JPH06144398A - Attitude control device for artificial satellite - Google Patents

Abstract

PURPOSE:To suppress attitude fluctuation of an artificial satellite main unit by otaining angular momentum provided in mass of the artificial satellite total unit, simulation differentiating this momentum to obtain disturbance torque influencing the artificial satellite win unit by a movable part, and giving control torque by a thruster so as to negate this disturbance torque. CONSTITUTION:Attitude control torque, acting in an artificial satellite main unit by a thruster 8, acts so as to negate disturbance torque generated about the center of mass of the artificial satellite main unit by a movable part of a robot arm 2 or the like. As a result of negating this disturbance torque, an attitude angular speed of the artificial satellite main unit 1 is prevented from fluctuating by a motion of this movable part. That is, when assumed ha for angular momentum calculated by an angular moment arithmetic part 3, hs for angular momentum generated by the attitude angular speed of the artificial satellite main unit 1 and gamma for attitude control torque applied to the artificial satellite by the thruster 8, a relation where *ha+*hs=gamma is materialized. (* represents one time differentiating operation.)

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention can compensate the attitude variation of the artificial satellite caused by the motion of the movable part in a weightless artificial satellite having a movable part such as a robot arm and an antenna. The present invention relates to an attitude control device for an artificial satellite.

[0002]

2. Description of the Related Art FIG. 7 is a vol.
9 is a block diagram of a conventional attitude control device for an artificial satellite disclosed in No. 6, p. 718 (1991).

In FIG. 7, reference numeral 51 denotes an artificial satellite body, and 52
Is a robot arm attached to the satellite body 51,
Reference numeral 53 denotes an acceleration target value * ν of acceleration of the hand portion of the robot arm 52 and attitude angular acceleration of the artificial satellite body 51 (* represents one time differential operation in the following description, and ν is the attitude angular velocity of the artificial satellite body 51. And an acceleration target value generation unit that generates a combined value of the velocity of the hand portion of the robot arm 52), and 54 denotes a joint angular acceleration ** φ of the robot arm 52 from the acceleration target value * ν and a wheel for posture control. A joint angular acceleration calculation unit for calculating the angular acceleration, 55 is a control torque calculation unit for further calculating the control torque of the robot arm 52 and the wheel based on the joint angular acceleration ** φ calculated by the joint angular acceleration calculation unit 54, 56 Is a posture control device such as a wheel, and 57 is a robot arm control device.

Next, the operation will be described.

First, assuming that a wheel is used to control the attitude of the artificial satellite body 51, the rotational angular velocity of the wheel and the joint angular velocity of the robot arm 52 are collectively represented by the joint angular velocity * φ.

Assuming that the momentum and the angular momentum of the entire satellite are zero and stored, a relational expression of ν = J (* φ) is established between the above ν and * φ by using the Jacobi matrix J. To do.

Further, if the time differential is applied to this relational expression once, it can be expressed as shown below.

[0008]

[Equation 1]

The acceleration target value generator 53 generates target values for the posture angular acceleration of the artificial satellite body 51 and the hand portion of the robot arm 52 as described above. The target values of the angular acceleration and the acceleration of the hand portion of the robot arm 52 are as described in (1)
Corresponds to * ν in the equation.

In the calculation of * ν, a control amount based on the attitude of the artificial satellite body 51 and the acceleration of the hand portion of the robot arm 52 is generally used.

Then, the joint angular acceleration ** φ of the robot arm 52 is back-calculated by the joint angular acceleration calculation unit 54 from the above-mentioned * ν using the equation (1).

When the joint angular acceleration ** φ of the robot arm 52 is obtained in this way, the control torque calculation unit 55 calculates the obtained joint angular acceleration ** φ based on the equation of motion of the entire artificial satellite 51. Artificial satellite body 5 that can be realized
The posture control torque of 1 and the joint drive torque of the robot arm 52 are obtained.

The attitude control torque data of the artificial satellite body 51 is input to the attitude control device 56 to generate the driving torque of the artificial satellite body 51.

The joint drive torque data of the robot arm 52 is input to the robot arm control device 57 to generate the drive torque of the robot arm 52.

[0015]

Since the conventional attitude control device for an artificial satellite is constructed as described above, the attitude of the artificial satellite and the movable part such as the robot arm are controlled at the same time. There is a problem that the control system of the movable part such as the arm and the control system of the artificial satellite cannot be operated independently.

