CN117184456B - Method, device, equipment and medium for estimating interference moment of track control engine - Google Patents
Method, device, equipment and medium for estimating interference moment of track control engine Download PDFInfo
- Publication number
- CN117184456B CN117184456B CN202311476692.2A CN202311476692A CN117184456B CN 117184456 B CN117184456 B CN 117184456B CN 202311476692 A CN202311476692 A CN 202311476692A CN 117184456 B CN117184456 B CN 117184456B
- Authority
- CN
- China
- Prior art keywords
- track
- moment
- engine
- control engine
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000008569 process Effects 0.000 claims abstract description 20
- 239000007788 liquid Substances 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 239000013598 vector Substances 0.000 claims description 58
- 230000001133 acceleration Effects 0.000 claims description 16
- 239000011159 matrix material Substances 0.000 claims description 12
- 238000013016 damping Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 7
- 238000012935 Averaging Methods 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 230000002194 synthesizing effect Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 description 5
- 239000000243 solution Substances 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Feedback Control In General (AREA)
Abstract
The invention relates to the technical field of aerospace, in particular to a method, a device, equipment and a medium for estimating interference moment of an orbit control engine. Comprising the following steps: determining envelope of interference moment of the track control engine and time for establishing stable shaking state of liquid in a storage tank after the track control engine is started, so as to determine starting time of the track control engine capable of ensuring safety under control of the attitude control engine without introducing the attitude control engine based on the envelope, the time for establishing the stable shaking state and control capability of the attitude control engine; determining an effective time period for evaluating the disturbance moment from the start-up period of the track-controlled engine based on the start-up period; and acquiring a predetermined interference estimation model to estimate the interference moment of the track-controlled engine by using the interference estimation model and measurement data of the gyroscope in an effective time period. According to the scheme, the deviation of the attitude engine can be avoided, the estimation accuracy of the interference moment of the track-controlled engine can be improved, and the reliability of the attitude control system in the track-controlled process can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of aerospace, in particular to a method, a device, equipment and a medium for estimating interference moment of an orbit control engine.
Background
In order to realize safe and reliable orbit control of the spacecraft, the attitude control engine needs to have enough control capability to overcome the interference moment generated by the orbit control engine due to installation deviation or thrust eccentricity. In the long-term on-orbit flight process, the thrust magnitude, the thrust direction and the installation position of the orbit control engine are changed compared with the ground measurement nominal value; in addition, the fuel consumption brings about a change in the center of mass of the aircraft, which can lead to a change in the disturbance moment generated when the rail-controlled engine is started. In the configuration design of the attitude control engine, the attitude control capability is generally far greater than the interference moment possibly generated by the orbit control engine, however, in the case of the fault of the attitude control engine of the orbit spacecraft, the attitude control capability faces the condition of being reduced compared with the design value, and at the moment, the interference moment of the orbit control engine needs to be effectively evaluated, so that design input is provided for safe and reliable orbit control.
In the prior engineering, the commonly used method for estimating the disturbance moment of the track control engine is to introduce the attitude control engine into control during the ignition of the track control engine, and has the advantages of avoiding overlarge angular rate change of a spacecraft and ensuring the safety of a system, however, the attitude control engine also has deviation of the installation position, the thrust magnitude and the thrust direction, thereby causing the estimation of the disturbance moment of the track control engine to couple the deviation, reducing the accuracy of the estimation and possibly affecting the reliability of an attitude control system in the track control process.
Therefore, a new method for estimating the disturbance torque of the track-controlled engine is needed.
Disclosure of Invention
In order to solve the problems that the conventional method for estimating the disturbance moment of the track-controlled engine is coupled with the deviation of the attitude-controlled engine and the estimation accuracy is reduced, the embodiment of the invention provides a method, a device, equipment and a medium for estimating the disturbance moment of the track-controlled engine.
In a first aspect, an embodiment of the present invention provides a method for estimating a disturbance moment of a track-controlled engine, including:
determining an envelope of a disturbance moment of the track control engine and a time for which a stable shaking state can be established by liquid in a storage tank after the track control engine is started, so as to determine a starting time of the track control engine capable of ensuring safety under the control of not introducing the gesture control engine based on the envelope, the time for which the stable shaking state can be established and the control capability of the gesture control engine;
determining an effective time period for evaluating the disturbance moment from the start-up period of the track-controlled engine based on the start-up period;
and acquiring a predetermined interference estimation model to estimate the interference moment of the track-controlled engine by using the interference estimation model and measurement data of the gyroscope in the effective time period.
