CN122540407A - A method for tuning pseudo-rate control parameters to suppress spacecraft sway - Google Patents

Abstract

A pseudo-rate control parameter setting method for spacecraft shake suppression aims at providing theoretical design support for pseudo-rate control parameter setting for spacecraft shake suppression, improving parameter design efficiency and avoiding blind trial and error in a parameter design process, and belongs to the technical field of spacecraft control. The invention quantitatively gives the relation among the attitude control precision, the loop coefficient, the internal and external loop bandwidth ratio and the pseudo-rate modulator parameter, and can rapidly determine the pseudo-rate attitude regulator threshold. The invention provides design guidance for the pseudo rate control parameters, has strong engineering practicability and avoids blindness of parameter setting.

Description

Pseudo-rate control parameter setting method for spacecraft shaking inhibition

Technical Field

The invention relates to a pseudo-rate control parameter setting method for spacecraft shaking inhibition, and belongs to the technical field of spacecraft control.

Background

The on-orbit space craft is generally equipped with a gesture control spray pipe for gesture stable control in the orbit maneuver process, and the gesture control spray pipe generates pulse type control force according to a control switch instruction. Common attitude control spray pipe control methods include oblique switch line control and pseudo rate control. The design of the control parameters of the inclined switch line is simple, and the control parameters are applied to the final sub-stage of the carrier rocket, but the control of the inclined switch line has poor adaptability to the delay of the system, so that the minimum pulse width control is difficult to realize, and the fuel is not saved. Therefore, a pseudo-rate control method is mostly adopted in the on-orbit spacecraft, the minimum pulse width control is realized through a pseudo-rate modulator, and the fuel consumption of on-orbit control is saved. The pseudo rate control parameters are more, and mainly comprise a pseudo rate modulator, a system gain and a correction network. The pseudo-rate modulator is a strong nonlinear link, and has great difficulty in the stable analysis process of the shaking frequency domain. Therefore, the current engineering is mostly set by adopting a trial-and-error simulation method, the method guidance of a system is lacked, and the parameter setting efficiency is low.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provide theoretical design support for setting the pseudo rate control parameters for suppressing the shaking of the spacecraft, improve the parameter design efficiency and avoid blind trial and error in the parameter design process.

The invention aims at realizing the following technical scheme:

In a first aspect, the present invention provides a method for setting a pseudo rate control parameter for spacecraft shake suppression, including:

(1) The attitude control precision, loop coefficient and inner and outer loop bandwidth ratio meeting the task requirements are selected, and a pseudo rate modulator switch threshold is calculated;

(2) Calculating a pseudo-rate modulator time constant, a system bandwidth and a system control gain parameter based on a pseudo-rate modulator switch threshold, wherein the system refers to a control system of a certain spacecraft object;

(3) Judging whether the system control bandwidth meets the shaking frequency bandwidth isolation requirement, if not, adjusting attitude control precision, loop back coefficient and inner-outer loop bandwidth ratio, returning to the step (1), and if so, entering the next step;

(4) Calculating the modulation period of the pseudo-rate modulator, judging whether the minimum modulation period of the pseudo-rate modulator meets the requirement, if not, adjusting the minimum pulse width working time, returning to the step (1), and if so, entering the next step;

(5) And selecting a pseudo rate link frequency domain analysis substitution model, and designing a sloshing suppression notch network parameter so that the system meets the frequency domain stability margin index after the substitution model is considered.

Further, the pseudo rate modulator switch threshold calculation method in step (1) is as follows:

Wherein, the Is a pseudo-rate modulator switch threshold,Is the pseudo-rate modulator loop back coefficient,Takes a value for the gesture control precision,For the minimum pulse width on-time,In order to be the bandwidth ratio of the inner ring and the outer ring,To control the moment coefficient.

Further, the pseudo rate modulator time constant, the system bandwidth and the system control gain parameter calculation method in the step (2) are as follows:

Wherein, the Is the time constant of the pseudo-rate modulator,The bandwidth is controlled for the system and,Is used as a damping coefficient of the system,As a gain parameter for the angular misalignment of the pose,For attitude angular rate deviation gain parameters, the system control gain parameters includeAnd。

Further, the shake frequency bandwidth isolation in step (3) requires that the shake frequency bandwidth is at least 2 times greater than the system control bandwidth. If the system control bandwidth is higher, the attitude control precision value needs to be increasedOr reduce loop back coefficientOr reducing the bandwidth ratio of the inner ring and the outer ringOtherwise, the attitude control precision value is reducedOr increase loop back coefficientOr increase the bandwidth ratio of the inner ring and the outer ring。

Further, the method for calculating the minimum modulation period in the step (4) is as follows:

the minimum modulation period is required to meet the following requirements, and when the minimum modulation period is not met, the minimum pulse width working time is increased 。

Wherein, the For a modulation period of the pseudo-rate modulator,Is the size of the input signal to the pseudo-rate modulator,For the time required for the nozzle from receiving the on command to 90% thrust,The time required for the spray pipes to receive the closing command to 10% of the thrust respectively,For minimum interval time of continuous opening and closing of the spray pipe.

