscope attitude determination algorithm, a point-to-point attitude planning algorithm, a zero momentum attitude control algorithm, a CMG instruction angular velocity distribution algorithm and a jet phase plane attitude control algorithm;
the special algorithm model is a special algorithm which is used for realizing the function or performance index of the spacecraft attitude and orbit control system and is not included in the general algorithm model;
and when the spacecraft scheme is designed, parameter configuration is carried out on the selected general algorithm model, and the special algorithm model of the spacecraft is combined to jointly complete the spacecraft attitude and orbit control tasks.
The specific method for designing the spacecraft attitude and orbit control system scheme comprises the following steps:
performing spacecraft characteristic analysis according to the standardized overall input model;
according to the standardized overall input model, performing spacecraft component model selection, configuration and layout analysis;
according to the standardized overall input model, performing performance index analysis;
according to all analysis results, spacecraft attitude control and orbit control design are carried out, and a general algorithm, a special algorithm and configuration parameters thereof are determined;
and carrying out overall simulation verification according to a general algorithm and a special algorithm for standardized overall input, component selection, configuration and layout, attitude control and orbit control of the spacecraft.
The spacecraft characteristic analysis comprises attitude dynamics analysis, liquid shaking analysis and orbit characteristic analysis, and input data of the spacecraft characteristic analysis are an attitude characteristic standardized model and an orbit characteristic standardized model.
The spacecraft component selection, configuration and layout analysis specifically comprises the following steps:
and respectively carrying out momentum wheel option, layout and angular momentum envelope analysis, CMG model selection, layout and angular momentum envelope analysis, thruster model selection, layout and interference analysis, magnetic torquer model selection, layout and unloading capacity analysis, star sensor model selection, layout and interference analysis, and determining the optimal model, configuration and layout of the spacecraft component according to the digital simulation model and the model spectrum model.
The performance index analysis includes:
and respectively carrying out attitude determination precision analysis, attitude pointing precision analysis, attitude stability analysis, attitude maneuver capability analysis, interference force and moment analysis, fuel consumption analysis and the like, and determining the specific implementation condition of the attribute values in the performance index standardization model according to the attitude characteristic standardization model, the orbit characteristic standardization model and the optimal selection, configuration and layout of the components of the spacecraft.
Judging whether the designed spacecraft attitude and orbit control scheme meets the requirements of model task functions and performance indexes, if so, completing the design; if the model is not satisfied, modifying a standardized overall input model, or carrying out spacecraft component model selection and configuration again or carrying out algorithm design again, and iterating or repeating spacecraft attitude and orbit control scheme design until the requirements are satisfied.
A model-based spacecraft attitude orbit control scheme design system, comprising:
modeling unit, emulation verification unit, scheme design unit, wherein:
the modeling unit respectively establishes a digital simulation model and a model spectrum model of the spacecraft actuating mechanism and the sensor according to the parameters required by the scheme design, and simultaneously establishes a general algorithm model for spacecraft attitude and orbit control and a special algorithm model for spacecraft attitude and orbit control;
the simulation verification unit is used for designing a spacecraft attitude and orbit control scheme and performing simulation verification according to a standardized overall input model, a digital simulation model, a model spectrum model, a general algorithm model and a special algorithm model;
the scheme design unit judges the design parameters of the completed spacecraft attitude and orbit control scheme, and judges whether the designed spacecraft attitude and orbit control scheme meets the model task index requirements.