In a second aspect, an embodiment of the present invention further provides an apparatus for estimating a disturbance torque of a track-controlled engine, including:
the determining unit is used for determining the envelope of the interference moment of the track control engine and the time of the stable shaking state of the liquid in the storage tank after the track control engine is started so as to determine the starting time of the track control engine which can ensure the safety under the control of not introducing the gesture control engine based on the envelope, the time of the stable shaking state and the control capability of the gesture control engine;
the selecting unit is used for determining an effective time period for evaluating the interference moment from the starting period of the track control engine based on the starting time period;
and the estimation unit is used for acquiring a predetermined interference estimation model so as to estimate the interference moment of the track-controlled engine by using the interference estimation model and the measurement data of the gyro in the effective time period.
The embodiment of the invention provides a method, a device, equipment and a medium for estimating the interference moment of a track control engine, which ensure that the maximum value of the angular rate is within a certain range on the design of starting time by analyzing the envelope and the attitude control capability of the track control engine so as to ensure the safety of a system, so that the interference moment of the track control engine can be estimated by combining the measured data of a gyroscope in an effective time period with an interference estimation model without introducing the attitude control engine into control during the ignition of the track control engine, and compared with the mode of introducing the attitude control engine into a closed loop, the deviation of introducing the attitude engine is avoided, the estimation accuracy of the interference moment of the track control engine can be improved, and the reliability of an attitude control system in the track control process can be further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for estimating disturbance torque of a rail controlled engine according to an embodiment of the present invention;
FIG. 2 is a hardware architecture diagram of a computing device according to one embodiment of the present invention;
fig. 3 is a block diagram of an estimation device for disturbance moment of a track-controlled engine according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
Specific implementations of the above concepts are described below.
Referring to fig. 1, an embodiment of the present invention provides a method for estimating disturbance moment of a track-controlled engine, which includes:
step 100, determining an envelope of interference moment of the track control engine and a time for which a stable shaking state can be established by liquid in a storage tank after the track control engine is started, so as to determine a starting time of the track control engine capable of ensuring safety under the control of not introducing the gesture control engine based on the envelope, the time for which the stable shaking state can be established and the control capability of the gesture control engine;
step 102, determining an effective time period for evaluating the disturbance moment from the start-up period of the track-controlled engine based on the start-up time period;
step 104, a predetermined disturbance estimation model is obtained to estimate disturbance moment of the track control engine by using the disturbance estimation model and measurement data of the gyro in an effective time period.
In the embodiment of the invention, the maximum value of the angular velocity is within a certain range on the design of starting time through the analysis of the envelope and the attitude control capability of the interference moment of the track control engine, so that the safety of the system is ensured, then the attitude control engine can not be introduced into control during the ignition of the track control engine, the interference moment of the track control engine is estimated by combining the measured data of the gyroscope in the effective time period with the interference estimation model, compared with the mode of introducing the attitude control engine into a closed loop, the deviation of the introduced attitude control engine is avoided, the estimation accuracy of the interference moment of the track control engine can be improved, and the reliability of the attitude control system in the track control process can be further improved.
For step 100:
in some embodiments, step 100 may include:
determining an envelope of disturbance torque of the track-controlled engine based on nominal installation, thrust magnitude and thrust direction of the track-controlled engine and a set error range of the track-controlled engine; the envelope comprises a disturbance moment maximum value in the rolling direction, a disturbance moment maximum value in the pitching direction and a disturbance moment maximum value in the yawing direction;
for each direction, perform:
determining a first condition to be met by the start time of the track control engine based on the maximum value of the disturbance moment in the current direction, the inertia in the current direction and the maximum value of the angular speed set in the start period of the track control engine;
determining a second condition which needs to be met by the starting time of the track control engine based on the maximum value of the disturbance moment in the current direction, the control moment of the gesture control engine and the set time of the rate damping after the track control engine is closed;
and determining the starting time of the rail control engine by taking the first condition and the second condition which are larger than the time that the liquid of the storage tank can establish a stable shaking state after the rail control engine is started and smaller than all directions as final conditions.
