JP4679439B2 - Satellite attitude control device - Google Patents

Description

  The present invention relates to an attitude control device for an artificial satellite that quickly changes the attitude of the artificial satellite.

According to the purpose and conditions of an artificial satellite, there are various demands on the attitude change speed, from when the attitude is changed very slowly and when it is required to change the attitude as quickly as possible. Such a function of quickly changing the posture is hereinafter referred to as high mobility.
In the attitude control of the artificial satellite, there is a type in which the satellite itself obtains a rotational force by applying a force in a direction in which the axis angle of the built-in gyroscope is changed. Higher torque can be generated compared to a reaction wheel that obtains a rotational reaction force by increasing or decreasing the rotational speed of the rotating disk. Therefore, in a highly mobile satellite, multiple CMGs (Control Moment Gyro) are used as attitude control actuators. Some are equipped with.

FIG. 5.28 of Non-Patent Document 1 shows the configuration of a so-called single gimbal CMG with one flywheel for explaining the principle of CMG. A flywheel that rotates at high speed around the disc axis (spin axis) is supported by a single gimbal. When driven around the gimbal axis by a gimbal drive motor, etc. angular momentum direction of the flywheel in a direction perpendicular to (h _G and according to the figure) with gimbal pivot axis (described as dσ / dt in FIG.) (figure described as dσ / dt × h _G), the attitude control torque Can be generated.

In order to perform the three-axis attitude control of an artificial satellite, in principle, three CMGs should be installed, but usually a redundant configuration of four or more units is taken to cope with the failure of one unit. . A typical example of the arrangement of three CMGs is shown in FIG. Also, the torque in the case of four CMG arrangements is described in FIG. 1. This is generally called a pyramid arrangement, and is arranged such that the gimbal axis of each CMG is perpendicular to the slope of the quadrangular pyramid.
Since CMG drives rotational torque to the satellite body by driving the gimbal, when CMG is used as an attitude control actuator for an artificial satellite, it is necessary to appropriately drive the CMG gimbal so that the desired attitude control torque is generated. There is. The relationship between the CMG gimbal angular velocity and the attitude control torque acting on the satellite can be described as follows using the Jacobian matrix.

Here, δ is a vector composed of gimbal angles of each CMG, and τ is an attitude control torque acting on the artificial satellite. Each column of the matrix A indicates a torque obtained when the corresponding CMG gimbal is rotated at an angular velocity of 1 rad / s, and is generally called a Jacobian matrix. The Jacobian matrix A can be obtained as a function of the gimbal angle of each CMG.
In a conventional satellite attitude control device, when the attitude control torque τ required for attitude change is obtained, the CMG gimbal angular velocity for outputting the attitude control torque is obtained by multiplying the pseudo inverse matrix of the Jacobian matrix. Next, using the gimbal angular velocity obtained here as a target value, the CMG gimbal is controlled by the speed servo system to generate the attitude control torque necessary for the attitude change.

  The configuration of such a conventional attitude control device for an artificial satellite is disclosed in, for example, FIG. 1 of Patent Document 1, but in order to help understanding of the present invention, an artificially rewritten version of FIG. The configuration of a conventional attitude control device for a satellite is shown in FIG. 10 of the present application, and problems of the conventional attitude control device will be described with reference to FIG. When the attitude of the artificial satellite 1 is changed, if the initial (current) attitude of the artificial satellite 1 and the terminal attitude that is the target of the attitude change are given, the attitude change from the initial attitude to the terminal attitude is not possible. As shown in FIG. 3, it can be realized by rotation around one axis called Euler Axis. The artificial satellite 1 has a target orbit planning unit 26 for calculating a target orbit of the satellite corresponding to the mission to be performed by the artificial satellite 1 (the orbit includes the attitude here), and a torque for changing the attitude of the satellite. An attitude estimation unit 4 is mounted as a sensor for detecting the attitude of the satellite 1 and the CMG 2 for generating the CMG 2. The CMG 2 is provided with a gimbal estimation unit 3 that detects the angle and angular velocity of the gimbal. Then, when the target values of the attitude angle and attitude angular velocity of the satellite (described as the target attitude angle and the target attitude angular velocity in the figure) are given from the target trajectory planning unit 26, the attitude angle and attitude angular velocity from the attitude estimation unit 4 are given. In order to reduce the error from the estimated value, the attitude control feedback calculator 27 obtains the feedback attitude control torque. Next, the CMG steering calculation unit 28 obtains the CMG gimbal angular velocity for outputting the feedback attitude control torque using the pseudo inverse matrix of the Jacobian matrix as described above. The gimbal control calculation unit 29 has a speed servo system that uses the gimbal angular velocity obtained by the CMG steering calculation unit 28 as a target value and matches the gimbal angular velocity fed back from the gimbal estimation unit 3 with the target. In other words, the CMG gimbal is controlled by the speed servo system using the gimbal angular velocity obtained by the CMG steering calculation unit 28 as a target value.

During the execution of the above control, a gyro torque due to the gyro effect acts on CMG due to the angular momentum of CMG. For example, when the attitude of an orbiting satellite or the attitude of a general artificial satellite is changed, in addition to the gimbal control torque corresponding to the feedback attitude control torque, a gimbal holding torque for compensating this gyro torque ( Bias torque) must be generated by the gimbal control calculation unit to control the CMG.
However, in the conventional attitude control device for artificial satellites, as described above, the gimbal control calculation unit is configured by the speed servo system, so during a high attitude angular velocity such as when changing the attitude at high speed, There was a problem that a phase delay was caused in the gimbal control and the attitude control was disturbed.
Special Table 2002-510816 “Continuous Posture Control to Avoid CMG Array Singularity” Corona Co., Ltd., published in 2001, Space Engineering Series 3, Takashi Kida, Keiji Komatsu, Shinichiro Kawaguchi, “Artificial Satellite and Space Explorer” (section 5.5.3, pp. 218-220) Wie, B., “SingularityAnalysis and Visualization for Single-Gimbal Control Moment Gyro Systems,” Journal of Guidance, Control, and Dynamics, Vol. 27, No. 2, 2004, pp. 271-282. PCHughes, “SpacecraftAttitude Dynamics,” John Wiley & Sons, 1986, page 11, Figure 2.3.