Compared with the prior art, the invention has the advantages that:
the spacecraft attitude orbit control scheme design method and system based on the model provided by the invention are characterized in that a standardized overall input model is established through a scheme design system comprising a modeling unit, a simulation verification unit and a scheme design unit, scheme design is carried out according to a common algorithm model, the scheme integral design is completed through iterative or repeated characteristic analysis, component configuration and layout analysis, performance index analysis, attitude control and orbit control algorithm design and function and performance closed loop simulation verification, the characteristics and modes of engineering research and development are closely matched, and the scheme design requirements of all flows of modeling, demonstration, design, calculation, simulation, analysis and the like are met, so that the algorithm reliability and efficiency of the spacecraft control system scheme design can be improved
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FIG. 1 is a schematic diagram of a model-based spacecraft attitude and orbit control method scheme provided by the invention;
Detailed Description
A design method and system of spacecraft attitude orbit control scheme based on model, firstly, a standardized overall input model of spacecraft attitude and orbit control system is established, which comprises standardized models of attitude characteristic, orbit characteristic, function requirement, performance index and the like, and a high-precision digital simulation model and a model spectrum model of a common actuating mechanism and a single sensor product of the spacecraft are established; establishing a spacecraft attitude and orbit control common algorithm model, and carrying out spacecraft attitude and orbit control system scheme design according to the model, wherein the spacecraft attitude and orbit control system scheme design comprises characteristic analysis, component configuration and layout analysis, performance index analysis, attitude control and orbit control algorithm design, function and performance closed-loop simulation verification, and if the function and performance index subjected to closed-loop simulation meet the requirements, completing the design; if the requirement is not met, iterating with the index requirement of the step one overall or repeating the step four redesign until the requirement is met.
The following further description of the preferred embodiments is provided in connection with the accompanying drawings of the specification:
in the current embodiment, the model-based spacecraft attitude and orbit control scheme design method specifically comprises the following steps:
example one is shown in figure 1:
step one, establishing a standardized overall input model of a spacecraft attitude and orbit control system, wherein the standardized overall input model comprises an attitude characteristic standardized model, an orbit characteristic standardized model, a functional requirement standardized model and a performance index standardized model, the attitude characteristic standardized model and the orbit characteristic standardized model are described by adopting standard variables and values, the functional requirement standardized model is described by adopting a general attribute special attribute description of the spacecraft attitude and orbit control system, the performance index standardized model is described by adopting an attribute keyword and attribute value mode, and the overall input model is transmitted by adopting a Json format and is used for designing a scheme of the spacecraft attitude and orbit control system;
the gesture characteristic standardized model is such as the total mass of the spacecraft, the barycenter coordinate of the spacecraft, the rotational inertia of the spacecraft relative to the barycenter of the spacecraft in the spacecraft body coordinate system, the total number of accessories, the total mass of the accessories, the barycenter coordinate of the accessories in the accessory local coordinate system, the rotational inertia of the accessories relative to the barycenter of the accessories in the accessory local coordinate system, the accessory frequency, the flexible coupling coefficient matrix of the accessory vibration to the translation of the spacecraft and the flexible coupling coefficient matrix of the accessory vibration to the rotation of the spacecraft;
orbit characteristics standardized models such as orbit time, instantaneous orbit six numbers under J2000 inertial coordinate system, perturbation parameters;
the function requires the general properties of the standardized model such as "full attitude capture capability with satellite attitude loss reference", the special properties such as "capture tracking capability with fine-heeled turret";
performance index normalization models such as: attribute key [ windsurfing tracking precision ], attribute value [5], attribute unit [ deg ];
step two, establishing a digital simulation model and a model spectrum model of the spacecraft actuating mechanism and the sensor;
for example, a momentum wheel digital simulation model, wherein inputs comprise instruction marks, power-on states, fault states, maximum angular momentum, maximum moment, dynamic friction moment parameters, static friction moment parameters, starting time, simulation step length, angular momentum sampling time, angular momentum sampling equivalent, control voltage and the like; the output comprises moment, angular momentum, validity marks and the like;
such as momentum wheel spectrum models including code, weight, power consumption, configuration size, working life, nominal angular momentum, maximum moment, dynamic and static unbalance, etc.;