In the present embodiment, after the envelope of the disturbance torque of the track-controlled engine is determined, it is necessary to calculate the first condition and the second condition of the roll direction, the pitch direction, and the yaw direction, respectively.
In some embodiments, the first condition for each direction may be calculated by the following formula:
the second condition for each direction is:
in the method, in the process of the invention,for the start-up time of the rail-controlled engine, +.>Maximum value of angular velocity set during start-up of the rail-controlled engine, +.>For inertia in the current direction, +.>For the maximum value of the disturbance torque in the current direction, +.>For a set period of speed damping after the rail controlled engine is turned off, +.>Is the control moment of the attitude control engine.
Then, the first condition and the first condition of the roll direction, the pitch direction and the yaw direction can be determined respectivelyA second condition due to the maximum value of the angular velocity set during the start-up period of the rail-controlled engineAnd the set duration of the rate damping after the rail controlled engine is turned off +.>In order to consider the maximum value designed from the perspective of the system safety bottom line, the starting time length of the rail control engine is enabled to meet the first condition and the second condition in all directions, and the problem that the safety of the system is affected due to the fact that the angular rate of the system is too high under the condition that the starting time is too long and attitude control is not introduced can be avoided.
In addition, since the engine needs time to establish stable thrust output and a certain time is also needed for the liquid in the storage tank to establish stable shaking state during the starting, the starting time period cannot be too short in order to obtain enough effective data.
Therefore, the final conditions of the start-up time of the rail engine are:
for step 102:
in some embodiments, step 102 may include:
determining a starting period of the track-controlled engine based on the starting time;
and removing the thrust rising period and the thrust falling period of the track-controlled engine, and selecting an effective time period for evaluating the disturbance moment from the rest starting period, wherein the duration of the effective time period is a multiple of the nominal fluctuation period of liquid shaking.
For step 104:
in some embodiments, the interference estimation model is:
in the method, in the process of the invention,is a spacecraft moment of inertia matrix,>is the inertial angular velocity vector of the spacecraft, +.>For the inertial angular acceleration vector of the spacecraft, +.>Synthesizing an angular momentum vector for the momentum wheel, +.>The disturbance moment of the orbit control engine when the spacecraft is in an open-loop pilot-injection state.
In this embodiment, an attitude kinetic equation is used as an interference estimation model, the influence of environmental interference moment is ignored, and for simplifying the estimation algorithm, the attitude of the aircraft is assumed to be rigid motion.
In some embodiments, the step of estimating the disturbance moment of the track-controlled engine using the disturbance estimation model and the measured data of the gyro during the effective period of time includes:
determining a spacecraft inertial angular velocity vector sequence based on measurement data of the gyroscope in an effective time period; the spacecraft inertial angular velocity vector sequence comprises spacecraft inertial angular velocity vectors at a plurality of moments, and the interval between the spacecraft inertial angular velocity vectors at every two adjacent moments is set to be a period duration;
determining a differential time length based on a predetermined differential cycle number and a set cycle duration to determine a spacecraft inertial angular acceleration vector sequence based on the differential cycle number, the differential time length, and the spacecraft inertial angular velocity vector sequence;
acquiring a spacecraft rotational inertia matrix and a momentum wheel synthesis angular momentum vector sequence corresponding to a spacecraft inertial angular velocity vector sequence;
sequentially bringing a spacecraft inertia angular velocity vector sequence, a spacecraft inertia angular acceleration vector sequence, a spacecraft moment of inertia matrix and a momentum wheel composite angular momentum vector sequence into an interference estimation model according to sequence moments to obtain an interference moment sequence of the orbit control engine;
and averaging the disturbance moment sequences to obtain the disturbance moment of the track-controlled engine.
In the embodiment, a spacecraft inertial angular velocity vector sequence is determined based on measurement data of a gyroscope in an effective time periodDesigning the differential time length to be +.>Wherein->For differential cycle number, dt is +.>The set period duration of the interval between the inertial angular velocity vectors of the spacecraft at every two adjacent moments.