In a satellite equipped with CMG, while a large attitude angular velocity is generated in the satellite, gyro torque due to the gyro effect acts on CMG due to the angular momentum of CMG. That is, during this time, it is necessary to add a gimbal control torque corresponding to the feedback attitude control torque, and to generate a gimbal holding torque (bias torque) for compensating the gyro torque by the gimbal control calculation unit to control the CMG. is there. However, in the conventional attitude control device for artificial satellites, the gimbal control calculation unit is composed of a speed servo system, so the gimbal control is phased while a large attitude angular velocity is generated in the satellite during high-speed attitude changes. There was a problem that the attitude control was disturbed due to a delay.
Further, due to the above-described influence, there is a problem that the time required for settling to the target posture after the posture change becomes long.
In addition, there is a problem that a stationary deviation remains in the attitude angle after the attitude change in the satellite having a constant orbital angular velocity, such as the Earth orbiting satellite, due to the effect of the gyro term due to the angular momentum and the orbital angular velocity of the CMG2.

  The present invention has been made to solve the above-described problems. The CMG is used to change the attitude of the artificial satellite at high speed and to set the attitude of the artificial satellite to the target attitude after changing the attitude. The purpose is to obtain an attitude control device for an extremely short satellite.

The attitude control device for an artificial satellite according to the present invention is mounted on an artificial satellite having a CMG (control moment gyro) for controlling the attitude,
A gimbal estimation unit for estimating a gimbal angle and a gimbal angular velocity of the CMG;
A posture estimation unit for estimating a posture angle and a posture angular velocity of the artificial satellite;
A target trajectory planning unit that outputs a target attitude angle, a target attitude angular velocity, a gimbal angular plan value, a gimbal angular velocity planned value, and a gimbal angular acceleration planned value of the CMG;
A posture control feedback calculator for calculating a feedback posture control torque that reduces two differences between the difference between the target posture angle and the posture angle and the difference between the target posture angular velocity and the posture angular velocity;
Based on the feedback attitude control torque and the gimbal angle, the gimbal angle planned value and the gimbal angular velocity planned value are corrected to obtain a target gimbal angle and a target gimbal angular velocity, and the gimbal angular acceleration planned value and the A CMG steering calculation unit for calculating a feedforward gimbal control torque based on the attitude angular velocity and the gimbal angle;
An angle control system that corrects the target gimbal angular velocity based on the difference between the target gimbal angle and the gimbal angle, and the feedforward gimbal control based on the difference between the corrected target gimbal angular velocity and the gimbal angular velocity. An angular velocity control system for correcting torque, and a first gimbal control calculation unit that outputs a gimbal control torque for controlling the CMG.

  According to the attitude control device for an artificial satellite of the present invention, a target trajectory plan for outputting a CMG gimbal angle plan value, a gimbal angular velocity plan value, and a gimbal angular acceleration plan value in addition to the target attitude angle and target attitude angular velocity of the satellite. Department. Based on the feedback attitude control torque, the attitude angular velocity, and the gimbal angle, the target gimbal angle and target gimbal angular speed are obtained by correcting the planned gimbal angle value, planned gimbal angular speed value, and planned gimbal angular acceleration value. Because it has a CMG steering calculation unit that generates feedforward gimbal control torque, the disturbance of these values during the attitude change is reduced, and the high-speed torque of the CMG can be used to change the attitude of the satellite at high speed At the same time, after the attitude change, there is an unprecedented remarkable effect that the attitude of the artificial satellite can be quickly set to the target attitude.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of an attitude control device for an artificial satellite according to Embodiment 1 of the present invention. As described above, a plurality of CMGs (control moment gyro) are mounted on the artificial satellite 1, but in the following description, only a part for controlling one of the CMGs will be described. Of course, the same embodiment is applied to other CMGs.
In the block diagram of FIG. 1, a CMG (Control Moment Gyro) 2 as an attitude control torque actuator, a gimbal estimation unit 3 for estimating the gimbal angle and gimbal angular velocity of the CMG 2, and the attitude angle and attitude angular velocity of the artificial satellite 1 are estimated. Attitude estimation unit 4, attitude angle target value and attitude angular velocity target value for artificial satellite 1 to change attitude, and CMG 2 gimbal angle plan value, gimbal angular velocity plan value, and gimbal angular acceleration plan value that match these target values A target trajectory planning unit 5 that generates a position, a posture control feedback calculation unit 6 that obtains a feedback posture control torque to reduce errors between the target posture angle and the target posture angular velocity, and the posture angle and posture angular velocity from the posture estimation unit 4; It has.
Further, the feedback attitude control torque from the attitude control feedback calculation unit 6, the CMG 2 gimbal angle plan value, the gimbal angular velocity plan value, the gimbal angular acceleration plan value from the target trajectory plan unit 5, and the CMG 2 gimbal angle from the gimbal estimation unit 3 Feedforward gimbal that compensates for the CMG2 target gimbal angle and target gimbal angular velocity and the inertial force and gyro term of the CMG2 due to the attitude change from the estimated value of the CMG2 and the estimated angular velocity of the satellite 1 from the attitude estimation unit 4 A CMG steering calculation unit 7 for generating control torque;
A first gimbal control calculation for obtaining a gimbal control torque to reduce an error between the target gimbal angle and target gimbal angular velocity of CMG2 from the CMG steering calculation unit 7 and the estimated value of the gimbal angle and gimbal angular velocity from the gimbal estimation unit 3 Part 8 is mounted.

The gimbal estimation unit 3 can estimate the gimbal angle as an angle sensor output by using, for example, a general angle sensor (encoder or resolver or the like) arranged on the gimbal axis of each CMG. Also, the gimbal angular velocity can be estimated by differentiating the gimbal angle with respect to time. Note that the estimated value of the gimbal angle and the estimated value of the gimbal angular velocity, which are the outputs of the gimbal estimation unit 3, are referred to as the gimbal angle and the gimbal angular velocity in the following description, with the expression “estimated value” stopped.
The attitude estimation unit 4 includes, for example, an attitude sensor (such as a start tracker or an earth sensor) and an attitude angular velocity sensor (gyro) mounted on the artificial satellite 1 and configures a Kalman filter using these sensor outputs. The posture angle and posture angular velocity can be estimated. In the following description, the estimated value of the posture angle and the estimated value of the posture angular velocity, which are outputs of the posture estimation unit 4, are referred to as a posture angle and a posture angular velocity, without expressing the “estimated value”.

When the artificial satellite 1 changes its posture, the target trajectory planning unit 5 performs a trajectory plan for changing the posture. Here, in addition to the target trajectory of the attitude angle and attitude angular velocity of the artificial satellite 1 (here, the target trajectory means the time change of the target value), CMG2 that matches these target trajectories under the law of conservation of angular momentum. The target trajectory of the gimbal angle, gimbal angular velocity, and gimbal angular acceleration (same as above) is also planned.
As described above, when the initial attitude of the artificial satellite 1 and the terminal attitude to be the target of attitude change are given, the attitude change from the initial attitude to the terminal attitude is performed as described in Non-Patent Document 3, as shown in the Euler axis. (Euler Axis) This can be achieved by rotating around one axis.
When this rotation axis and u _a, angular momentum direction u _c to be stored is CMG2 for attitude change can be obtained as follows.

