CN116610157B - Solar incident angle control method suitable for near space aerostat platform - Google Patents
Solar incident angle control method suitable for near space aerostat platform Download PDFInfo
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- CN116610157B CN116610157B CN202310862247.3A CN202310862247A CN116610157B CN 116610157 B CN116610157 B CN 116610157B CN 202310862247 A CN202310862247 A CN 202310862247A CN 116610157 B CN116610157 B CN 116610157B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/40—Balloons
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Abstract
The invention provides a solar incidence angle control method suitable for an adjacent space aerostat platform, which utilizes a solar sensor to calculate the incidence angle of the sun relative to the adjacent space platform by measuring the azimuth attitude information of the adjacent space platform relative to the sun, when the solar incidence angle exceeds a set threshold value, a momentum flywheel system adjusts the momentum moment by changing the rotating speed of a flywheel on the basis of eliminating the torsion of a lifting rope by a reverse twisting device according to the principle of conservation of the momentum moment, thereby driving the adjacent space platform to horizontally rotate to change the azimuth attitude, and finally controlling the adjacent space platform within a desired solar incidence angle range. The invention can control the azimuth attitude angle of the temporary platform with high precision, thereby controlling the incident angle of the sun relative to the temporary platform.
Description
Technical Field
The invention belongs to the technical field of application of adjacent space aerostat platforms, and particularly relates to a solar incident angle control method suitable for an adjacent space aerostat platform.
Background
When the temporary platform flies in suspension at the stratosphere, the temporary platform and the high-altitude balloon together stably drift along with the atmosphere at a speed of tens of kilometers per hour under the action of very stable horizontal airflow. During the drifting process, the tiny air flow disturbance can cause the air pressure born by the balloon to be unequal everywhere, so that the generated random acting force causes the balloon to slowly rotate, the rotating speed is about 0.01-0.1 revolutions per minute (rpm), and the orientation of the nacelle of the temporary platform can be changed; meanwhile, because the nacelle is suspended below the balloon by a suspension rope with a length of about 10-100 m and flies rapidly at a speed of tens of km/h, slightly varying air flow causes the nacelle to make complex swinging movements with the balloon.
If the application scene of the temporary platform is that a metering transfer calibration test related to solar reference source observation is carried out at the height of a advection layer, the unordered change of the azimuth angle of the temporary platform can lead the carried photoelectric load to not receive sunlight irradiation at an ideal angle on one hand and even possibly lead the load to not receive sunlight at all, and on the other hand, the random rotation of the azimuth angle of the temporary platform can lead the sunlight intensity received by the photoelectric load to be not uniform and stable enough, and random errors can be introduced for temporary metering transfer calibration application. Therefore, in order to accurately and stably perform a measurement transfer calibration test related to observation of a solar reference source at a advection layer, it is necessary to control the azimuth attitude angle of the temporary platform with high accuracy, thereby controlling the incident angle of the sun with respect to the temporary platform.
At present, the application of the aerostat in the near space is less at home and abroad, and no related research is available in the aspects of the control of the azimuth angle of the temporary space and the incident angle between the temporary space and the sun.
Disclosure of Invention
Aiming at the problem of the existing near space aerostat platform in the control of the solar incidence angle, the invention provides a solar incidence angle control method suitable for the near space aerostat platform, which utilizes a solar sensor, a reverse twisting device and a momentum flywheel system to control the solar incidence angle system between the solar energy and the near space aerostat platform on the basis of deeply exploring the azimuth angle control principle of the momentum flywheel system and the reverse twisting device for the near space aerostat platform. The sun sensor calculates the incident angle of the sun relative to the temporary empty platform by measuring the azimuth attitude information of the temporary empty platform relative to the sun, when the incident angle of the sun exceeds a set threshold value, the momentum flywheel system adjusts the magnitude of momentum moment by changing the rotating speed of the flywheel on the basis of eliminating the torsion of the lifting rope according to the principle of conservation of momentum moment, thereby driving the temporary empty platform to horizontally rotate to change the azimuth attitude, and finally controlling the temporary empty platform within the expected incident angle range of the sun.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a method of controlling the angle of incidence of the sun for use in an aerostat platform in a near space, comprising the steps of:
step 1, according to the requirement of a solar observation load of an adjacent platform on a solar incident angle, fixedly connecting a sun sensor with an azimuth axis, a transverse rolling shaft and a pitching axis of the adjacent platform, establishing a geometric conversion model of the solar incident angle and an azimuth angle of the adjacent platform, and overlapping and installing a central shaft of a momentum flywheel system with the azimuth axis of the adjacent platform;
step 2, the sun sensor obtains the actual sun incident angle value, and compares the obtained actual sun incident angle value with an expected value to obtain an incident angle difference value;
step 3, if the difference value of the incidence angles does not exceed the threshold value, a gesture control stable state maintaining instruction is sent to the momentum flywheel system, and if the difference value of the incidence angles exceeds the threshold value, a gesture control adjusting instruction is sent to the momentum flywheel system;
step 4, the momentum flywheel system adjusts the azimuth angle of the temporary platform according to the adjusting instruction;
and 5, adjusting the temporary blank platform through the flywheel of the reverse momentum flywheel system, measuring the actual sun incident angle value again, comparing the actual sun incident angle value with the expected value, and repeating the steps 3 and 4 until the temporary blank platform flight task is finished.