In the embodiment of the invention, the following formula can be used for calculating the inertial angular acceleration vector sequence of the spacecraft:
in the method, in the process of the invention,is a spacecraft inertial angular velocity vector sequence,for a spacecraft inertial angular acceleration vector sequence, +.>For differential cycle number>For a differential length of time.
And spacecraft moment of inertia matrixThe nominal inertia matrix can be calculated to be a constant matrix, the calculation process is well known, and details are not repeated here; the inertial angular velocity vector sequence of the spacecraft can be calculated according to the synthesized angular momentum measurement data of the momentum wheel>The moment of one-to-one correspondence of momentum wheels to angular momentum vector sequences。
Then, the spacecraft inertia angular velocity vector sequenceSpacecraft inertial angular acceleration vector sequence +.>Spacecraft moment of inertia matrix->And a momentum wheel to synthesize an angular momentum vector sequence +.>According to the sequence time, the interference estimation model is sequentially carried in, so that the interference moment sequence of the track-controlled engine can be obtained:
and finally, averaging the disturbance moment sequences to obtain triaxial average disturbance moment, namely, estimated disturbance moment of the rail control engine:
simulation examples of the embodiments of the present invention are described below.
Taking a certain low-orbit aircraft as an example, taking the nominal mass center position and inertia of the spacecraft as the nominal mass center; nominal installation, thrust magnitude and thrust direction, error range of the track-controlled engine; the nominal installation, the thrust magnitude and the thrust direction of the attitude control engine are used as inputs to detail the implementation process of the invention.
The position of the mass center of the aircraft in a mechanical coordinate system (the coordinate system is that the aircraft body coordinate system translates to the joint of the satellite-rocket docking ring and the rocket) is (5000,0,0) mm. Inertia J is:
[2623.46 , 376.091 , 786.531,
376.091 , 21692.1 , -55.6865,
786.531 , -55.6865 , 23101.3]
simulation results and analysis:
set value of disturbance moment of rail control engine: [ -0.076, -12.660, -20.351] N.m
Estimated value of disturbance moment of rail control engine: [0.884, -15.294, -19.196] N.m
Error value of disturbance moment estimation of track control engine: [0.960, -2.63417,1.154712] N.m.
Therefore, the scheme can improve the accuracy of estimating the disturbance moment of the track control engine.
As shown in fig. 2 and 3, the embodiment of the invention provides an estimation device for the disturbance moment of a track-controlled engine. The apparatus embodiments may be implemented by software, or may be implemented by hardware or a combination of hardware and software. In terms of hardware, as shown in fig. 2, a hardware architecture diagram of a computing device where an estimation device for an interference torque of a track-controlled engine according to an embodiment of the present invention is located is shown, where in addition to a processor, a memory, a network interface, and a nonvolatile memory shown in fig. 2, the computing device where the device is located may generally include other hardware, such as a forwarding chip responsible for processing a packet, and so on. Taking a software implementation as an example, as shown in fig. 3, as a device in a logic sense, the device is formed by reading a corresponding computer program in a nonvolatile memory into a memory by a CPU of a computing device where the device is located. The device for estimating the disturbance moment of the track-controlled engine provided by the embodiment comprises:
a determining unit 301, configured to determine an envelope of the disturbance torque of the track-controlled engine and a time when the liquid in the storage tank can establish a stable shaking state after the track-controlled engine is started, so as to determine a start-up duration of the track-controlled engine that can ensure safety under control of the track-controlled engine without introducing the gesture-controlled engine based on the envelope, the time when the stable shaking state can be established, and a control capability of the gesture-controlled engine;
a selection unit 302, configured to determine an effective period for evaluating the disturbance torque from a start-up period of the track-controlled engine based on the start-up period;
an estimating unit 303, configured to acquire a predetermined disturbance estimation model, so as to estimate a disturbance moment of the track-controlled engine by using the disturbance estimation model and measurement data of the gyro in an effective period.