Here, J is the moment of inertia of the artificial satellite 1.
In order to change the attitude at high speed, it is necessary to accumulate the angular momentum in the CMG 2 up to the vicinity of the maximum angular momentum that the CMG 2 can accumulate, and to generate a large attitude angular velocity in the artificial satellite 1. If the angular momentum direction u _c required position change is obtained, and the maximum angular momentum that direction CMG2 can store, the gimbal angle of CMG2 at that time can be determined as follows.
In general, a set of maximum angular momentum that CMG2 can accumulate is called a maximum angular momentum envelope, and forms a closed curved surface in the angular momentum space. The maximum angular momentum envelope surface can be obtained by, for example, the method described in Non-Patent Document 2 described above, and a detailed description thereof will be omitted.
Further, the gimbal angle of the corresponding CMG2 when the angular momentum is given can be obtained by the method described in Non-Patent Document 4 below (repeated calculation using Newton-Raphson method), for example. Description is omitted.
Kurokawa, “Control Law of 3-Unit CMG for Small Satellites,” Bulletin of Mechanical Engineering Laboratory, Vol. 53, No. 6, 1999, pp. 203-209.

When the gimbal angle of CMG2 near the maximum angular momentum is thus obtained, the trajectory of the CMG2 gimbal angle in the posture change section typically has a trapezoidal pattern as shown in FIG. That is, the CMG2 gimbal is driven from the initial state zero to the gimbal angle, the maximum angular momentum is accumulated in the CMG2, and the maximum attitude angular velocity around the Euler axis is generated in the artificial satellite 1.
After the maximum attitude angular velocity is generated, the gimbal is held to hold the accumulated angular momentum of the CMG 2, and the state where the artificial satellite 1 generates the maximum attitude angular velocity is continued.
The CMG2 gimbal is driven again near the end of the attitude change section to return to the zero state, the angular momentum accumulated in the CMG2 is released, and the attitude angle velocity of the artificial satellite 1 is set to zero and the target attitude is set. FIG. 2 shows an example of the history of the gimbal angle and accumulated angular momentum of the CMG 2 and the attitude angular velocity and attitude angle of the artificial satellite 1 during the attitude change section. FIG. 2 d) shows the time change of the attitude that the artificial satellite should finally take. c) shows the time change of the attitude angular velocity of the artificial satellite to obtain the time change of d). b) shows the time change of the CMG accumulated angular momentum for obtaining the posture angular velocity change of c). And a) shows the time change of the gimbal angle for obtaining the time change of the CMG accumulation angular momentum of b).

Here, the gimbal angle trajectory of CMG2 in FIG. 2 a) is hereinafter referred to as a gimbal angle planned value for convenience of explanation. The gimbal angular velocity planned value can be obtained by time differentiating the gimbal angular planned value, and the gimbal angular acceleration planned value can be obtained by time differentiating the gimbal angular velocity planned value.
If the gimbal angle plan value of CMG2 is obtained, the attitude orbit of the artificial satellite 1 can be obtained from the angular momentum conservation law. The angular momentum of the entire satellite is given by the sum of the angular momentum of the artificial satellite 1 and the accumulated angular momentum of the CMG 2. As shown in the following equation, the angular momentum of the entire satellite is preserved in the inertial space by the angular momentum conservation law.

Here, ω _b is the attitude angular velocity of the satellite 1, Jω _b is the angular momentum of the satellite 1 (not including CMG), and h _CMG is the accumulated angular momentum of CMG2. Since h _CMG can be obtained from the gimbal angle planned value of _{CMG 2} obtained previously, the attitude angular velocity of the artificial satellite 1 that matches the angular momentum conservation law can be obtained using the above equation. This is set as a target value of the posture angular velocity. Further, the target value of the posture angle can be obtained by integrating the target value with time.
Based on the error (posture angle error and posture angular velocity error) between the target posture angle and target posture angular velocity from the target trajectory planning unit 5 and the posture angle and posture angular velocity from the posture estimation unit 4, the posture control feedback calculation unit 6 The feedback attitude control torque τ _FB is obtained so as to reduce this error.
If the posture angle error is e _θ and the posture angular velocity error is e _ω , the feedback posture control torque τ _FB can be obtained as follows using, for example, PD control.

Each where K _P and _the K _D is the feedback gain with respect to the posture angle error e _theta and attitude angular error e _omega. Alternatively, instead of PD control, integral compensation may be added to obtain feedback attitude control torque τ _FB by PID control.

Next, the CMG steering calculation unit 7 obtains the target gimbal angle and the target gimbal angular velocity of the CMG 2 necessary for the attitude change using the feedback attitude control torque τ _FB and the term described below. FIG. 3 shows a detailed configuration of the CMG steering calculation unit 7.
The feedback attitude control torque obtained by the attitude control feedback computing unit 6 is multiplied by the generalized inverse matrix A ⁺ of the Jacobian matrix A to obtain the CMG2 gimbal angular velocity necessary for realizing the feedback attitude control torque. The target gimbal angle of the CMG 2 is obtained by adding the gimbal angular velocity obtained here to the gimbal angle planned value obtained by the target trajectory planning unit 5 and time integral (1 / S).
When the Jacobian matrix A is singular, a modified pseudo-inverse matrix as shown in Patent Document 1, for example, can be used as A ⁺ .
The gimbal angular velocity is the same procedure, that is, the gimbal angular velocity obtained by multiplying the gimbal angular velocity planned value obtained by the target trajectory planning unit 5 by the generalized inverse matrix is added to obtain the target gimbal angular velocity of CMG2.
The feedforward compensation calculation unit 9 calculates the inertia force of the CMG 2 based on the gimbal angular acceleration planned value obtained by the target trajectory planning unit 5, and the sum of the gyro term based on the attitude angular velocity of the artificial satellite 1 and the angular momentum of the CMG 2. The forward gimbal control torque is used.

  In the first gimbal control calculation unit 8, the control system is configured so that the gimbal of the CMG 2 follows the trajectory to the target gimbal angle and the target gimbal angular velocity obtained by the CMG steering calculation unit 7. That is, in FIG. 1, based on the error (gimbal angle error) between the gimbal angle of the CMG 2 obtained by the gimbal estimation unit 3 and the target gimbal angle obtained by the CMG steering calculation unit 7, the target is reduced so as to reduce the error. An angle control system for correcting the gimbal angular velocity is configured. As the angle control system, for example, proportional control in which a gimbal angle error is multiplied by a proportional gain may be used, or a combination of proportional control and integral control in which the gimbal angle error is multiplied by a proportional gain and an integral gain may be used. The output of the angle control system is added to the target gimbal angular velocity output from the CMG steering calculation unit 7 to obtain a corrected target gimbal angular velocity.