Further, since the law of conservation of momentum is used, only an actuator that generates an internal force such as a wheel can be used as the actuator of the attitude control system, and an actuator that generates an external force such as a thruster is used. There was a problem such as not being able to do it.

Furthermore, the robot arm control device 57
Requires a highly accurate one that can accurately realize the joint drive torque of the robot arm 52.
If the joint drive torque of (1) cannot be accurately realized, there is a problem that it causes the attitude variation of the artificial satellite.

The invention of claim 1 is made to solve the above problems, and the control of the movable part can be performed independently of the attitude control of the artificial satellite. It is possible to improve the attitude control accuracy of the artificial satellite by suppressing the attitude change of the artificial satellite due to the operation of the movable part without highly accurately controlling the movable part. The purpose is to obtain a satellite attitude control device that can be used.

Claims 2 and 3, and claim 4
In the invention, the control of the movable part can be performed independently of the attitude control of the artificial satellite, and further, the attitude change of the artificial satellite due to the operation of the movable part can be suppressed without highly accurately controlling the movable part. It is an object of the present invention to obtain an attitude control device for an artificial satellite that can improve the attitude control accuracy of the artificial satellite.

According to the invention of claim 5, the control of the movable part can be performed independently of the posture control of the artificial structure, and an actuator for generating an external force such as a thruster can be used. It is an object of the present invention to obtain an attitude control device for an artificial satellite capable of suppressing the attitude variation of the artificial satellite due to the operation of the movable part and further improving the attitude control accuracy of the artificial satellite without highly accurately controlling .

[0021]

According to a first aspect of the present invention, there is provided an attitude control device for an artificial satellite based on a calculation result of a differential calculation means for time-differentiating an angular momentum about a center of mass of the artificial satellite by a movable part, The thruster is operated so as to cancel the disturbance torque around the center of mass of the artificial satellite due to the movable part, and the attitude control torque for controlling the attitude of the artificial satellite main body is given.

In the attitude control device for an artificial satellite according to a second aspect of the present invention, the artificial satellite for the movable part is based on the calculation result of the differential calculation means for time-differentiating the angular momentum about the center of mass of the artificial satellite by the movable part. The gimbal angular velocity of the gyro is controlled so as to cancel the disturbance torque around the center of mass of
Attitude control torque is applied to the satellite.

In the attitude control device for an artificial satellite according to a third aspect of the present invention, the artificial satellite by the movable part is based on the calculation result of the angular momentum calculation means for calculating the angular momentum about the center of mass of the artificial satellite by the movable part. The angular momentum distribution means for obtaining the angular momentum distributed to each of the plurality of wheels so as to cancel the disturbance angular momentum about the center of mass, and the angular momentum possessed by each of the wheels is distributed by the angular momentum distribution means. And a wheel angular momentum control means for controlling so that

In the attitude control device for an artificial satellite according to a fourth aspect of the present invention, the disturbance angular momentum is canceled based on the disturbance angular momentum around the center of mass of the artificial satellite by the movable part calculated by the angular momentum calculation means. The gimbal angle of the gyro is controlled to give attitude control torque to the satellite.

In the attitude control device for an artificial satellite according to a fifth aspect of the present invention, an angular momentum calculation means for calculating a disturbance angular momentum by the movable part around the center of mass of an artificial satellite having a movable part, and its angular momentum calculation. Based on the disturbance angular momentum calculated by the means, thruster control means for controlling the thruster to cancel the disturbance angular momentum and giving a control torque to the artificial satellite, and feedback amount and attitude control for controlling the attitude of the artificial satellite body The attitude control torque generating section for controlling the actuator to generate the attitude control torque of the artificial satellite body based on the command value for

[0026]

In the attitude control device for an artificial satellite according to the present invention, the angular momentum about the center of mass of the artificial satellite by the movable part is calculated, and the result of this calculation is differentiated with time to obtain the disturbance torque due to the motion of the movable part. Then, the thruster is operated so as to cancel the disturbance torque, and the attitude control torque is applied to the artificial satellite to suppress the disturbance torque due to the movement of the movable part, while the attitude control of the artificial satellite main body is the target value for the attitude control. The control of the movable part can be performed independently of the attitude control of the artificial satellite body, and the attitude control accuracy of the artificial satellite can be improved.