In one embodiment of the present invention, the determining unit 301 is configured to perform:
determining an envelope of disturbance torque of the track-controlled engine based on nominal installation, thrust magnitude and thrust direction of the track-controlled engine and a set error range of the track-controlled engine; the envelope comprises a disturbance moment maximum value in the rolling direction, a disturbance moment maximum value in the pitching direction and a disturbance moment maximum value in the yawing direction;
for each direction, perform:
determining a first condition to be met by the start time of the track control engine based on the maximum value of the disturbance moment in the current direction, the inertia in the current direction and the maximum value of the angular speed set in the start period of the track control engine;
determining a second condition which needs to be met by the starting time of the track control engine based on the maximum value of the disturbance moment in the current direction, the control moment of the gesture control engine and the set time of the rate damping after the track control engine is closed;
and determining the starting time of the rail control engine by taking the first condition and the second condition which are larger than the time that the liquid of the storage tank can establish a stable shaking state after the rail control engine is started and smaller than all directions as final conditions.
In one embodiment of the present invention, the first condition in the determining unit 301 is:
the second condition is:
in the method, in the process of the invention,for the start-up time of the rail-controlled engine, +.>Maximum value of angular velocity set during start-up of the rail-controlled engine, +.>For inertia in the current direction, +.>For the maximum value of the disturbance torque in the current direction, +.>For a set period of speed damping after the rail controlled engine is turned off, +.>Is the control moment of the attitude control engine.
In one embodiment of the present invention, the selecting unit 302 is configured to perform:
determining a starting period of the track-controlled engine based on the starting time;
and removing the thrust rising period and the thrust falling period of the track-controlled engine, and selecting an effective time period for evaluating the disturbance moment from the rest starting period, wherein the duration of the effective time period is a multiple of the nominal fluctuation period of liquid shaking.
In one embodiment of the present invention, the interference estimation model in the estimation unit 303 is:
in the method, in the process of the invention,is a spacecraft moment of inertia matrix,>is the inertial angular velocity vector of the spacecraft, +.>For the inertial angular acceleration vector of the spacecraft, +.>Synthesizing an angular momentum vector for the momentum wheel, +.>The disturbance moment of the orbit control engine when the spacecraft is in an open-loop pilot-injection state.
In one embodiment of the present invention, the estimation unit 303 is configured to, when performing estimation of the disturbance moment of the track-controlled engine using the disturbance estimation model and measurement data of the gyro during the effective period of time:
determining a spacecraft inertial angular velocity vector sequence based on measurement data of the gyroscope in an effective time period; the spacecraft inertial angular velocity vector sequence comprises spacecraft inertial angular velocity vectors at a plurality of moments, and the interval between the spacecraft inertial angular velocity vectors at every two adjacent moments is set to be a period duration;
determining a differential time length based on a predetermined differential cycle number and a set cycle duration to determine a spacecraft inertial angular acceleration vector sequence based on the differential cycle number, the differential time length, and the spacecraft inertial angular velocity vector sequence;
acquiring a spacecraft rotational inertia matrix and a momentum wheel synthesis angular momentum vector sequence corresponding to a spacecraft inertial angular velocity vector sequence;
sequentially bringing a spacecraft inertia angular velocity vector sequence, a spacecraft inertia angular acceleration vector sequence, a spacecraft moment of inertia matrix and a momentum wheel composite angular momentum vector sequence into an interference estimation model according to sequence moments to obtain an interference moment sequence of the orbit control engine;
and averaging the disturbance moment sequences to obtain the disturbance moment of the track-controlled engine.
In one embodiment of the present invention, the spacecraft inertial angular acceleration vector sequence in the estimation unit 303 is calculated by the following formula:
in the method, in the process of the invention,is a spacecraft inertial angular velocity vector sequence,for a spacecraft inertial angular acceleration vector sequence, +.>For differential cycle number>For a differential length of time.
It will be appreciated that the configuration illustrated in the embodiments of the present invention does not constitute a specific limitation on an apparatus for estimating disturbance torque of a rail-controlled engine. In other embodiments of the present invention, an estimation of the disturbance torque of a rail controlled engine may include more or less component units than shown, or may be combined with some component units, or may be split into some component units, or may be arranged in different component units. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
The content of information interaction and execution process between the modules in the device is based on the same conception as the embodiment of the method of the present invention, and specific content can be referred to the description in the embodiment of the method of the present invention, which is not repeated here.