  Further, an error (gimbal angular velocity error) between the gimbal angular velocity of CMG 2 obtained by the gimbal estimating unit 3 and the above-mentioned corrected target gimbal angular velocity is obtained, and feedforward is performed so as to reduce this error based on the gimbal angular velocity error. An angular velocity control system for correcting the gimbal control torque is configured. As the angular velocity control system, for example, proportional control in which a gimbal angular velocity error is multiplied by a proportional gain can be used. The output of the angular velocity control system obtained here is added to the feedforward gimbal control torque obtained by the CMG steering calculation unit 7 to correct the value. Based on the corrected gimbal control torque obtained in this way, the gimbal control of CMG2 is performed.

  According to the configuration of FIG. 1, the target trajectory planning unit 5 plans the gimbal trajectory of the CMG 2 in addition to the attitude trajectory of the artificial satellite 1, and the CMG steering calculation unit 7 obtains the attitude control feedback calculation unit 6. Using the feedback attitude control torque, the gimbal trajectory plan value obtained by the target trajectory planning unit 5, the gimbal angle obtained by the gimbal estimation unit 3, and the attitude angular velocity obtained by the attitude estimation unit 4, the target gimbal angle and the target gimbal angular velocity of the CMG 2 are used. , And feedforward gimbal control torque. The first gimbal control calculation unit 8 configures the gimbal control system so as to follow the trajectory to the target gimbal angle and target gimbal angular velocity obtained here, and obtains the gimbal control torque of CMG2.

  Therefore, when the attitude of the artificial satellite 1 is changed at high speed, even if a large attitude angular velocity occurs in the artificial satellite 1, the phase delay in the first gimbal control calculation unit 8 is small. That is, the overshoot and undershoot of the gimbal angle, the gimbal angular velocity, and the gimbal control torque are small, and the posture control disturbance associated therewith is small. With this configuration, the attitude of the artificial satellite 1 can be changed at high speed using the high output torque of the CMG 2, and the attitude of the artificial satellite 1 can be quickly set to the target attitude after the attitude change.

Also, as in the conventional satellite attitude control device shown in FIG. 10, when the gimbal control calculation unit is composed only of the angular velocity control system and the gimbal control torque is obtained as the output torque of the angular velocity control system, In satellites that always have orbital angular velocities, such as orbiting satellites, there is a problem that a steady-state deviation remains in the attitude angle after the attitude change due to the effect of the gyro term due to the angular momentum and orbital angular velocity of CMG2.
However, in the present embodiment, the target trajectory planning unit 5 outputs the planned value of the gimbal angle, the target value is corrected by the posture and the gimbal angle, and the target gimbal angle is obtained. 8 includes an angle control system and an angular velocity control system, the target gimbal angular velocity is corrected by the angle control system, the output torque of the angular velocity control system based on the error between the corrected target gimbal angular velocity and the gimbal angular velocity, and the CMG steering calculation unit Since the gimbal control torque is obtained by the sum of the feedforward gimbal control torques obtained in step 7, no steady deviation remains in the posture angle after the posture change.

Embodiment 2. FIG.
A configuration of the second gimbal control calculation unit 10 according to the second embodiment, which is different from the configuration of the gimbal control calculation unit 8 according to the first embodiment, will be described. The block diagram other than the second gimbal control calculation unit 10 applies FIG. However, since the feedforward gimbal control torque signal that is the output of the CMG steering calculation unit 7 in FIG. 1 is not used, the CMG steering calculation unit 7 does not need to be able to output this torque, which will be described in detail later.
In the second gimbal control calculation unit 10, a control system is configured so that the gimbal of the CMG 2 follows the target gimbal angle and the target gimbal angular velocity obtained by the CMG steering calculation unit 7. That is, an error (gimbal angle error) between the gimbal angle of CMG2 and the target gimbal angle is obtained, and an angle control system is configured based on the gimbal angle error. As the angle control system, for example, proportional control in which a gimbal angle error is multiplied by a proportional gain may be used, or a combination of proportional control and integral control in which the gimbal angle error is multiplied by a proportional gain and an integral gain may be used. The output of the angle control system is corrected and added to the target gimbal angular velocity, and a corrected target gimbal angular velocity is obtained.

  Further, an error (gimbal angular velocity error) between the gimbal angular velocity of the CMG 2 and the corrected target gimbal angular velocity is obtained, and an angular velocity control system is configured based on the gimbal angular velocity error. As the angular velocity control system, for example, proportional control in which a gimbal angular velocity error is multiplied by a proportional gain can be used. The output torque of the angular velocity control system obtained here is used as a gimbal control torque, and the gimbal control of CMG2 is performed.

  According to the configuration of FIG. 4, the target trajectory planning unit 5 plans the gimbal trajectory of the CMG 2 in addition to the attitude trajectory of the artificial satellite 1, and the CMG steering calculation unit 7 obtains the attitude control feedback calculation unit 6. Using the feedback attitude control torque, the gimbal trajectory plan value obtained by the target trajectory plan unit 5, and the estimated value of the gimbal angle obtained by the gimbal estimation unit 3, the target gimbal angle and the target gimbal angular velocity of the CMG 2 are obtained. The second gimbal control calculation unit 10 configures the gimbal control system so as to follow the trajectory to the target gimbal angle and the target gimbal angular velocity obtained here, and obtains the gimbal control torque of CMG2.

  Therefore, when the attitude of the artificial satellite 1 is changed at high speed, even if a large attitude angular velocity is generated in the artificial satellite 1, the phase delay between the gimbal angle and the gimbal angular velocity is small, and the disturbance in attitude control due to the delay is small. With this configuration, the attitude of the artificial satellite 1 can be changed at high speed using the high output torque of the CMG 2, and the attitude of the artificial satellite 1 can be quickly set to the target attitude after the attitude change.

Further, as in the conventional artificial satellite attitude control device shown in FIG. 10, the gimbal control calculation unit is configured only by the angular velocity control system and the gimbal control torque is obtained as the output torque of the angular velocity control system. In a satellite such as a satellite that always has an orbital angular velocity, there is a problem in that a steady-state deviation remains in the attitude angle after the attitude change due to the effect of the gyro term due to the angular momentum and the orbital angular velocity of CMG2.
However, in this embodiment, the gimbal control calculation unit 10 is configured by the angle control system and the angular velocity control system, and the gimbal control torque is obtained by the sum of the output torque of the angle control system and the output torque of the angular velocity control system. There is no stationary deviation in the posture angle after the change.
Compared to the configuration of FIG. 1 of the first embodiment, since the feedforward gimbal control torque is not used in the present embodiment, the deviation of the gimbal angular velocity for the angular velocity control system to output a required torque signal is large. Become. However, there is an effect that the system is simplified.
As described above, since the feedforward gimbal control torque that is the output of the CMG steering calculation unit 7 is not used, the simplified feedforward compensation calculation unit shown in FIG. You may use the CMG steering calculating part 57 which does not have. In this case, the target trajectory plan unit 5 does not need to output the gimbal angular acceleration plan value.