In the attitude control device for an artificial satellite according to a second aspect of the present invention, the angular momentum about the center of mass of the artificial satellite by the movable part is calculated, and the result of this calculation is differentiated with time to obtain the disturbance torque due to the motion of the movable part. The attitude control torque is applied to the artificial satellite by controlling the gimbal angular velocity of the gyro so as to cancel the disturbance torque and suppress the disturbance torque due to the angular momentum of the movable part, while the attitude control of the artificial satellite main body is performed. It is possible to control the movable parts independently of the attitude control of the satellite main body by performing the feedback control based on the target value for Improve.

In the attitude control device for an artificial satellite according to a third aspect of the present invention, the angular momentum about the center of mass of the artificial satellite is calculated by the movable part to obtain the disturbance angular momentum acting on the artificial satellite, and the disturbance angular momentum is canceled. While controlling the attitude variation of the artificial satellite due to the above-mentioned disturbance angular momentum by generating various angular momentum with the wheel, the attitude control of the artificial satellite body is performed based on the target value for attitude control and the feedback control amount. Thus, it is possible to control the movable part independently of the attitude control of the artificial satellite body and improve the attitude control accuracy of the artificial satellite.

In the attitude control device for an artificial satellite according to a fourth aspect of the present invention, the angular momentum about the center of mass of the artificial satellite by the movable portion is calculated to obtain the disturbance angular momentum acting on the artificial satellite, and the disturbance angular momentum is canceled. While controlling the gimbal angle to suppress the attitude variation of the artificial satellite, the attitude of the artificial satellite body is controlled based on the target value for attitude control and the feedback control amount to control the movable part. Can be performed independently of the attitude control of the satellite body, and the attitude control accuracy of the satellite can be improved.

In the attitude control device for an artificial satellite according to a fifth aspect of the present invention, the angular momentum about the center of mass of the artificial satellite by the movable part is obtained, and the thruster is operated based on the angular momentum to determine the disturbance angular momentum by the movable part. While generating a control torque for canceling, the attitude control of the satellite body is performed by an actuator other than the thruster, and it is possible to control the movable part independently of the attitude control of the satellite body. At the same time, the attitude control accuracy of the artificial satellite is improved.

[0031]

【Example】

Embodiment 1 Hereinafter, an embodiment of the invention of claim 1 will be described with reference to the drawings.

In FIG. 1, 1 is an artificial satellite body, 2 is a robot arm attached to the artificial satellite body, and 3 is an angle for calculating an angular momentum generated around the center of mass of the entire artificial satellite by the motion of the robot arm 2. It is a momentum calculation unit (angular momentum calculation means).

Reference numeral 4 is a pseudo-differential operation portion (differential operation means) for pseudo-time-differentiating the angular momentum calculated by the angular momentum operation portion 3, and reference numeral 5 is a thruster modulator (thruster control means).

The thruster modulator 5 includes an addition point 5a, a first-order lag element 5b, and a three-position relay element 5c.

Reference numeral 8 is a thruster, 9 is an addition point, and 10 is an attitude control calculation for performing attitude control of the artificial satellite based on the operation amount obtained at the addition point 9 from the attitude angle command value and the feedback control amount. Part (posture control calculation means), for example, PD control is performed.

Reference numeral 11a is a summing point of the output of the attitude control calculation unit 10 and the output of the pseudo differential calculation unit 4.

Next, the operation will be described.

Usually, the attitude control calculation unit 10 produces an artificial value based on a command value such as the angular momentum of the artificial satellite body 1 and a control amount detected by a detection device such as the angular momentum (not shown) of the artificial satellite body 1. Attitude control of the satellite body 1,
As a result, the attitude of the artificial satellite body is controlled so as to match the command value.

In this case, the output of the attitude control calculation unit 10 is
At the addition point 11a, it is added with the output of the pseudo-differential calculation unit 4 and becomes the input of the thruster modulator 5, that is, the target value of the attitude control torque of the artificial satellite body 1.

The target value signal of the attitude control torque of the artificial satellite body 1 is supplied to the first-order lag element 5b of the thruster modulator 5 via the addition point 5a and further output to the three-position relay element 5c.