thirdly, building a general algorithm model for spacecraft attitude and orbit control: a numerical integration orbit extrapolation algorithm, a star-sensitive gyroscope attitude determination algorithm, a point-to-point attitude planning algorithm, a zero momentum attitude control algorithm, a CMG instruction angular velocity distribution algorithm and a jet phase plane attitude control algorithm;
for example, a numerical integration orbit extrapolation algorithm model inputs an initial satellite orbit number and a satellite time t, and outputs an orbit number under a satellite J2000 instantaneous inertial system and a conversion matrix Coi from the inertial system to the orbit system; the star sensor measurement, the gyro measurement and the Coi are input into a star sensor attitude determination algorithm model, and an attitude quaternion qbi of an inertial system and a triaxial Euler attitude angle and an angular velocity of a track system are output;
step four, establishing a spacecraft attitude and orbit control special algorithm model
For example, establishing a two-dimensional turntable acquisition tracking algorithm;
fifthly, designing a spacecraft attitude and orbit control scheme and performing simulation verification according to a standardized overall input model, a digital simulation model, a model spectrum model, a general algorithm model and a special algorithm model:
step1: according to the standardized overall input model, spacecraft characteristic analysis including attitude dynamics analysis, liquid shaking analysis, orbit characteristic analysis and the like is carried out;
step2: according to a standardized overall input model, performing spacecraft component model selection, configuration and layout analysis, including momentum wheel option, layout and angular momentum envelope analysis, CMG model selection, layout and angular momentum envelope analysis, thruster model selection, layout and disturbance analysis, magnetic torquer model selection, layout and unloading capacity analysis, star sensor model selection, layout and disturbance analysis;
step3: according to the standardized overall input model, performance index analysis is performed, such as gesture determination accuracy analysis, gesture direction accuracy analysis, gesture stability analysis, gesture mechanical capability analysis, interference force and moment analysis, fuel consumption analysis and the like;
for example, according to the quality characteristics of a spacecraft and the index requirements of attitude maneuver, a satellite is provided with 5 CMGs of 15Nms, and the index requirements of attitude stability and attitude maneuver can be met by adopting a pentagonal pyramid installation configuration carried out around a Z axis of the system.
Step4: according to all analysis results, spacecraft attitude control and orbit control design are carried out, and a general algorithm, a special algorithm and configuration parameters thereof are determined;
for example, the bandwidth of the designed PID attitude controller is 0.1Hz, and the damping ratio is 0.8.
Step5: performing mathematical simulation verification of overall functions and performance indexes according to overall gesture and track characteristic input, single machine layout, gesture control and track control algorithm;
and step six, judging whether the designed spacecraft attitude and orbit control scheme meets the model task index requirements.
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.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (10)
1. A spacecraft attitude orbit control scheme design method based on a model is characterized by comprising the following steps:
establishing a standardized overall input model of a spacecraft attitude and orbit control system;
establishing a digital simulation model and a model spectrum model of a spacecraft actuating mechanism and a sensor;
establishing a spacecraft attitude and orbit control general algorithm model;
establishing a spacecraft attitude and orbit control special algorithm model;
according to a standardized overall input model, a digital simulation model, a model spectrum model, a general algorithm model and a special algorithm model, the spacecraft attitude and orbit control scheme is designed and simulation verification is carried out;
judging whether the designed spacecraft attitude and orbit control scheme meets the model task index requirements.
2. The model-based spacecraft attitude orbit control scheme design method according to claim 1, wherein the method comprises the following steps of:
the standardized overall input model comprises a gesture characteristic standardized model, an orbit characteristic standardized model, a functional requirement standardized model and a performance index standardized model, wherein the gesture characteristic standardized model and the orbit characteristic standardized model are described by adopting standard variables and values, the functional requirement standardized model is described by adopting a general attribute special attribute description of a spacecraft gesture and an orbit control system, the performance index standardized model is described by adopting an attribute keyword and an attribute value mode, and the overall input model is transmitted by adopting a Json format and is used for designing a spacecraft gesture and an orbit control system scheme.
3. The model-based spacecraft attitude orbit control scheme design method according to claim 2, wherein the method comprises the following steps of:
the actuating mechanism comprises a momentum wheel, a CMG, a magnetic torquer, a sailboard driving mechanism, a chemical thruster, an electric thruster and other general actuating mechanisms; the sensor comprises a GNSS, a star sensor, a three-floating gyroscope, a fiber optic gyroscope, an infrared earth sensor, a digital sun sensor, an analog sun sensor, an accelerometer and other sensors, wherein:
the model spectrum model is used for component model selection and index analysis in the scheme design process, and the digital simulation model is used for simulation verification of the scheme design result after being configured according to the selected single model spectrum parameter.