Embodiment 3 FIG.
FIG. 6 shows the configuration of the third gimbal control calculation unit 11 in the third embodiment. The block diagram other than the third gimbal control calculation unit 11 applies FIG. However, since the signal of the target gimbal angle that is the output of the CMG steering calculation unit 7 in FIG. 1 is not used, the CMG steering calculation unit 7 may not output the signal. Details will be described later.
The third gimbal control calculation unit 11 configures the angular velocity control system so that the gimbal angular velocity of the CMG 2 follows the trajectory to the target value of the gimbal angular velocity obtained by the CMG steering calculation unit 7. An error (gimbal angular velocity error) between the gimbal angular velocity of the CMG 2 obtained by the gimbal estimating unit 3 and the target gimbal angular velocity obtained by the CMG steering computing unit 7 is obtained, and an angular velocity control system is configured using the gimbal angular velocity error. As the angular velocity control system, for example, proportional control in which a gimbal angular velocity error is multiplied by a proportional gain can be used. Alternatively, a combination of proportional control and integral control in which a gimbal angular velocity error is multiplied by a proportional gain and an integral gain may be used.
The sum of the output torque of the angular velocity control system obtained here and the feedforward gimbal control torque obtained by the CMG steering calculation unit 7 is obtained as the gimbal control torque, and the gimbal control of CMG2 is performed.

According to the configuration of FIG. 6, the target trajectory planning unit 5 plans the CMG 2 gimbal trajectory in addition to the attitude trajectory of the artificial satellite 1, and the CMG steering calculation unit 7 obtains the attitude control feedback calculation unit 6. Using the feedback attitude control torque, the gimbal trajectory plan value obtained by the target trajectory planning unit 5, the estimated gimbal angle obtained by the gimbal estimating unit 3, and the estimated value of the attitude angular velocity obtained by the attitude estimating unit 4, the target of the CMG 2 Obtain the gimbal angular velocity and feedforward gimbal control torque. The gimbal control calculation unit 11 configures the gimbal control system so as to follow the trajectory to the target value of the gimbal angular velocity obtained here, and obtains the gimbal control torque of the CMG 2.
Therefore, when the attitude of the artificial satellite 1 is changed at high speed, even if a large attitude angular velocity is generated in the artificial satellite 1, the phase delay of the gimbal control torque is small, and the attitude control disturbance is accordingly small. With this configuration, the attitude of the artificial satellite 1 can be changed at high speed using the high output torque of the CMG 2, and the attitude of the artificial satellite can be quickly set to the target attitude after the attitude change.

Further, as in the conventional artificial satellite attitude control device shown in FIG. 10, the gimbal control calculation unit is configured only by the angular velocity control system and the gimbal control torque is obtained as the output torque of the angular velocity control system. In a satellite such as a satellite that always has an orbital angular velocity, there is a problem in that a steady-state deviation remains in the attitude angle after the attitude change due to the effect of the gyro term due to the angular momentum and the orbital angular velocity of CMG2.
However, in this embodiment, the gimbal control calculation unit 11 is configured by an angular velocity control system, and the gimbal control torque is obtained by the sum of the output torque of the angular velocity control system and the feedforward gimbal control torque obtained by the CMG steering calculation unit 7. Therefore, no steady deviation remains in the posture angle after the posture change.
As described above, since the target gimbal angle that is the output of the CMG steering calculation unit 7 is not used, the CMG steering is simplified as shown in FIG. 7 instead of the CMG steering calculation unit 7, that is, does not output the target gimbal angle. The calculation unit 67 may be used. In this case, the target trajectory planning unit 5 does not need to output the gimbal angle planned value.

Embodiment 4 FIG.
FIG. 8 is a block diagram showing a configuration of an attitude control device for an artificial satellite according to Embodiment 4 of the present invention. The next part of the block diagram of FIG. 8 is the same as the block diagram of FIG. That is, an artificial satellite 1, a CMG 2, a gimbal estimation unit 3, an attitude estimation unit 4, an attitude control feedback calculation unit 6, and a gimbal control calculation unit 8.
The artificial satellite 1 includes a plurality of CMGs (Control Moment Gyro) 2 as attitude control torque actuators, a gimbal estimation unit 3 for estimating the gimbal angle and gimbal angular velocity of the CMG 2, and the attitude angle and attitude angular velocity of the artificial satellite 1. The posture estimation unit 4 to be estimated, the posture angle for the artificial satellite 1 to change the posture, the posture angular velocity, the target value of the posture angular acceleration, and the gimbal angle, gimbal angular velocity, and gimbal angular acceleration of the CMG 2 that match these target values. A target trajectory planning unit 12 that generates a planned value is mounted.

  Further, attitude control feedback calculation for obtaining feedback attitude control torque to reduce an error between the target value of attitude angle and attitude angular velocity from the target trajectory planning unit 12 and the estimated value of attitude angle and attitude angular velocity from the attitude estimation unit 4. From the target value of the attitude angular acceleration from the unit 6 and the target trajectory planning unit 12, the estimated value of the gimbal angle of the CMG 2 from the gimbal estimation unit 3, and the estimated value of the attitude angular velocity of the artificial satellite 1 from the attitude estimation unit 4. Attitude control feedforward calculation unit 13 for obtaining feedforward attitude control torque to compensate for inertial force and gyro term of artificial satellite 1 accompanying change, feedback attitude control torque from attitude control feedback calculation unit 6, and attitude control feedforward calculation The sum of the feedforward attitude control torque from the unit 13 is defined as the attitude control torque. CMG2 gimbal angle, gimbal angular velocity, planned value of gimbal angular acceleration from the attitude control torque and target trajectory planning unit 5, estimated value of CMG2 gimbal angle from the gimbal estimation unit 3, and artificial satellite 1 from the attitude estimation unit 4 A CMG steering calculation unit 14 that generates a feedforward gimbal control torque that compensates for the CMG2 gimbal angle, the target value of the gimbal angular velocity, the inertial force of the CMG2 and the gyro term accompanying the attitude change, and the CMG2 A gimbal control calculation unit 8 for obtaining a gimbal control torque to reduce an error between the target value of the gimbal angle and gimbal angular velocity of the CMG 2 from the steering calculation unit 14 and the estimated value of the gimbal angle and gimbal angular velocity from the gimbal estimation unit 3 It is installed.