In the three-position relay element 5c, the thrust generation direction of the thruster 8 and the on / off control of the thruster 8 are controlled based on the magnitude and polarity of the target value signal of the attitude control torque supplied from the first-order delay element 5b. Do.

In this case, the thruster modulator 5 has a function of causing the thruster 8 to generate a torque substantially equal to the input of the thruster modulator 5.

This is because of the feedback loop provided inside the thruster modulator 5, and the output of the three-position relay element 5c directly corresponds to the firing signal of the thruster 8.

The one-time delay element 5b functions to stably operate the thruster modulator 5.

In this situation, when the robot arm 2 attached to the artificial satellite body moves, the angular momentum calculation unit 3 calculates the angular momentum ha generated around the center of mass of the entire artificial satellite by the robot arm, and the simulated Output to the differential operation unit 4.

The pseudo-differential calculation unit 4 approximately differentiates the angular momentum ha calculated by the angular momentum calculation unit 3 with respect to time to obtain the disturbance torque * ha.

This disturbance torque * ha is calculated by the artificial satellite body 1
As the target value of the attitude control torque of
It is output to the thruster modulator 5 via a and 5a.

The thruster modulator 5 operates and thrusts the thruster 8 according to the supplied target value signal of the attitude control torque of the artificial satellite body 1.

The attitude control torque acting on the artificial satellite main body by the thruster 8 acts so as to cancel the disturbance torque generated around the center of mass of the entire artificial satellite by the movable portion such as the robot arm 2. As a result, the attitude angular velocity of the artificial satellite body 1 does not change due to the movement of the movable part such as the robot arm 2.

That is, if the angular momentum calculated by the angular momentum calculator 3 is ha, the angular momentum generated by the attitude angular velocity of the artificial satellite body 1 is hs, and the attitude control torque applied to the artificial satellite by the thruster 8 is γ, then * ha + * Hs = γ
The relationship is established.

Therefore, when the torque γ generated in the thruster 8 is approximately equal to * ha, * hs becomes zero, and hs is determined by the attitude angular velocity of the artificial satellite body 1, so the attitude angular velocity of the artificial satellite body 1 is not affected. It will not reach.

As the target value of the torque generated by the thruster, the angular momentum ha calculated by the angular momentum calculator 3 may be time-differentiated and given. From the angular momentum ha calculated by the angular momentum calculator 3 It is difficult to strictly differentiate the angular momentum ha with time by the pseudo-differential operation unit 4 that obtains * ha, but it is realized by a filter or the like if the frequency band of the motion of the movable part such as the robot arm 2 is taken into consideration. The pseudo-differential that can be achieved is sufficiently practical.

The pseudo differential calculator 4 may be replaced with an estimator such as an observer.

Embodiment 2 An embodiment of the invention of claim 2 will be described below with reference to the drawings. In FIG. 2, parts that are the same as or equivalent to those in FIG.

In FIG. 2, reference numeral 12 is a control moment gyro (hereinafter referred to as CMG), and 13 is a CMG 12.
Gimbal angular velocity calculation unit for calculating the gimbal angular velocity target value, and 14 is the gimbal angular velocity target value and the addition point 1
Based on the gimbal angular velocity fed back to 1b,
A gimbal angular velocity control unit (gimbal angular velocity control means) that controls the gimbal angular velocity of the CMG 12 to be equal to a target value.

FIG. 3 is a perspective view showing an example of the CMG 12. In FIG. 3, 12a is a momentum wheel,
12b is a gimbal stand.

The CMG 12 is an actuator for controlling the attitude of the artificial satellite body 1 by forming a momentum wheel 12a having a large angular momentum on the gimbal base 12b and controlling the gimbal angle, and is usually CM.
There are a plurality of Gs.

Next, the operation will be described.

The angular motion computing unit 3 computes the angular momentum about the center of mass of the entire artificial satellite when a movable part such as the robot arm 2 moves.

This angular momentum is ha, and the angular momentum generated by the attitude angular velocity of the artificial satellite body 1 is hs.

The momentum of the i-th CMG is h
ci, the jth gimbal angle is θij, and the gimbal angle θ
Let zij be the unit vector of ij in the direction of the rotation axis.
The following relationships are established among a, hs, and hci.

[0062]

[Equation 2]

Here, "x" represents an outer product between vectors.

Therefore, if * θij is selected so as to satisfy the relation of the following equation (2), the attitude angular velocity of the artificial satellite body 1 will not change.

