JP2798938B2 - 3-axis attitude control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a three-axis attitude control device used for a spacecraft that performs three-axis attitude control such as an artificial satellite.

(Prior Art) Conventionally, in artificial hygiene, three-axis attitude control has been adopted because the attitude in an inertial space and the stability to a target are excellent.

By the way, a three-axis attitude control device that performs such three-axis attitude control includes a gyro that detects angular velocities around three axes (roll, pitch, and yaw axes), and an angular velocity output signal about these three gyros. And a posture angle detection sensor used to detect and correct the included offset error, and generates a three-axis control signal in which the offset error is corrected from the angular velocity output signal detected by the gyro, thereby forming a posture control system. Drive control. At this time, the attitude angle detection sensor for detecting the offset error is, for example, different kinds of sun sensors and earth sensors are respectively opposed to different kinds of targets such as the sun and the earth, and the attitude around the three axes can be observed at the same time. By changing the arrangement position on the satellite for the same target of the sun or the earth, multiple sun sensors or earth sensors are arranged, and by observing the attitude around three axes sequentially while changing the attitude, The gyro offset error is detected.

However, in the above-described three-axis attitude control device, any of the means for detecting the offset error has to be provided with a number of attitude angle detection sensors, so that the handling is very troublesome. Had. In addition, the former method has a problem that it is very troublesome in terms of operation because different targets must be observed at the same time. Also, in the latter means, since it is required to change the attitude greatly at the time of the detection, it is said that the operation is troublesome due to restrictions such as the power source of the solar cell and the observation time. Had a problem.

(Problems to be Solved by the Invention) As described above, the conventional three-axis attitude control device must be provided with a large number of attitude angle detection sensors, so that the handling is troublesome and the operation is complicated. Had the problem of becoming

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a three-axis attitude control device that has a simple configuration, can improve handling, and can simplify operation. And

[Means for Solving the Problems] The present invention relates to the first to third gyros for detecting angular velocities about first to third axes that are substantially orthogonal to a spacecraft, and the first to third gyros. An attitude angle detection sensor that is arranged corresponding to the first and third axes of the first to third axes and detects an attitude angle around these first and third axes; In a state where the second axis is controlled to point to a specific target in the inertial space, an offset error between the first and third gyros is obtained from the output of the attitude angle detection sensor and the first and third gyros. Then, in a state where a target posture offset angle is given to the posture angle detection sensor so as to have sensitivity around the second axis, the posture angle detection sensor and the second and third gyros are provided. From the output of the second and third Detecting an offset error of the Yairo, first the first axis based on an output of the first gyro offset error and the first gyro
And generating a second control signal around the second axis based on the offset error of the second gyro, the output of the attitude angle detection sensor, and the output of the second gyro, And generating a third control signal around the third axis based on the offset error of the third gyro, the output of the attitude angle detection sensor, the output of the third gyro, and the target attitude offset angle. A control processing unit; and drive control means for driving an attitude control system of the spacecraft based on the first to third control signals generated by the control processing unit.

(Operation) According to the above configuration, the offset errors of the first to third gyros are detected by the attitude angle signals of the attitude angle detection sensors corresponding to the first and third axes. Therefore, the number of the posture angle detection sensors can be reduced, so that the handleability can be improved and the operation can be simplified.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a three-axis attitude control apparatus according to an embodiment of the present invention, in which first to third axes corresponding to three axes (roll (X), pitch (Y), and yaw (Z) axes). Gyros 10 to 12 are provided (see Fig. 2), and these first to third gyros 10 to 12 are connected to a control processing unit 14 of the attitude control circuit 13.

A sun sensor 15 for detecting a biaxial attitude angle corresponding to the roll axis and the yaw axis is provided on the pitch axis, and an output terminal of the sun sensor 15 is connected to the control processing unit 14.
The control processing unit 14 generates a roll, pitch, and yaw control signal and outputs the signal to the drive output unit 16. The drive output unit 16 generates a drive signal based on the input roll, pitch, and yaw control signals, and drives and controls the actuator 17 of the attitude control system to control the attitude around the three axes.

In the above configuration, when controlling the posture, first, the first
At the stage, as shown in FIG. 3, the output of the second gyro 11 is guided to the drive output vibration 16 via the control processing filter 14a so that the pitch axis of the sun sensor 15 is directed to the sun, and Rate control is performed so that the angular velocity becomes zero. At the same time, the output of the first gyro 10 and the output of the third gyro 12 are compared with the integral values integrated by the integrators 14b and 14c and the roll output and the yaw output of the sun sensor 15, respectively. The roll and yaw offset errors included in the gyros 10 and 12 are obtained. As a result, the first and third gyro around the roll and yaw axes are respectively obtained by subtracting the roll and yaw offset errors.
The roll and yaw control signals obtained through integration of the outputs of 10 and 12 by the integrators 14b and 14c via the control processing filters 14d and 14e are guided to the drive output unit 16, and drive control is performed by these roll and yaw control signals Is done.