When the artificial satellite 1 changes its posture, the target trajectory planning unit 12 performs a trajectory plan for changing the posture. Here, in addition to the target trajectories of the attitude angle, attitude angular velocity, and attitude angular acceleration of the artificial satellite 1, the target trajectories of the CMG2 gimbal angle, gimbal angular velocity, and gimbal angular acceleration that match these target trajectories under the law of conservation of angular momentum are also shown. To plan. They are called the gimbal angular plan value, the gimbal angular velocity planned value, and the gimbal angular acceleration planned value, respectively.
In the first embodiment, the target trajectory planning unit 5 calculates the target posture angular velocity, but the target value of the posture angular acceleration (denoted as target posture angular acceleration in the figure) is also obtained by differentiating the target value with respect to time. be able to.

Attitude control feedforward calculation using the target attitude angular acceleration from the target trajectory planning unit 12, the estimated value of the gimbal angle of the CMG 2 from the gimbal estimation unit 3, and the estimated value of the attitude angular velocity of the artificial satellite 1 from the attitude estimation unit 4 The unit 13 obtains the feedforward attitude control torque τ _FF by obtaining the sum of the inertial force of the artificial satellite 1 and the gyro term accompanying the attitude change. This feedforward attitude control torque τ _FF can be obtained as follows.

Here, the superscript “des” indicates a target value from the target trajectory planning unit 12. The first term on the right side corresponds to the inertial force, and the second term corresponds to the gyro term. The attitude control torque is obtained by obtaining the sum of the feedback attitude control torque τ _FB obtained by the attitude control feedback calculation unit 6 and the feedforward attitude control torque τ _FF obtained by the attitude control feedforward calculation unit.
Next, the CMG steering calculation unit 14 uses the attitude control torque to obtain target values for the gimbal angle and gimbal angular velocity of the CMG 2 necessary for attitude change. FIG. 9 shows a detailed configuration of the CMG steering calculation unit 14.

The target gimbal angular velocity of CMG2 for realizing the attitude control torque is obtained by multiplying the attitude control torque obtained previously by the generalized inverse matrix A ⁺ of the Jacobian matrix A. Next, the difference between the gimbal angular velocity plan value obtained by the target trajectory planning unit 12 and the target value of the CMG 2 gimbal angular velocity obtained above is taken. A target gimbal angle of CMG2 is obtained by adding the time integral (1 / S) of this difference to the gimbal angle planned value obtained by the target trajectory planning unit 12.

The feedforward compensation calculation unit 9 calculates the inertia force of the CMG 2 based on the gimbal angular acceleration planned value obtained by the target trajectory planning unit 12 and the sum of the attitude angular velocity of the artificial satellite 1 and the gyro term based on the angular momentum of the CMG 2, Feed forward gimbal control torque.
The gimbal control calculation unit 8 configures a control system so that the gimbal of the CMG 2 follows the trajectory to the target gimbal angle and the target gimbal angular velocity obtained by the CMG steering calculation unit 14. This is the same as in the first embodiment.

8 and 9, the target trajectory planning unit 12 plans the CMG2 gimbal trajectory in addition to the attitude trajectory of the artificial satellite 1, and the CMG steering calculation unit 14 performs the attitude control feedback calculation unit 6 The attitude control torque given by the sum of the feedback attitude control torque obtained in step 1 and the feedforward attitude control torque obtained by the attitude control feedforward calculation unit 13, the gimbal trajectory plan value obtained by the target trajectory plan unit 5, and the gimbal estimation unit 3 The target gimbal angle and target gimbal angular velocity of the CMG 2 and the feedforward gimbal control torque are obtained using the obtained estimated value of the gimbal angle and the estimated value of the posture angular velocity obtained by the posture estimation unit 4.
The gimbal control calculation unit 8 configures the gimbal control system so as to follow the trajectory to the target gimbal angle and the target gimbal angular velocity obtained above, and obtains the gimbal control torque of the CMG2.

  Therefore, when the attitude of the artificial satellite 1 is changed at high speed, even if a large attitude angular velocity occurs in the artificial satellite 1, the phase delay in the gimbal control calculation unit is small, that is, the gimbal angle, the gimbal angular velocity, and the gimbal torque are greatly disturbed. There is little disturbance in attitude control. With this configuration, the attitude of the artificial satellite 1 can be changed at high speed using the high output torque of the CMG 2, and the attitude of the artificial satellite 1 can be quickly set to the target attitude after the attitude change.

Further, as in the conventional artificial satellite attitude control device shown in FIG. 10, the gimbal control calculation unit is configured only by the angular velocity control system and the gimbal control torque is obtained as the output torque of the angular velocity control system. In a satellite such as a satellite that always has an orbital angular velocity, there is a problem in that a steady-state deviation remains in the attitude angle after the attitude change due to the effect of the gyro term due to the angular momentum and the orbital angular velocity of CMG2.
However, in this embodiment, the gimbal control calculation unit 8 is configured by an angle control system and an angular velocity control system, and the feedforward gimbal obtained by the output torque of the angle control system, the output torque of the angular velocity control system, and the CMG steering calculation unit 14 is obtained. Since the gimbal control torque is obtained from the sum of the control torques, no steady deviation remains in the posture angle after the posture change.

Embodiment 5. FIG.
In the fourth embodiment, the configuration of the gimbal control calculation unit 8 is described as being the same as that of the first embodiment, but this is not restrictive. The configuration of the gimbal control calculation unit may be the configuration of the second gimbal control calculation unit 10 shown in the diagram of the second embodiment.
According to this configuration, the target trajectory planning unit 12 plans the gimbal trajectory of the CMG 2 in addition to the attitude trajectory of the artificial satellite 1, and the feedback attitude obtained by the attitude control feedback calculation unit 6 in the CMG steering calculation unit 14. The attitude control torque given by the sum of the control torque and the feedforward attitude control torque obtained by the attitude control feedforward calculation unit 13, the gimbal trajectory plan value obtained by the target trajectory planning unit 12, and the gimbal angle obtained by the gimbal estimation unit 3 Using the estimated values, target values for the CMG2 gimbal angle and gimbal angular velocity are obtained. The gimbal control calculation unit 10 configures the gimbal control system so as to follow the trajectory following the target values of the gimbal angle and the gimbal angular velocity obtained here, and obtains the gimbal control torque of the CMG2.

  Therefore, when the attitude of the artificial satellite 1 is changed at high speed, even if a large attitude angular velocity is generated in the artificial satellite 1, the phase delay in the gimbal control calculation unit is small, and the attitude control disturbance associated therewith is small. With this configuration, the attitude of the artificial satellite 1 can be changed at high speed using the high output torque of the CMG 2, and the attitude of the artificial satellite 1 can be quickly set to the target attitude after the attitude change.