[0065]

[Equation 3]

* Ha is obtained as the output of the pseudo-differential operation unit 4, and from this * ha, the gimbal angular velocity * θi is obtained.
The operation of the gimbal angular velocity calculation unit 13 calculates and outputs the gimbal angular velocity target value of the CMG 12 that satisfies j.

In the gimbal angular velocity control unit 14, the CMG1
The gimbal angular velocity of No. 2 is controlled to be equal to the gimbal angular velocity target value output from the gimbal angular velocity calculation unit 13.

As a result, when the attitude control torque generated by the CMG 12 is approximately equal to * ha (the direction is opposite), * hs becomes zero, and hs is determined by the attitude angular velocity of the artificial satellite body 1, and therefore It does not affect the posture angular velocity.

The pseudo differential calculator 4 may be replaced with an estimator such as an observer.

Embodiment 3 An embodiment of the invention of claim 3 will be described below with reference to the drawings. 4, parts that are the same as or equivalent to those in FIG. 1 are given the same reference numerals and explanations thereof are omitted.

In FIG. 4, reference numeral 15 denotes a wheel for attitude control (attitude control torque generating section), and usually a plurality of wheels are provided. Reference numeral 16 denotes an angular momentum distribution unit (angular momentum distribution means) for distributing each momentum supplied via the addition point 11a to the wheel 15, and 17 denotes the angular momentum distribution unit 1.
6 so that the target value of the angular momentum distributed to the wheel 15 and the angular momentum possessed by the wheel 15 match, based on the target value and the wheel angular momentum fed back to the combining point 11c. An angular momentum control unit (wheel angular momentum control means, attitude control torque generation unit) that controls the rotational angular velocity.

Next, the operation will be described.

The angular momentum calculator 3 calculates the angular momentum that a movable part such as the robot arm 2 has around the center of mass of the entire artificial satellite.

The angular momentum calculated by the angular momentum calculator 3 is ha, the angular momentum generated by each attitude velocity of the artificial satellite body 1 is hs, and the angular momentum of the i-th wheel 15 among the plurality of wheels is hwi.

Unless an actuator for generating an external force such as a thruster is used, the angular momentum about the center of mass of the entire satellite is preserved and the following relational expression holds.

[0076]

[Equation 4]

Therefore, if the rotational angular velocity of the wheel 15 is controlled so as to satisfy the relationship of the following equation (3), the attitude angular velocity of the artificial satellite body 1 will not change.

[0078]

[Equation 5]

Since a plurality of wheels are provided, the angular momentum −h is applied to each wheel so that the equation (3) is established.
It is necessary to allocate a, and this allocation is performed by the angular momentum distribution unit 16.

When the target value of the angular momentum for each wheel is obtained, the angular momentum control unit 17 determines the angular momentum control unit 17 for the wheel 15 based on the target value of the angular momentum and the fed back angular momentum of the wheel 15. The momentum is controlled so that the angular momentum of the wheel 15 has an angular momentum equal to the target value.

Since the angular momentum of the wheel 15 is determined by its rotational angular velocity, the wheel angular momentum necessary for feedback can be obtained by multiplying the rotational angular velocity by the moment of inertia about the rotation axis.

On the other hand, the attitude control calculation unit 10 may perform normal attitude control regardless of the movement of the robot arm 2.

In this case, since the wheel 15 is under angular momentum control, the attitude control calculation unit 10 outputs a signal corresponding to the angular momentum, and PI control is performed.

Embodiment 4 An embodiment of the invention of claim 4 will be described below with reference to the drawings. 5, parts that are the same as or correspond to those in FIG. 2 are given the same reference numerals, and descriptions thereof are omitted.

In FIG. 5, reference numeral 18 denotes a gimbal angle calculation unit for calculating and outputting the target value of the gimbal angle of the CMG 12, and 19 denotes the addition value 11d and the target value so that the gimbal angle of the CMG 12 matches the target value. A gimbal angle control unit (gimbal angle control means) for controlling the gimbal angle based on the gimbal angle fed back to
Is.

Next, the operation will be described.

The angular momentum calculator 3 calculates the angular momentum that a movable part such as the robot arm 2 has around the center of mass of the entire artificial satellite.