Further, the step 2 includes:
if the included angle between the incident light of the sun acquired by the sun sensor and the azimuth axis of the temporary platform isThe expected value of the sun incidence angle of the sun observation load mounted on the empty platform is +.>Angle of incidence difference +.>。
Further, the step 3 includes:
the angle of incidence difference calculated in step 2And threshold->Compare with, if->If the incident angle difference value does not exceed the threshold value, a gesture control steady state maintaining instruction is sent to the momentum flywheel system; if->I.e. the angle of incidence difference exceeds a threshold value, a gesture control adjustment instruction is sent to the momentum flywheel system.
Further, the step 4 includes:
step 4.1, when the azimuth controller in the momentum flywheel system receives the attitude control steady state maintaining instruction or the attitude control adjusting instruction sent in the step 3, the flywheel driver drives the reversing flywheel to start working at the rotating speed for maintaining the attitude control steady state or adjusting the attitude control state respectively, and after momentum exchange, the temporary platform starts maintaining the azimuth angle or adjusting the azimuth angle at a fixed frequency;
and 4.2, after the reverse flywheel starts to work, measuring the rotating speed of the flywheel, executing moment unloading logic according to the rotating speed, and sending a corresponding unloading moment instruction to a moment controller, wherein the moment controller drives the reverse twisting motor to work, so that the coupling compound pendulum of a lifting rope between the temporary platform and the balloon sphere caused by the rotation of the flywheel system is reduced.
Further, the step 5 includes:
step 5.1, according to the geometrical conversion model of the azimuth angles of the temporary space platform and the sun sensor established in the step 1, the azimuth angle of the temporary space platform adjusted in the step 4.1 changes the incident angle between the sun and the temporary space platform;
and 5.2, measuring the actual sun incidence angle values of the sun and the empty platform again by using a sun sensor, and readjusting the empty platform according to the threshold value of the difference value between the actual sun incidence angle values and the expected value, namely repeating the steps 2, 3 and 4.
The beneficial effects are that:
according to the invention, the sun sensor is utilized to calculate the incident angle of the sun relative to the temporary empty platform by measuring the azimuth attitude information of the temporary empty platform relative to the sun, when the incident angle of the sun exceeds a set threshold value, the momentum flywheel system adjusts the magnitude of momentum moment by changing the rotating speed of the flywheel on the basis of eliminating the torsion of a lifting rope by the reverse twisting device according to the principle of conservation of momentum moment, so that the temporary empty platform is driven to horizontally rotate to change the azimuth attitude, and finally the temporary empty platform is controlled within the expected incident angle range of the sun. According to the invention, the self-rotation of the temporary platform caused by wind pressure can be eliminated, the azimuth axis of the temporary platform is stabilized at a desired angle, so that the photoelectric load carried on the temporary platform receives sunlight irradiation at an ideal angle, and the photoelectric load is ensured to receive uniform and stable sunlight.