Further, as in the conventional artificial satellite attitude control device shown in FIG. 10, the gimbal control calculation unit is configured only by the angular velocity control system and the gimbal control torque is obtained as the output torque of the angular velocity control system. In a satellite such as a satellite that always has an orbital angular velocity, there is a problem in that a steady-state deviation remains in the attitude angle after the attitude change due to the effect of the gyro term due to the angular momentum and the orbital angular velocity of CMG2.
However, in this embodiment, the gimbal control calculation unit 10 is configured by the angle control system and the angular velocity control system, and the gimbal control torque is obtained by the sum of the output torque of the angle control system and the output torque of the angular velocity control system. There is no stationary deviation in the posture angle after the change.

Embodiment 6 FIG.
In the fourth embodiment, the configuration of the gimbal control calculation unit is the same as the first gimbal control calculation unit 8 as in the first embodiment. However, the configuration of the third gimbal control calculation unit 11 shown in the third embodiment may be used. .
According to this configuration, the target trajectory planning unit 12 plans the gimbal trajectory of the CMG 2 in addition to the attitude trajectory of the artificial satellite 1, and the feedback attitude obtained by the attitude control feedback calculation unit 6 in the CMG steering calculation unit 14. The attitude control torque given by the sum of the control torque and the feedforward attitude control torque obtained by the attitude control feedforward calculation unit 13, the gimbal trajectory plan value obtained by the target trajectory planning unit 12, and the gimbal angle obtained by the gimbal estimation unit 3 Using the estimated value and the estimated value of the attitude angular velocity obtained by the attitude estimation unit 4, the target value of the CMG 2 gimbal angular velocity and the feedforward gimbal control torque are obtained. The gimbal control calculation unit 11 configures the gimbal control system so as to follow the trajectory to the target value of the gimbal angular velocity obtained here, and obtains the gimbal control torque of the CMG 2.

  Therefore, when the attitude of the artificial satellite 1 is changed at high speed, even if a large attitude angular velocity is generated in the artificial satellite 1, the phase delay in the gimbal control calculation unit is small, and the attitude control disturbance associated therewith is small. With this configuration, the attitude of the artificial satellite 1 can be changed at high speed using the high output torque of the CMG 2, and the attitude of the artificial satellite can be quickly set to the target attitude after the attitude change.

Further, as in the conventional artificial satellite attitude control device shown in FIG. 10, the gimbal control calculation unit is configured only by the angular velocity control system and the gimbal control torque is obtained as the output torque of the angular velocity control system. In a satellite such as a satellite that always has an orbital angular velocity, there is a problem in that a steady-state deviation remains in the attitude angle after the attitude change due to the effect of the gyro term due to the angular momentum and the orbital angular velocity of CMG2.
However, in the present embodiment, the third gimbal control calculation unit 11 is configured by an angular velocity control system, and the gimbal control is performed by the sum of the output torque of the angular velocity control system and the feedforward gimbal control torque obtained by the CMG steering calculation unit 14. Since the torque is obtained, no steady deviation remains in the posture angle after the posture change.

  The attitude control device for an artificial satellite according to the present invention can be used not only for the attitude control of the artificial satellite body but also for the direction control of the antenna mounted on the artificial satellite and the direction control of the telescope.

It is a block diagram which shows the structure of the attitude | position control apparatus of the artificial satellite by Embodiment 1 of this invention. FIG. 2 is a diagram showing an example of orbit planning for CMGs and artificial satellites at the time of attitude change for explaining the operation of FIG. It is a block diagram which shows the structure of the CMG steering calculating part 7 of FIG. It is a block diagram which shows the structure of the 2nd gimbal control calculating part 10 by Embodiment 2 of this invention. FIG. 5 is an explanatory diagram of a simplified type of the CMG steering calculation unit 7 in FIG. 4. FIG. 10 is a block diagram illustrating a configuration of a third gimbal control calculation unit 11 according to Embodiment 3. It is explanatory drawing about the simplified type | mold of the CMG steering calculating part 7 of FIG. It is a block diagram which shows the structure of the attitude | position control apparatus of the artificial satellite by Embodiment 4 of this invention. It is a block diagram which shows the structure of the CMG steering calculating part 14 of FIG. It is a block diagram which shows the structure of the attitude control apparatus of the conventional artificial satellite.

Explanation of symbols

1 artificial satellite, 2 CMG, 3 gimbal estimation unit, 4 attitude estimation unit,
5 target trajectory planning unit, 6 attitude control feedback calculation unit,
7 CMG steering calculation unit 8 First gimbal control calculation unit
9 Feedforward compensation calculation unit, 10 Second gimbal control calculation unit,
11 Third gimbal control calculation unit, 12 Target trajectory planning unit,
13 attitude control feedforward calculation unit, 14 CMG steering calculation unit,
21 Gimbal drive motor, 22 Flywheel, 23 Gimbal,
24 Gimbal axis, 25 Wheel spin axis, 26 Target trajectory planning unit,
27 attitude control feedback calculation unit, 28 CMG steering calculation unit,
29 Gimbal control calculation unit, 57, 67 Simplified CMG steering calculation unit.

Claims (6)