4. A method for designing a model-based spacecraft attitude orbit control scheme according to claim 3, wherein:
the general algorithm model comprises a numerical integration orbit extrapolation algorithm, a star-sensitive gyroscope attitude determination algorithm, a point-to-point attitude planning algorithm, a zero momentum attitude control algorithm, a CMG instruction angular velocity distribution algorithm and a jet phase plane attitude control algorithm;
the special algorithm model is a special algorithm which is used for realizing the function or performance index of the spacecraft attitude and orbit control system and is not included in the general algorithm model;
and when the spacecraft scheme is designed, parameter configuration is carried out on the selected general algorithm model, and the special algorithm model of the spacecraft is combined to jointly complete the spacecraft attitude and orbit control tasks.
5. The model-based spacecraft attitude orbit control scheme design method according to claim 4, wherein the method comprises the following steps of:
the specific method for designing the spacecraft attitude and orbit control system scheme comprises the following steps:
performing spacecraft characteristic analysis according to the standardized overall input model;
according to the standardized overall input model, performing spacecraft component model selection, configuration and layout analysis;
according to the standardized overall input model, performing performance index analysis;
according to all analysis results, spacecraft attitude control and orbit control design are carried out, and a general algorithm, a special algorithm and configuration parameters thereof are determined;
and carrying out overall simulation verification according to a general algorithm and a special algorithm for standardized overall input, component selection, configuration and layout, attitude control and orbit control of the spacecraft.
6. The model-based spacecraft attitude orbit control scheme design method according to claim 5, wherein the method is characterized by comprising the following steps:
the spacecraft characteristic analysis comprises attitude dynamics analysis, liquid shaking analysis and orbit characteristic analysis, and input data of the spacecraft characteristic analysis are an attitude characteristic standardized model and an orbit characteristic standardized model.
7. The model-based spacecraft attitude orbit control scheme design method according to claim 5, wherein the method is characterized by comprising the following steps:
the spacecraft component selection, configuration and layout analysis specifically comprises the following steps:
and respectively carrying out momentum wheel option, layout and angular momentum envelope analysis, CMG model selection, layout and angular momentum envelope analysis, thruster model selection, layout and interference analysis, magnetic torquer model selection, layout and unloading capacity analysis, star sensor model selection, layout and interference analysis, and determining the optimal model, configuration and layout of the spacecraft component according to the digital simulation model and the model spectrum model.
8. The model-based spacecraft attitude orbit control scheme design method according to claim 5, wherein the method is characterized by comprising the following steps:
the performance index analysis includes:
and respectively carrying out attitude determination precision analysis, attitude pointing precision analysis, attitude stability analysis, attitude maneuver capability analysis, interference force and moment analysis, fuel consumption analysis and the like, and determining the specific implementation condition of the attribute values in the performance index standardization model according to the attitude characteristic standardization model, the orbit characteristic standardization model and the optimal selection, configuration and layout of the components of the spacecraft.
9. The model-based spacecraft attitude orbit control scheme design method according to claim 5, wherein the method is characterized by comprising the following steps:
judging whether the designed spacecraft attitude and orbit control scheme meets the requirements of model task functions and performance indexes, if so, completing the design; if the model is not satisfied, modifying a standardized overall input model, or carrying out spacecraft component model selection and configuration again or carrying out algorithm design again, and iterating or repeating spacecraft attitude and orbit control scheme design until the requirements are satisfied.
10. A model-based spacecraft attitude orbit control scheme design system, characterized by comprising:
modeling unit, emulation verification unit, scheme design unit, wherein:
the modeling unit respectively establishes a digital simulation model and a model spectrum model of the spacecraft actuating mechanism and the sensor according to the parameters required by the scheme design, and simultaneously establishes a general algorithm model for spacecraft attitude and orbit control and a special algorithm model for spacecraft attitude and orbit control;
the simulation verification unit is used for designing a spacecraft attitude and orbit control scheme and performing simulation verification according to a standardized overall input model, a digital simulation model, a model spectrum model, a general algorithm model and a special algorithm model;
the scheme design unit judges the design parameters of the completed spacecraft attitude and orbit control scheme, and judges whether the designed spacecraft attitude and orbit control scheme meets the model task index requirements.
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