Drawings
FIG. 1 is a flow chart of a method of controlling the angle of incidence of the sun for use with an adjacent space aerostat platform according to the present invention;
FIG. 2 is a schematic diagram of a sun sensor and momentum flywheel system installation;
FIG. 3 is a schematic diagram of a method for controlling the azimuth angle of a temporary platform according to an adjustment command by using the momentum flywheel system of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1, a solar incident angle control method suitable for an aerostat platform in a near space according to the present invention comprises the steps of:
step 1, according to the requirement of the sun observation load of the temporary blank platform on the sun incidence angle, fixedly connecting and installing a sun sensor with three main axes of a azimuth axis, a transverse rolling shaft and a pitching axis of the temporary blank platform, establishing a geometric conversion model of the sun incidence angle and an azimuth angle of the temporary blank platform, and overlapping and installing a central shaft of a momentum flywheel system with the azimuth axis of the temporary blank platform;
step 2, the sun sensor obtains the actual sun incident angle value, and compares the obtained actual sun incident angle value with an expected value to obtain an incident angle difference value;
step 3, if the difference value of the incidence angles does not exceed the threshold value, a gesture control stable state maintaining instruction is sent to the momentum flywheel system, and if the difference value of the incidence angles exceeds the threshold value, a gesture control adjusting instruction is sent to the momentum flywheel system;
step 4, the momentum flywheel system adjusts the azimuth angle of the temporary platform according to the adjusting instruction;
and 5, adjusting the temporary blank platform through the flywheel of the reverse momentum flywheel system, measuring the actual sun incident angle value again, comparing the actual sun incident angle value with the expected value, and repeating the steps 3 and 4 until the temporary blank platform flight task is finished.
As shown in fig. 2, the sun sensor is installed on a side elevation of the temporary platform, and ensures that the normal of the plane of the sun sensor receiving the incident light of the sun is parallel to the space of the pitching axis of the temporary platform, and the sun sensor determines the included angle between the temporary platform and the incident angle of the sun by detecting the azimuth of the incident vector of the sun. The reverse twisting device comprises a reverse twisting motor which is arranged between the lifting rope and the temporary empty platform, and the main function is to eliminate the torsion of the lifting rope caused by the rotation of the high-altitude balloon and avoid the rotation saturation of the momentum flywheel system caused by the torsion of the lifting rope. The momentum flywheel system is arranged in the temporary platform cabin, and ensures that the central shaft coincides with the azimuth axis of the temporary platform, and the momentum flywheel system mainly changes the control moment acting on the nacelle through the adjustment of the rotation speed of the flywheel and the torque motor, so as to drive the temporary platform to rotate along the azimuth axis. The lifting rope is arranged between the high-altitude balloon and the reverse twisting device and mainly used for lifting the temporary platform below the high-altitude balloon. The daily observation load is arranged on the temporary platform.
Specifically, the step 2 includes:
if the included angle between the incident light of the sun acquired by the sun sensor and the azimuth axis of the temporary platform isThe expected value of the sun incidence angle of the sun observation load mounted on the empty platform is +.>Angle of incidence difference +.>。
The step 3 comprises the following steps:
the angle of incidence difference calculated in step 2And threshold->Compare with, if->I.e. the angle of incidence difference does not exceed the threshold, a gesture control steady state maintenance instruction is sent to the momentum flywheel system. If->I.e. the difference in incidence angle exceeds a threshold value, a gesture control is sent to the momentum flywheel systemAn adjustment instruction.
As shown in fig. 3, the step 4 includes:
and 4.1, when the azimuth controller in the momentum flywheel system receives the attitude control stable state maintaining instruction or the attitude control adjusting instruction sent in the step 3, the flywheel driver drives the reversing flywheel to start working at the rotating speed for maintaining the attitude control stable state or adjusting the attitude control state respectively, and after momentum exchange, the temporary platform starts maintaining the azimuth angle or adjusting the azimuth angle at a fixed frequency.
And 4.2, after the reverse flywheel starts to work, measuring the rotating speed of the flywheel at the same time, executing a moment unloading logic according to the rotating speed, and sending a corresponding unloading moment instruction to a moment controller, wherein the moment controller drives a reverse twisting motor to work, so that the coupling compound pendulum of a lifting rope between the temporary platform and a balloon ball body caused by the rotation of a flywheel system is reduced, the residual moment generated by the lifting rope and the momentum exchange generated by the reverse flywheel jointly act on the temporary platform, and the rotation of the temporary platform simultaneously drives a solar sensor arranged on the temporary platform to rotate together.