Mounted on a satellite with CMG (Control Moment Gyro) for controlling the attitude,
A gimbal estimation unit for estimating a gimbal angle and a gimbal angular velocity of the CMG;
A posture estimation unit for estimating a posture angle and a posture angular velocity of the artificial satellite;
A target trajectory planning unit that outputs a target attitude angle, a target attitude angular velocity, a gimbal angular plan value, a gimbal angular velocity planned value, and a gimbal angular acceleration planned value of the CMG;
A posture control feedback calculator for calculating a feedback posture control torque that reduces two differences between the difference between the target posture angle and the posture angle and the difference between the target posture angular velocity and the posture angular velocity;
Based on the feedback attitude control torque and the gimbal angle, the gimbal angle planned value and the gimbal angular velocity planned value are corrected to obtain a target gimbal angle and a target gimbal angular velocity, and the gimbal angular acceleration planned value and the A CMG steering calculation unit for calculating a feedforward gimbal control torque based on the attitude angular velocity and the gimbal angle;
An angle control system that corrects the target gimbal angular velocity based on the difference between the target gimbal angle and the gimbal angle, and the feedforward gimbal control based on the difference between the corrected target gimbal angular velocity and the gimbal angular velocity. An artificial satellite attitude control device comprising an angular velocity control system for correcting torque, and a first gimbal control calculation unit for outputting a gimbal control torque for controlling the CMG. Mounted on a satellite with CMG (Control Moment Gyro) for controlling the attitude,
A gimbal estimation unit for estimating a gimbal angle and a gimbal angular velocity of the CMG;
A posture estimation unit for estimating a posture angle and a posture angular velocity of the artificial satellite;
A target trajectory planning unit for calculating a target attitude angle, a target attitude angular velocity of the artificial satellite, a gimbal angle plan value of the CMG, and a gimbal angular velocity plan value;
A posture control feedback calculator for calculating a feedback posture control torque that reduces two differences between the difference between the target posture angle and the posture angle and the difference between the target posture angular velocity and the posture angular velocity;
A CMG steering calculation unit that corrects the planned gimbal angle value and the planned gimbal angular velocity value based on the feedback attitude control torque and the gimbal angle to obtain a target gimbal angle and a target gimbal angular velocity;
An angle control system that corrects the target gimbal angular velocity based on the difference between the target gimbal angle and the gimbal angle, and the CMG is controlled based on the difference between the corrected target gimbal angular velocity and the gimbal angular velocity. An attitude control device for an artificial satellite comprising a second gimbal control calculation unit having an angular velocity control system for outputting a gimbal control torque. Mounted on a satellite with CMG (Control Moment Gyro) for controlling the attitude,
A gimbal estimation unit for estimating a gimbal angle and a gimbal angular velocity of the CMG;
A posture estimation unit for estimating a posture angle and a posture angular velocity of the artificial satellite;
A target trajectory planning unit that outputs a target attitude angle, a target attitude angular velocity of the artificial satellite, a gimbal angular velocity plan value of the CMG, and a gimbal angular acceleration plan value;
A posture control feedback calculation unit for obtaining a feedback posture control torque that reduces two differences between the difference between the target posture angle and the posture angle and the difference between the target posture angular velocity and the posture angular velocity;
Based on the feedback attitude control torque and the gimbal angle, the gimbal angular speed plan value is corrected to obtain a target gimbal angular speed, and feedforward is performed based on the gimbal angular acceleration plan value, the attitude angular speed, and the gimbal angle. CMG steering calculation unit for calculating gimbal control torque,
A third gimbal control calculation unit having an angular speed control system for correcting the feedforward gimbal control torque based on a difference between the target gimbal angular speed and the gimbal angular speed and outputting the gimbal control torque for controlling the CMG; An attitude control device for an artificial satellite. Mounted on a satellite with CMG (Control Moment Gyro) for controlling the attitude,
A gimbal estimation unit for estimating a gimbal angle and a gimbal angular velocity of the CMG;
A posture estimation unit for estimating a posture angle and a posture angular velocity of the artificial satellite;
A target trajectory planning unit for outputting a target attitude angle, a target attitude angular velocity, a target attitude angular acceleration of the artificial satellite, a gimbal angular velocity planned value, a gimbal angular velocity planned value, and a gimbal angular acceleration planned value of the CMG;
A posture control feedforward computing unit that obtains a feedforward posture control torque to be generated by the CMG based on the target posture angular acceleration, the gimbal angle, and the posture angular velocity;
A feedback attitude control torque that reduces two differences between the difference between the target attitude angle and the attitude angle and the difference between the target attitude angular velocity and the attitude angular velocity is obtained, and this is added to the feedforward attitude control torque. Attitude control feedback calculation unit for obtaining attitude control torque,
A target gimbal angular speed is obtained based on the attitude control torque and the gimbal angle, and a target gimbal angle is obtained by correcting the gimbal angle planned value based on a difference between the target gimbal angular speed and the gimbal angular speed planned value. A CMG steering calculation unit that calculates a feedforward gimbal control torque based on the planned gimbal angular acceleration value, the posture angular velocity, and the gimbal angle;
An angle control system that corrects the target gimbal angular velocity based on the difference between the target gimbal angle and the gimbal angle, and the feedforward gimbal control based on the difference between the corrected target gimbal angular velocity and the gimbal angular velocity. An artificial satellite attitude control device comprising an angular velocity control system for correcting torque, and a first gimbal control calculation unit for outputting a gimbal control torque for controlling the CMG. Mounted on a satellite with CMG (Control Moment Gyro) for controlling the attitude,
A gimbal estimation unit for estimating a gimbal angle and a gimbal angular velocity of the CMG;
A posture estimation unit for estimating a posture angle and a posture angular velocity of the artificial satellite;
A target trajectory planning unit that outputs a target attitude angle, a target attitude angular velocity, a target attitude angular acceleration of the artificial satellite, a gimbal angle plan value of the CMG, and a gimbal angular velocity plan value;
An attitude control feedforward computing unit that obtains a feedforward attitude control torque based on the target attitude angular acceleration and the gimbal angle, and the attitude angular velocity;
A feedback attitude control torque that reduces two differences between the difference between the target attitude angle and the attitude angle and the difference between the target attitude angular velocity and the attitude angular velocity is obtained, and this is used as the feedforward attitude control torque. A posture control feedback calculation unit that adds and corrects to obtain posture control torque,
A target gimbal angular velocity is obtained based on the attitude control torque and the gimbal angle, and a target gimbal angle is obtained by correcting the gimbal angle planned value based on a difference between the target gimbal angular velocity and the gimbal angular velocity planned value. Steering calculation unit,
An angle control system that corrects the target gimbal angular velocity based on the difference between the target gimbal angle and the gimbal angle, and the CMG is controlled based on the difference between the corrected target gimbal angular velocity and the gimbal angular velocity. An attitude control device for an artificial satellite comprising a second gimbal control calculation unit having an angular velocity control system for outputting a gimbal control torque. Mounted on a satellite with CMG (Control Moment Gyro) for controlling the attitude,
A gimbal estimation unit for estimating a gimbal angle and a gimbal angular velocity of the CMG;
A posture estimation unit for estimating a posture angle and a posture angular velocity of the artificial satellite;
A target trajectory planning unit that outputs a target attitude angle, a target attitude angular velocity, a target attitude angular acceleration of the artificial satellite, and a gimbal angular acceleration plan value of the CMG;
An attitude control feedforward computing unit that obtains a feedforward attitude control torque based on the target attitude angular acceleration and the gimbal angle, and the attitude angular velocity;
A feedback attitude control torque that reduces the difference between the target attitude angle and the attitude angle and the difference between the target attitude angular velocity and the attitude angular velocity is obtained, and this is added to the feedforward attitude control torque. And attitude control feedback calculation unit for obtaining attitude control torque,
A CMG steering calculation unit that obtains the gimbal angular speed based on the attitude control torque and the gimbal angle, and calculates a feedforward gimbal control torque based on the planned gimbal angular acceleration value, the attitude angular speed, and the gimbal angle;
A third gimbal control calculation unit having an angular velocity control system that corrects the feedforward gimbal control torque based on the difference between the target gimbal angular velocity and the gimbal angular velocity and outputs the gimbal control torque for controlling the CMG. An attitude control device for an artificial satellite, comprising:

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