The embodiment of the invention also provides a computing device which comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method for estimating the interference moment of the track-controlled engine in any embodiment of the invention is realized.
The embodiment of the invention also provides a computer readable storage medium, and the computer readable storage medium is stored with a computer program which, when being executed by a processor, causes the processor to execute the method for estimating the disturbance moment of the track-controlled engine in any embodiment of the invention.
Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of the storage medium for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
It is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: various media in which program code may be stored, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The method for estimating the disturbance moment of the track-controlled engine is characterized by comprising the following steps of:
determining an envelope of a disturbance moment of the track control engine and a time for which a stable shaking state can be established by liquid in a storage tank after the track control engine is started, so as to determine a starting time of the track control engine capable of ensuring safety under the control of not introducing the gesture control engine based on the envelope, the time for which the stable shaking state can be established and the control capability of the gesture control engine;
determining an effective time period for evaluating the disturbance moment from the start-up period of the track-controlled engine based on the start-up period;
acquiring a predetermined interference estimation model to estimate the interference moment of the track-controlled engine by using the interference estimation model and measurement data of the gyroscope in the effective time period;
the method for determining the envelope of the interference moment of the track-controlled engine and the time of the stable shaking state of the liquid in the storage tank after the track-controlled engine is started so as to determine the starting time of the track-controlled engine capable of ensuring the safety under the control of not introducing the gesture-controlled engine based on the envelope, the time of the stable shaking state and the control capability of the gesture-controlled engine comprises the following steps:
determining an envelope of disturbance moment of the track-controlled engine based on nominal installation, thrust magnitude and thrust direction of the track-controlled engine and a set error range of the track-controlled engine; wherein the envelope comprises a disturbing moment maximum in the roll direction, a disturbing moment maximum in the pitch direction and a disturbing moment maximum in the yaw direction;
for each direction, perform:
determining a first condition which needs to be met by the starting time of the track control engine based on the maximum value of the interference moment in the current direction, the inertia in the current direction and the maximum value of the angular speed set in the starting period of the track control engine;
determining a second condition which needs to be met by the starting time of the track control engine based on the maximum value of the disturbance moment in the current direction, the control moment of the gesture control engine and the set time of the rate damping after the track control engine is closed;
the method comprises the steps that when the liquid in a storage tank is larger than the liquid in a storage tank after the rail control engine is started, which is nominally installed, the time in which a stable shaking state can be established is shorter than the first condition and the second condition in all directions, and the time in which the rail control engine is started is used as a final condition, so that the starting time of the rail control engine is determined;
the first condition is:
the second condition is:
in the method, in the process of the invention,for the start-up time of the rail-controlled engine, < >>For the maximum value of the angular velocity set during the start-up of the rail-controlled engine, < >>For inertia in the current direction, +.>For the maximum value of the disturbance torque in the current direction, +.>For said rail-controlled engineA set period of rate damping after closing, +.>Is the control moment of the attitude control engine.
2. The method of claim 1, wherein determining an effective period of time for evaluating the disturbance torque from a start-up period of the rail engine based on the start-up period of time comprises:
determining the starting period of the track-controlled engine based on the starting time;
and removing the thrust rising period and the thrust falling period of the track-controlled engine, and selecting an effective time period for evaluating the disturbance moment from the rest starting period, wherein the duration of the effective time period is a multiple of the nominal fluctuation period of liquid shaking.
3. The method of claim 1, wherein the interference estimation model is:
in the method, in the process of the invention,is a spacecraft moment of inertia matrix,>is the inertial angular velocity vector of the spacecraft, +.>For the inertial angular acceleration vector of the spacecraft, +.>Synthesizing an angular momentum vector for the momentum wheel, +.>The disturbance moment of the track control engine is the disturbance moment of the track control engine when the spacecraft is in an open-loop pilot injection state.