The step 5 comprises the following steps:
and 5.1, according to the geometrical conversion model of the azimuth angles of the temporary space platform and the sun sensor established in the step 1, enabling the azimuth angle of the temporary space platform adjusted in the step 4.1 to change the incident angle between the sun and the temporary space platform.
And 5.2, measuring the actual sun incidence angle value of the sun and the empty platform again by using a sun sensor, and readjusting the empty platform according to the threshold value of the difference value between the actual sun incidence angle value and the expected value of the expected incidence angle, namely repeating the steps 2, 3 and 4.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (4)
1. A method of controlling the angle of incidence of the sun for use with an aerostat platform in a near space, comprising the steps of:
step 1, according to the requirement of a solar observation load of an adjacent platform on a solar incident angle, fixedly connecting a sun sensor with an azimuth axis, a transverse rolling shaft and a pitching axis of the adjacent platform, establishing a geometric conversion model of the solar incident angle and an azimuth angle of the adjacent platform, and overlapping and installing a central shaft of a momentum flywheel system with the azimuth axis of the adjacent platform;
step 2, the sun sensor obtains the actual sun incident angle value, and compares the obtained actual sun incident angle value with an expected value to obtain an incident angle difference value;
step 3, if the difference value of the incidence angles does not exceed the threshold value, a gesture control stable state maintaining instruction is sent to the momentum flywheel system, and if the difference value of the incidence angles exceeds the threshold value, a gesture control adjusting instruction is sent to the momentum flywheel system;
step 4, the momentum flywheel system adjusts the azimuth angle of the temporary platform according to the adjusting instruction, and the method comprises the following steps:
step 4.1, when the azimuth controller in the momentum flywheel system receives the attitude control steady state maintaining instruction or the attitude control adjusting instruction sent in the step 3, the flywheel driver drives the reversing flywheel to start working at the rotating speed for maintaining the attitude control steady state or adjusting the attitude control state respectively, and after momentum exchange, the temporary platform starts maintaining the azimuth angle or adjusting the azimuth angle at a fixed frequency;
step 4.2, when the reverse flywheel starts to work, the rotation speed of the flywheel is measured at the same time, a moment unloading logic is executed according to the rotation speed, a corresponding unloading moment instruction is sent to a moment controller, and the moment controller drives a reverse twisting motor to work, so that the coupling compound pendulum of a lifting rope between a temporary platform and a balloon sphere caused by the rotation of a flywheel system is reduced;
and 5, adjusting the temporary blank platform through the flywheel of the reverse momentum flywheel system, measuring the actual sun incident angle value again, comparing the actual sun incident angle value with the expected value, and repeating the steps 3 and 4 until the temporary blank platform flight task is finished.
2. A method of controlling the angle of incidence of the sun for use with a near space aerostat platform according to claim 1, wherein step 2 comprises:
if the included angle between the incident light of the sun acquired by the sun sensor and the azimuth axis of the temporary platform isThe expected value of the sun incidence angle of the sun observation load mounted on the empty platform is +.>Angle of incidence difference +.>。
3. A method of controlling the angle of incidence of the sun for use with a near space aerostat platform according to claim 2, wherein step 3 comprises:
the angle of incidence difference calculated in step 2And threshold->Compare with, if->If the incident angle difference value does not exceed the threshold value, a gesture control steady state maintaining instruction is sent to the momentum flywheel system; if->I.e. the angle of incidence difference exceeds a threshold value, a gesture control adjustment instruction is sent to the momentum flywheel system.
4. A method of controlling the angle of incidence of the sun for use with a near space aerostat platform according to claim 3, wherein said step 5 comprises:
step 5.1, according to the geometrical conversion model of the azimuth angles of the temporary space platform and the sun sensor established in the step 1, the azimuth angle of the temporary space platform adjusted in the step 4.1 changes the incident angle between the sun and the temporary space platform;
and 5.2, measuring the actual sun incidence angle values of the sun and the empty platform again by using a sun sensor, and readjusting the empty platform according to the threshold value of the difference value between the actual sun incidence angle values and the expected value, namely repeating the steps 2, 3 and 4.
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| CN111994305A (en) * | 2020-09-09 | 2020-11-27 | 上海航天控制技术研究所 | Wheel control attitude recovery method suitable for earth satellite under condition of no gyro |
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