Further, in the step (5), the frequency domain stability margin index after the pseudo rate link frequency domain analysis substitution model and the consideration of the deviation of the substitution model is selected as follows:

Wherein, the The substitution model is analyzed for the pseudo rate link frequency domain,、The low frequency amplitude margin and the phase margin required by the system stability respectively,、And respectively considering the low-frequency amplitude margin and the phase margin after the deviation of the substitution model, wherein s is the Laplacian.

In a second aspect, the present invention provides a computer readable storage medium having stored thereon computer program instructions which, when loaded and executed by a processor, cause the processor to perform the method of the first aspect.

In a third aspect, the invention provides a computer program product stored on a non-transitory computer readable medium, the computer program product comprising program code for carrying out the method of the first aspect.

In a fourth aspect, the present invention provides an electronic device comprising:

Processor, and

A memory for storing computer program instructions;

wherein the processor performs the method of the first aspect when the computer program instructions are loaded and executed by the processor.

Compared with the prior art, the invention has the following beneficial effects:

(1) The invention provides design guidance for the pseudo rate control parameters, has strong engineering practicability and avoids blindness of parameter setting.

(2) The invention quantitatively gives the relation among the attitude control precision, the loop coefficient, the internal and external loop bandwidth ratio and the pseudo-rate modulator parameter, and can rapidly determine the pseudo-rate attitude regulator threshold.

(3) The invention provides the frequency domain analysis model for replacing the strong nonlinear link of the strong pseudo rate modulator and the frequency domain stability margin index considering the deviation of the replacement model, and can realize the simple and efficient design of the frequency domain.

Drawings

FIG. 1 is a flow chart of the parameter tuning method of the present invention;

fig. 2 is a schematic diagram of a pseudo rate control architecture of the present invention;

FIG. 3 is a graph of pseudo-rate modulation link sweep phase characteristics;

fig. 4 is a graph of the sweep amplitude characteristic of the pseudo-rate modulation link.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

As shown in fig. 1, the invention discloses a pseudo-rate control parameter setting method for spacecraft shake suppression, which comprises the following steps:

Step (1), attitude control precision, loop coefficient and inner and outer loop bandwidth ratio meeting task requirements are selected, and a pseudo rate modulator switch threshold is calculated;

in this example implementation, the pseudo-rate modulator switch threshold is calculated as follows:

Wherein, the Is a pseudo-rate modulator switch threshold,Is the pseudo-rate modulator loop back coefficient,Takes a value for the gesture control precision,For the minimum pulse width on-time,In order to be the bandwidth ratio of the inner ring and the outer ring,To control the moment coefficient.

Step (2), calculating a pseudo rate modulator time constant, a system bandwidth and a system control gain parameter;

In this example implementation, the pseudo-rate modulator time constant, system bandwidth, and system control gain parameters are calculated as follows:

Wherein, the Is the time constant of the pseudo-rate modulator,The bandwidth is controlled for the system and,Is used as a damping coefficient of the system,As a gain parameter for the angular misalignment of the pose,For attitude angular rate deviation gain parameters, the system control gain parameters includeAnd。

Step (3), judging whether the system control bandwidth meets the shaking frequency bandwidth isolation requirement, if not, adjusting attitude control precision, loop back coefficient and inner-outer loop bandwidth ratio, returning to the step (1), and if so, entering the next step;

In this example implementation, the wobble frequency bandwidth isolation requires that the wobble frequency bandwidth be at least 2 times greater than the system control bandwidth. If the system control bandwidth is higher, the attitude control precision value needs to be increased Or reduce loop back coefficientOr reducing the bandwidth ratio of the inner ring and the outer ringOtherwise, the attitude control precision value is reducedOr increase loop back coefficientOr increase the bandwidth ratio of the inner ring and the outer ring。

Step (4), calculating the modulation period of the pseudo-rate modulator, judging whether the minimum modulation period of the pseudo-rate modulator meets the requirement, if not, adjusting the minimum pulse width working time, returning to the step (1), and if so, entering the next step;

In this example implementation, the minimum modulation period is calculated as follows:

the minimum modulation period is required to meet the following requirements, and when the minimum modulation period is not met, the minimum pulse width working time is increased 。

Wherein, the For a modulation period of the pseudo-rate modulator,Is the size of the input signal to the pseudo-rate modulator,For the time required for the nozzle from receiving the on command to 90% thrust,The time required for the spray pipes to receive the off command to 10% of the thrust,For minimum interval time of continuous opening and closing of the spray pipe.

And (5) selecting a pseudo rate link frequency domain analysis substitution model, and designing a sloshing inhibition notch network parameter so that the system meets the frequency domain stability margin index after the substitution model is considered.

In this embodiment, the pseudo rate link frequency domain analysis substitution model and the frequency domain stability margin index after considering the deviation of the substitution model are selected as follows:

Wherein, the The substitution model is analyzed for the pseudo rate link frequency domain,、The low frequency amplitude margin and the phase margin required by the system stability respectively,、And respectively considering the low-frequency amplitude margin and the phase margin after the deviation of the substitution model.