Next, in the second stage, the attitude around the yaw axis is controlled by a signal obtained by adding a bias set amount α (target attitude offset angle) to the output about the yaw axis, for example, as shown in FIG. In FIG. 4, the sun sensor 15
Is not shown). That is, as shown in FIG. 5, the yaw offset error is subtracted from the output of the third gyro 12 from which the yaw offset error is obtained as shown in FIG. 5, and the subtracted signal is integrated by an integrator 14f to obtain a bias. After subtracting the set amount α, a yaw control signal is obtained, and the yaw control signal is output to the drive output unit 16 via the control processing filter 14g. At the same time, around the roll axis, a roll control signal is obtained by integrating a signal obtained by subtracting the roll offset error from the output of the first gyro 10 from which the roll offset error has been obtained by the integrator 14h, and this roll control signal is controlled. The signal is output to the drive output unit 16 via the processing filter 14i.

Around the pitch axis appears as the roll output of the sun sensor 15 (see FIG. 4), and the roll output of the sun sensor 15 and the output of the second gyro 11 from which the pitch offset error is obtained are used for the pitch offset. The signal obtained by subtracting the error is integrated by the integrator 14j to obtain a pitch control signal, and the pitch control signal is output to the drive output unit 16 via the control processing filter 14k.

Here, the drive output unit 16 generates a drive signal corresponding to the input roll, pitch, and yaw control output signals, and drives and controls the actuator 17 of the attitude control system based on the drive signal, thereby performing the three-axis attitude.

As described above, the three-axis attitude control device is provided with the sun sensor 15 corresponding to the roll and yaw axes corresponding to the first to third gyros 10 to 12, and the pitch axis of the sun sensor 15 is first set in the sun direction. The solar sensor is controlled to point to
15 and the offset errors of the first and third gyros 10, 12 are detected from the outputs of the first and third gyros 10, 12, so that the solar sensor 15 has sensitivity around the pitch axis with respect to the pitch axis. By applying a bias set amount α to the sun sensor 15 and the second
The gyro 11 detects the offset error of the second gyro 11, and detects the roll offset error and the first gyro.
Generate a roll control signal around the roll axis from 10 outputs,
By generating the pitch and yaw control signals around the pitch and yaw axes from the pitch and yaw offset errors, the output of the sun sensor 15 and the outputs of the second and third gyros 11 and 12, it is possible to detect the attitude angle. Since the number of the installed solar sensors 15 is reduced as compared with the conventional one, the handleability can be improved as much as possible and the operation can be simplified.

In the above-described embodiment, the case where the bias setting amount α is added to the output around the yaw axis has been described. However, the present invention is not limited to this, and the configuration may be such that it is added to the output around the roll axis. .

Further, in the above-described embodiment, the case where the control processing unit 14 is formed of the first stage and the second stage processing circuits by independent processing circuits has been described. However, the present invention is not limited to this. And a switching type using a changeover switch or the like.
It is also possible to carry out the processing of the second stage.

Further, in the above-described embodiment, the case has been described in which the sun sensor 15 is used as the attitude angle detection sensor. However, the present invention is not limited to this.

Therefore, it is needless to say that the present invention is not limited to the above-described embodiment, and that various modifications can be made without departing from the scope of the present invention.

[Effects of the Invention] As described in detail above, according to the present invention, there is provided a three-axis attitude control device which can be simplified in structure, improved in handleability, and simplified in operation. can do.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a three-axis attitude control device according to one embodiment of the present invention, FIG. 2 is a diagram showing an arrangement state of first to third gyros and a sun sensor, and FIGS. First
FIG. 4 is a diagram showing details of the control processing unit shown in FIG. 4, and FIG. 4 is a diagram shown for explaining the operation of FIG. 10 to 12: first to third gyros, 13: attitude control circuit, 14: control processing unit, 15: sun sensor, 16: drive output unit, 17: actuator.

Claims (1)

(57) [Claims] A first gyro for detecting angular velocities about first to third axes which are substantially orthogonal to the spacecraft; and a first and a third gyro among the first to third axes. An attitude angle detection sensor that is arranged corresponding to an axis and detects an attitude angle around the first and third axes; and the attitude angle detection sensor directs the second axis to a specific target in inertial space. In a controlled state
An offset error of the first and third gyros is detected from the output of the attitude angle detection sensor and the first and third gyros, and thereafter, with respect to the attitude angle detection sensor, around the second axis. In a state in which a target attitude offset angle is given so as to have sensitivity, an offset error between the second and third gyros is detected from outputs of the attitude angle detection sensor and the second and third gyros, and the first and second gyros are detected. Generating a first control signal around the first axis based on the gyro offset error and the output of the first gyro, and calculating the offset error of the second gyro, the output of the attitude angle detection sensor, A second control signal about the second axis is generated based on an output of the second gyro, and an offset error of the third gyro, an output of the attitude angle detection sensor, and the third gyro are output. A control processing unit that generates a third control signal around the third axis based on the output of the control unit and the target posture offset angle; and based on the first to third control signals generated by the control processing unit. Drive control means for driving and controlling the attitude control system of the spacecraft.