It is assumed that the angular momentum calculated by the angular momentum calculator 3 is ha, the angular momentum generated by each attitude velocity of the artificial satellite body 1 is hs, and the angular momentum of the i-th CMG 12 is hci.

Unless an actuator for generating an external force such as a thruster is used, the angular momentum about the center of mass of the entire satellite is preserved and the following relational expression holds.

[0090]

[Equation 6]

Therefore, if the angular momentum of the CMG 12 is controlled so as to satisfy the relationship of the following equation (4), the attitude angular velocity of the artificial satellite body 1 will not change.

[0092]

[Equation 7]

The angular momentum of the CMG 12 is not controlled by rotating angular velocity like a wheel, but is controlled by tilting the CMG 12 and changing the direction of the angular momentum vector.

That is, the gimbal angle of the CMG 12 is controlled to an appropriate value to cancel the angular momentum generated around the center of mass of the entire artificial satellite due to the movement of the robot arm 2.

In this case, the gimbal angle target value for controlling the gimbal angle according to the output of the angular momentum calculation unit 3 is calculated by the gimbal angle calculation unit 18.

Then, when the gimbal angle target value of each CMG is obtained, the gimbal angle control unit 19 determines the gimbal angle of the CMG 12 based on the gimbal angle target value and the fed back gimbal angle of the CMG 12. By controlling, the gimbal angle of the CMG 12 is made to coincide with the target value, and the angular momentums generated by the respective CMGs are actuated so as to cancel the angular momentum generated around the center of mass of the artificial satellite due to the movement of the robot arm 2.

On the other hand, the attitude control calculation unit 10 may perform normal attitude control regardless of the movement of the robot arm 2.

In this case, since the CMG 12 is controlled by the angular momentum, the posture control calculation section 10 outputs a signal corresponding to the angular momentum, and the PI control is performed.

[Embodiment 5] An embodiment of the invention of claim 5 will be described below with reference to the drawings. 1 and 4 in FIG.
The same or corresponding parts are designated by the same reference numerals and the description thereof will be omitted.

In FIG. 6, reference numeral 20 denotes an integrating element provided in the thruster modulator 5, which is provided in a feedback loop of the output of the thruster modulator 5.

Next, the operation will be described.

The angular momentum calculation unit 3 calculates and obtains the angular momentum that a movable part such as the robot arm 2 has around the center of mass of the entire artificial satellite.

If this angular momentum is ha, the angular momentum generated by the attitude angular velocity of the artificial satellite body is hs, and the angular momentum added to the artificial satellite by the thruster 8 is ht, the movable part is rotated around the center of mass of the entire artificial satellite. Angular momentum h
The sum of a and the angular momentum hs of the artificial satellite body 1 is the thruster 8
Is equal to the angular momentum ht added to the satellite body, and can be expressed as ha + hs = ht.

Therefore, if the thruster 8 is jetted so that ht = ha, the attitude angular velocity of the artificial satellite body 1 will not change.

In this case, since the angular momentum ht added to the artificial satellite by the thruster 8 is given by the time integration of the torque generated by the thruster 8, the output signal (injection command value) to the thruster 8 is integrated by the thruster modulator 5 with respect to time. And give feedback, thruster 8
The angular momentum ht added to the satellite can be made substantially equal to the input of the thruster modulator 5.

The integration element 20 is a time integration element used for this purpose, and if the output ha of the angular momentum calculation unit 3 is input to the thruster modulator 5, it is approximately ht = h.
a will be established.

The attitude control unit 9 carries out attitude control using the wheel 15, and the output of the thruster 8 and the output of the wheel 15 are input in parallel to the artificial satellite body 1.

In this case, since the angular momentum of the robot arm 2 is compensated by the thruster 8, the attitude control calculation unit 10 may perform normal attitude control without considering the motion of the robot arm 2.

In this embodiment, the thruster modulator 5 is constituted by only the three-position relay element 5c and the integrating element 20, but when the stability and steady-state characteristics of the thruster modulator 5 become a problem, By providing a phase compensation element before the 3-position relay element 5c, the stability and steady-state characteristics of the thruster modulator 5 can be improved.

Further, in this embodiment, the case where the wheel 15 is used for the normal attitude control is shown, but the normal attitude control system may be constructed by using the CMG or the thruster.