A pseudo rate control block diagram for single channel control of a spacecraft is shown in fig. 2. According to the steps of the invention, pseudo-rate modulation link parameters are designed, and frequency domain sweep is carried out on the whole pseudo-rate modulator part, so that phase characteristic curves and amplitude characteristic curves under different input signals are obtained, as shown in fig. 3 and 4. According to the graph, the frequency domain characteristic of the pseudo rate modulator can be well represented by the pseudo rate link frequency domain analysis substitution model in the middle-low frequency band. Therefore, the linear link can be adopted to approximately replace the strong nonlinear link of the pseudo-rate modulator in the frequency domain comprehensive analysis, so that the frequency domain design of the shaking suppression network is conveniently developed.

What is not described in detail in the present specification is a well known technology to those skilled in the art.

Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.

Claims (10)

1. A pseudo-rate control parameter tuning method for spacecraft slosh suppression, comprising:

(1) The attitude control precision, loop coefficient and inner and outer loop bandwidth ratio meeting the task requirements are selected, and a pseudo rate modulator switch threshold is calculated;

(2) Calculating a pseudo rate modulator time constant, a system bandwidth and a system control gain parameter based on a pseudo rate modulator switch threshold;

(3) Judging whether the system control bandwidth meets the shaking frequency bandwidth isolation requirement, if not, adjusting attitude control precision, loop back coefficient and inner-outer loop bandwidth ratio, returning to the step (1), and if so, entering the next step;

(4) Calculating the modulation period of the pseudo-rate modulator, judging whether the minimum modulation period of the pseudo-rate modulator meets the requirement, if not, adjusting the minimum pulse width working time, returning to the step (1), and if so, entering the next step;

(5) And selecting a pseudo rate link frequency domain analysis substitution model, and designing a sloshing suppression notch network parameter so that the system meets the frequency domain stability margin index after the substitution model is considered.

2. The pseudo-rate control parameter tuning method according to claim 1, wherein the pseudo-rate modulator switch threshold calculation method is as follows:

Wherein, the Is a pseudo-rate modulator switch threshold,Is the pseudo-rate modulator loop back coefficient,Takes a value for the gesture control precision,For the minimum pulse width on-time,In order to be the bandwidth ratio of the inner ring and the outer ring,To control the moment coefficient.

3. The pseudo-rate control parameter tuning method according to claim 2, wherein the pseudo-rate modulator time constant, the system bandwidth and the system control gain parameter calculation method are as follows:

Wherein, the Is the time constant of the pseudo-rate modulator,The bandwidth is controlled for the system and,Is used as a damping coefficient of the system,As a gain parameter for the angular misalignment of the pose,For attitude angular rate deviation gain parameters, the system control gain parameters includeAnd。

4. The pseudo rate control parameter tuning method according to claim 1, wherein in step (3), the wobble frequency bandwidth isolation requires that the wobble frequency bandwidth is at least 2 times greater than the system control bandwidth.

5. The pseudo rate control parameter tuning method according to claim 1, wherein in step (3), if the system control bandwidth is too high, it is necessary to increase the attitude control accuracy valueOr reduce loop back coefficientOr reducing the bandwidth ratio of the inner ring and the outer ringOtherwise, the attitude control precision value is reducedOr increase loop back coefficientOr increase the bandwidth ratio of the inner ring and the outer ring。

6. A pseudo-rate control parameter setting method according to claim 3, characterized in that the minimum modulation period calculation method is as follows:

the minimum modulation period is required to meet the following requirements, and when the minimum modulation period is not met, the minimum pulse width working time is increased ;

Wherein, the For a modulation period of the pseudo-rate modulator,Is the size of the input signal to the pseudo-rate modulator,For the time required for the nozzle from receiving the on command to 90% thrust,The time required for the spray pipes to receive the off command to 10% of the thrust,For minimum interval time of continuous opening and closing of the spray pipe.

7. The pseudo rate control parameter tuning method according to claim 1, wherein the pseudo rate link frequency domain analysis substitution model and the frequency domain stability margin index after considering the deviation of the substitution model are selected as follows:

Wherein, the The substitution model is analyzed for the pseudo rate link frequency domain,、The low frequency amplitude margin and the phase margin required by the system stability respectively,、Respectively considering the low-frequency amplitude margin and the phase margin after the deviation of the substitution model,Is the pseudo rate modulator time constant and s is the laplace operator.

8. A computer readable storage medium having stored thereon computer program instructions which, when loaded and executed by a processor, cause the processor to perform the method of any of claims 1 to 7.

9. A computer program product stored on a non-transitory computer readable medium, the computer program product comprising program code for carrying out the method of any one of claims 1 to 7.

10. An electronic device, comprising:

Processor, and

A memory for storing computer program instructions;

Wherein the computer program instructions, when loaded and executed by the processor, perform the method of any of claims 1 to 7.