4. A method according to claim 3, wherein said estimating the disturbance torque of the track-controlled engine using the disturbance estimation model and the measured data of the gyro over the effective period of time comprises:
determining a spacecraft inertial angular velocity vector sequence based on measured data of the gyroscope in the effective time period; the spacecraft inertial angular velocity vector sequence comprises spacecraft inertial angular velocity vectors at a plurality of moments, and the interval between the spacecraft inertial angular velocity vectors at every two adjacent moments is set to be a period duration;
determining a differential time length based on a predetermined differential cycle number and the set cycle duration to determine a spacecraft inertial angular acceleration vector sequence based on the differential cycle number, the differential time length, and the spacecraft inertial angular velocity vector sequence;
acquiring a spacecraft moment of inertia matrix and a momentum wheel synthesis angular momentum vector sequence corresponding to the spacecraft inertia angular velocity vector sequence;
sequentially bringing the spacecraft inertia angular velocity vector sequence, the spacecraft inertia angular acceleration vector sequence, the spacecraft moment of inertia matrix and the momentum wheel composite angular momentum vector sequence into the interference estimation model according to sequence moments to obtain an interference moment sequence of the orbit control engine;
and averaging the disturbance moment sequences to obtain the disturbance moment of the track-controlled engine.
5. The method of claim 4, wherein the sequence of spacecraft inertial angular acceleration vectors is calculated by the formula:
…
in the method, in the process of the invention,for the spacecraft inertial angular velocity vector sequence, and (2)>For the spacecraft inertial angular acceleration vector sequence, and (2)>For differential cycle number>For the length of the differential time.
6. An estimation device for disturbance moment of a track-controlled engine, comprising:
the determining unit is used for determining the envelope of the interference moment of the track control engine and the time of the stable shaking state of the liquid in the storage tank after the track control engine is started so as to determine the starting time of the track control engine which can ensure the safety under the control of not introducing the gesture control engine based on the envelope, the time of the stable shaking state and the control capability of the gesture control engine;
the selecting unit is used for determining an effective time period for evaluating the interference moment from the starting period of the track control engine based on the starting time period;
the estimation unit is used for acquiring a predetermined interference estimation model so as to estimate the interference moment of the track-controlled engine by using the interference estimation model and measurement data of the gyroscope in the effective time period;
the determining unit is configured to perform:
determining an envelope of disturbance torque of the track-controlled engine based on nominal installation, thrust magnitude and thrust direction of the track-controlled engine and a set error range of the track-controlled engine; the envelope comprises a disturbance moment maximum value in the rolling direction, a disturbance moment maximum value in the pitching direction and a disturbance moment maximum value in the yawing direction;
for each direction, perform:
determining a first condition to be met by the start time of the track control engine based on the maximum value of the disturbance moment in the current direction, the inertia in the current direction and the maximum value of the angular speed set in the start period of the track control engine;
determining a second condition which needs to be met by the starting time of the track control engine based on the maximum value of the disturbance moment in the current direction, the control moment of the gesture control engine and the set time of the rate damping after the track control engine is closed;
the method comprises the steps that when the liquid in a storage tank is larger than the time of a nominal installed rail control engine in a stable shaking state after the rail control engine is started, and the first condition and the second condition in all directions are smaller than the final condition, the starting time of the rail control engine is determined;
the first condition in the determining unit is:
the second condition is:
in the method, in the process of the invention,for the start-up time of the rail-controlled engine, +.>Maximum value of angular velocity set during start-up of the rail-controlled engine, +.>For inertia in the current direction, +.>For the maximum value of the disturbance torque in the current direction, +.>Setting duration of rate damping after the rail controlled engine is turned off, < >>Is the control moment of the attitude control engine.
7. A computing device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the method of any of claims 1-5 when the computer program is executed.