[0111]

As described above, according to the invention of claim 1, the angular momentum in the mass of the entire artificial satellite due to the movement of the movable part is obtained, and this is pseudo-differentiated to make the movable part the artificial satellite body. The disturbance torque exerted on is calculated, and the control torque is applied by the thruster so as to cancel this disturbance torque, and the attitude of the satellite body is controlled in this state. It can be performed independently, and the control system of the movable part does not need to control the driving torque with high accuracy, and suppresses the attitude variation of the artificial satellite body due to the motion of the movable part. Also has the effect of improving the attitude control accuracy of the satellite body.

According to the second aspect of the invention, the angular momentum in the mass of the entire artificial satellite due to the motion of the movable portion is obtained, and this is pseudo-differentiated to obtain the disturbance torque exerted on the satellite body by the movable portion. Since the control torque is applied so as to cancel the disturbance torque by controlling the gimbal angular velocity of the CMG, and the attitude of the satellite body is controlled in this state, the control of the movable part is independent of the control of the satellite body. The control system of the movable part does not need to control the driving torque with high accuracy, and it can be used even when it is difficult for the actuator for attitude control to accurately realize the attitude control torque. It is possible to suppress the attitude variation of the artificial satellite body due to the movement of the movable part, and improve the attitude control accuracy of the artificial satellite body even during the movement of the movable part. A.

According to the invention of claim 3, the angular momentum possessed by the mass of the entire artificial satellite due to the movement of the movable part is obtained, and the disturbance angular momentum exerted on the artificial satellite body by the movable part is obtained.
Since the control torque is applied so as to cancel the disturbance angular momentum by controlling the angular momentum of the wheel, and the attitude of the satellite body is controlled in this state, the control of the movable part is not the control of the satellite body. It can be done independently, and the control system of the movable part does not need to control the angular momentum with high precision, and the actuator for attitude control accurately controls the angular momentum to realize the attitude control torque accurately. It can be used even when it is difficult to control the attitude of the satellite body due to the motion of the movable part, and can improve the attitude control accuracy of the satellite body even during the motion of the movable part. There is.

According to the invention of claim 4, the angular momentum possessed by the mass of the entire artificial satellite due to the motion of the movable part is obtained, and the disturbance angular momentum exerted on the artificial satellite body by the movable part is obtained,
Furthermore, since the gimbal angle of the CMG is controlled so as to cancel this disturbance angular momentum and a control torque is applied, and the attitude of the satellite body is controlled in this state, the control of the movable part is not the control of the satellite body. It can be done independently, and the control system of the movable part does not need to control the angular momentum with high precision, and the actuator for attitude control accurately controls the angular momentum to realize the attitude control torque accurately. It can be used even when it is difficult to control the attitude of the satellite body due to the motion of the movable part, and can improve the attitude control accuracy of the satellite body even during the motion of the movable part. There is.

According to the fifth aspect of the invention, the angular momentum at the center of mass of the entire artificial satellite due to the movement of the movable part is calculated,
The disturbance angular momentum exerted on the satellite body by the movable portion is obtained, and a control torque is applied to control the thruster so as to cancel the disturbance angular momentum, while suppressing the attitude variation of the satellite body due to the movement of the movable portion. Since the configuration is provided with the attitude control torque generation unit that generates the attitude control torque for controlling the attitude of the satellite body, the control of the movable part can be performed independently of the attitude control of the satellite body. The control system of the movable part does not need to control the angular momentum with high precision, and it is difficult for the actuator for attitude control of the artificial satellite body to accurately control the angular momentum and to realize the attitude control torque accurately. It can also be used in cases where the attitude change of the satellite body due to the motion of the movable part is suppressed, and the attitude of the satellite body is controlled even during the motion of the movable part. There is an effect that it is possible to improve the degree.

[Brief description of drawings]

FIG. 1 is a block diagram showing an attitude control device for an artificial satellite according to an embodiment of the present invention.

FIG. 2 is a block diagram showing an attitude control device for an artificial satellite according to an embodiment of the present invention.

FIG. 3 is a perspective view showing a CMG of an attitude control device for an artificial satellite according to an embodiment of the present invention.

FIG. 4 is a block diagram showing an attitude control device for an artificial satellite according to an embodiment of the present invention.

FIG. 5 is a block diagram showing an attitude control device for an artificial satellite according to an embodiment of the present invention.

FIG. 6 is a block diagram showing an attitude control device for an artificial satellite according to an embodiment of the invention of claim 5;

FIG. 7 is a block diagram showing a conventional attitude control device for an artificial satellite.

[Explanation of symbols]

1 Artificial Satellite Main Body 2 Robot Arm 3 Angular Momentum Calculator (Angular Momentum Calculator) 4 Pseudo Differential Calculator (Differential Calculator) 5 Thruster Modulator (Thruster Control Means) 8 Thruster 10 Attitude Control Calculator (Attitude Control Calculator) 12 CMG (gyro) 14 Gimbal angular velocity control section (gimbal angular velocity control means) 15 Wheel (posture control torque generation section) 16 Angular momentum distribution section (angular momentum distribution means) 17 Angular momentum control section (wheel angular momentum control means, attitude control torque) Generation unit) 19 Gimbal angle control unit (gimbal angle control means)

Claims (5)

[Claims] 1. In an artificial satellite having a movable part, an angular momentum calculation means for calculating an angular momentum around the center of mass of the artificial satellite by the movable part, and a differential calculation for differentiating the calculation result of the angular momentum calculation means with respect to time. Means, an attitude control calculation means for calculating an operation amount for attitude control of the artificial satellite based on a control amount and a command value for attitude control of the artificial satellite, a calculation result of the differential calculation means, and the attitude A thruster control means for operating the thruster based on the calculation result of the control calculation means, canceling the angular momentum around the center of mass of the artificial satellite due to the movable part, and providing attitude control torque for controlling the attitude of the artificial satellite body. Attitude control device for satellites. 2. In an artificial satellite having a movable part, an angular momentum calculation means for calculating an angular momentum about the center of mass of the artificial satellite by the movable part, and a differential calculation for differentiating the calculation result of the angular momentum calculation means with time. Means, attitude control calculation means for calculating an operation amount for performing attitude control of the artificial satellite based on the control amount and command value for attitude control of the artificial satellite, calculation results of the differential calculation means, and Gimbal angular velocity control means for controlling the gimbal angular velocity of the gyro so as to cancel the angular momentum about the center of mass of the artificial satellite by the movable part based on the calculation result of the attitude control calculating means, and giving the attitude control torque to the artificial satellite. Attitude control device for satellite equipped. 3. In an artificial satellite having a movable part, an angular momentum calculation means for calculating an angular momentum about the center of mass of the artificial satellite by the movable part, and a control amount and a command value for attitude control of the artificial satellite. Attitude control calculation means for calculating an operation amount for attitude control of the artificial satellite based on the above, a plurality of wheels for giving attitude control torque to the artificial satellite, calculation results of the angular momentum calculation means and the attitude control calculation Angular momentum distribution means for obtaining the angular momentum data to be distributed to each of the wheels based on the calculation result of the means, and the center of mass of the satellite by the movable part based on the angular momentum data obtained by the angular momentum distribution means. An artificial wheel equipped with a wheel angular momentum control means for controlling the angular momentum of each of the wheels so as to cancel the angular momentum of the surroundings and applying an attitude control torque to the artificial satellite. Attitude control device for satellites. 4. In an artificial satellite having a movable part, an angular momentum calculation means for calculating an angular momentum about the center of mass of the artificial satellite by the movable part, and a control amount and a command value for attitude control of the artificial satellite. Attitude control calculation means for calculating the operation amount for attitude control of the satellite based on the above, and the artificial satellite by the movable part based on the calculation result of the angular momentum calculation means and the calculation result of the attitude control calculation means. The attitude control device for an artificial satellite, comprising: a gimbal angle control means for controlling the gimbal angle of the gyro so as to cancel the angular momentum about the center of mass of the gyro and applying an attitude control torque to the artificial satellite. 5. In an artificial satellite having a movable part, an angular momentum calculation means for calculating an angular momentum about the center of mass of the artificial satellite by the movable part, and a thruster based on the angular momentum calculated by the angular momentum calculation means. And thruster control means for applying attitude control torque so as to cancel the angular momentum around the center of mass of the artificial satellite by the movable part,
Based on a control amount for controlling the attitude of the artificial satellite body and a command value for the attitude control, an artificial satellite equipped with an attitude control torque generating section for controlling the actuator to generate the attitude control torque of the artificial satellite main body Attitude control device.