8. A computer readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the method of any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311476692.2A CN117184456B (en) | 2023-11-08 | 2023-11-08 | Method, device, equipment and medium for estimating interference moment of track control engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311476692.2A CN117184456B (en) | 2023-11-08 | 2023-11-08 | Method, device, equipment and medium for estimating interference moment of track control engine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117184456A CN117184456A (en) | 2023-12-08 |
| CN117184456B true CN117184456B (en) | 2024-01-30 |
Family
ID=89003835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311476692.2A Active CN117184456B (en) | 2023-11-08 | 2023-11-08 | Method, device, equipment and medium for estimating interference moment of track control engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117184456B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072702A (en) * | 2013-01-30 | 2013-05-01 | 北京控制工程研究所 | Control method for orbit and attitude of satellite |
| CN107792396A (en) * | 2017-09-25 | 2018-03-13 | 上海卫星工程研究所 | Disturbance torque real-time estimation method when engine works |
| CN108279695A (en) * | 2018-01-25 | 2018-07-13 | 北京控制工程研究所 | A kind of quick in-orbit closed-loop identification method, system and the medium of spacecraft disturbance torque |
| WO2022127313A1 (en) * | 2020-12-14 | 2022-06-23 | 北京航天自动控制研究所 | High-precision angular velocity control method under short-time large-boundary interference |
| CN116902227A (en) * | 2023-09-14 | 2023-10-20 | 北京控制工程研究所 | Off-track brake control method, device, equipment and medium under attitude control undershoot capability |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11273933B2 (en) * | 2019-05-29 | 2022-03-15 | The Boeing Company | Spacecraft attitude control strategy for reducing disturbance torques |
-
2023
- 2023-11-08 CN CN202311476692.2A patent/CN117184456B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072702A (en) * | 2013-01-30 | 2013-05-01 | 北京控制工程研究所 | Control method for orbit and attitude of satellite |
| CN107792396A (en) * | 2017-09-25 | 2018-03-13 | 上海卫星工程研究所 | Disturbance torque real-time estimation method when engine works |
| CN108279695A (en) * | 2018-01-25 | 2018-07-13 | 北京控制工程研究所 | A kind of quick in-orbit closed-loop identification method, system and the medium of spacecraft disturbance torque |
| WO2022127313A1 (en) * | 2020-12-14 | 2022-06-23 | 北京航天自动控制研究所 | High-precision angular velocity control method under short-time large-boundary interference |
| CN116902227A (en) * | 2023-09-14 | 2023-10-20 | 北京控制工程研究所 | Off-track brake control method, device, equipment and medium under attitude control undershoot capability |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117184456A (en) | 2023-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Ma et al. | On-orbit identification of inertia properties of spacecraft using a robotic arm | |
| Ghersin et al. | LPV control of a 6-DOF vehicle | |
| US20090076669A1 (en) | Methods and systems for controlling multi-body vehicles with fuel slosh | |
| CN107063244B (en) | A kind of aircraft flight process analogy method | |
| CN111680462B (en) | Guidance method and system based on position change of space target in optical phase plane | |
| CN113050143B (en) | Tightly-coupled navigation method under emission inertial coordinate system | |
| Carrara et al. | The ITASAT cubesat development and design | |
| CN113959462B (en) | Quaternion-based inertial navigation system self-alignment method | |
| Schmidt et al. | Attitude determination for the Pico-Satellite UWE-2 | |
| CN105867167B (en) | Cross-platform spin stabilized satellite flight Simulation System | |
| CN111638643A (en) | Displacement mode drag-free control dynamics coordination condition determination method | |
| CN117184456B (en) | Method, device, equipment and medium for estimating interference moment of track control engine | |
| CN110979737B (en) | Method and device for determining power-off time of carrier rocket and carrier rocket | |
| CN117184455B (en) | Method, device, equipment and medium for estimating thrust vector of track-controlled engine | |
| Oshman et al. | Spacecraft angular velocity estimation using sequential observations of a single directional vector | |
| Hong et al. | Application of EKF for missile attitude estimation based on “SINS/CNS” integrated guidance system | |
| CN112033439B (en) | Gravity acceleration vector weftless construction method under swinging base geosystem | |
| Braun | Performance analysis of GNSS-aided inertial navigation systems on spinning flight vehicles | |
| Creaser et al. | Two-stage estimator for the complete inertia tensor of uncooperative debris on CubeSat based Active Debris Removal missions | |
| Groves | Transfer alignment using an integrated INS/GPS as the reference | |
| CN115326106B (en) | Improved method for inertial sensor data simulation | |
| Stambaugh | Propagation and system accuracy impact of major sensor errors on a strapdown aircraft navigator | |
| Chodas et al. | Design of the Galileo scan platform control | |
| You et al. | A Real-Time Simulator for Processor-In-the-Loop Simulation of Small Satellites | |
| Barua et al. | Integrated navigation, guidance and control system and validation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |