RU2095295C1 - Method of control of space vehicle turn and system for realization of this method - Google Patents

Abstract

FIELD: space engineering; control of angular motion and position of orbital stations, space platforms and other space vehicles. SUBSTANCE: in course of free rotation of space vehicle, correction of its angular motion is performed so that trajectory of this motion passes through preset final attitude of space vehicle. Moment of application, magnitude and direction of correcting pulse are selected depending on present angles of deflection of space vehicle from its initial and final attitude making use of quaternion formalism. For realization of this method, use is made of control system where boundary-value problem of shifting the space vehicle form initial at attitude to preset final attitude within required period of time is solved algorithmically. Required angular velocity is selected and control moment for acceleration and deceleration of space vehicle is formed on basis of measured angles of turn and moment of momentum of space vehicle. Plotting the trajectory of turn of space vehicle in main section of free trajectories makes it possible to reduce mass and power requirements for turn of space vehicle at specially organized check of motion and its correction. EFFECT: reduction of mass and power requirement; enhanced accuracy of realization of manoeuvre. 3 cl, 37 dwg

Description

 The invention relates to space technology and can be used to effectively control the angular position and movement of spacecraft (SC), orbital stations and advanced modules.

причем:
Λ_н= Λ(O) кватернион начального положения КА.A known method of implementing the reorientation of the spacecraft [1] With this method of controlling the reorientation of the spacecraft to the desired final angular position, the rotation of the spacecraft is carried out according to the assigned kinematic trajectories according to the principle of acceleration control. The kinematic equations of the desired motion of the spacecraft during a turn are recorded through the components of the quaternion:

moreover:
Λ _n = Λ (O) quaternion of the initial position of the spacecraft.

Λ _k = Λ (T _k ) quaternion of the final position of the spacecraft.

T _{by the} time of the spacecraft reversal.

 The symbol "o" means the operation of multiplying quaternions, and the symbol ~ means taking the conjugated quaternion.

 The control law of the spacecraft rotation by the applied moment is quite simple and is implemented by the tracking system.

 Functional diagram of an analog system (Fig. 1) contains a block 1 for setting the initial and final positions (BZNKP), a block 2 for setting the moments of inertia (VZMI), a reversal time adjuster 3 (ZVR), a block of 4 angular velocity sensors (BDS), a strapdown inertial navigation system 5 (SINS), block 6 determining the parameters of the turn (BOPR), block 7 determining the required angular velocity (BOTUS), block 8 determining the moments of control (BOMU).

и начальному угловому положению L_н определяется в процессе интегрирования фактическое угловое положение Λ(t) которое при сравнении с требуемым конечным угловым положением Λ_к в БОПР 6 дает информацию L(t) о фазе процесса достижения требуемого углового положения. Вид назначенных траекторий движения КА содержит в качестве параметра время разворота Т_к, информация о котором берется с ЗВР 3. По кватерниону разворота L относительно достижения цели управления Λ_к и по информации об угловой скорости

определяется желаемое изменение кватерниона L и, соответственно, определяется требуемая угловая скорость

для того, чтобы вращение КА проходило по назначенной траектории. Управляющие моменты определяются БОМУ 8 путем отслеживания требуемой угловой скорости с высокой точностью.In BINS 5 according to information on angular velocity

and the initial angular position L _n determines in the process of integration the actual angular position Λ (t) which, when compared with the required final angular position Λ _k in the BOPR 6, gives information L (t) about the phase of the process of achieving the desired angular position. The type of designated trajectories of the spacecraft motion contains, as a parameter, the turn time T _k , information about which is taken from the gold reserves 3. According to the quaternion of the turn L with respect to the achievement of the control goal Λ _k and according to information about the angular velocity

the desired change in the quaternion L is determined and, accordingly, the required angular velocity is determined

in order for the spacecraft to rotate along the designated path. The control moments are determined by BOMU 8 by tracking the required angular velocity with high accuracy.

возможностями системы исполнительных органов:

Ближайшим по технической сущности аналогом является способ управления разворотом динамически симметричного КА [2] включающий определение параметров разворота, формирование и с заданного момента приложение к космическому аппарату разгонного импульса, по окончании участка свободного движения формирование и приложение тормозного импульса.With many advantages of systems built on the principle of acceleration control, as applied to the control of the spacecraft’s spatial turn, the marked system has a significant drawback, the assigned trajectories must be set analytically, and therefore, movement along them does not minimize fuel consumption for the turn. Moreover, not any assigned trajectory can be realized in fact due to the limited control moments

capabilities of the system of executive bodies:

The closest in technical essence analogue is a method for controlling the turn of a dynamically symmetric spacecraft [2], which includes determining the parameters of the turn, forming and, from a given moment, applying an accelerating impulse to the spacecraft, and at the end of the free-motion section, the formation and application of a brake impulse.

In this reversal method, it is assumed that the spacecraft performs a regular procession around the kinetic moment vector. The control moments are formed in such a way that the kinetic moment of the dynamically symmetric spacecraft keeps its direction unchanged in absolute space throughout the entire turn. The movement consists of sections where the maximum moment m _о acts (acceleration and braking sections of the spacecraft) and a section of free movement where there is no control moment. The defining characteristics of the reversal process are the acceleration (braking) time and the start time of braking.

где

вектор разворота (направление кинетического момента в инерциальном базисе).Control moments are formed in the areas of acceleration and deceleration according to the expression

Where

U-turn vector (direction of the kinetic moment in the inertial basis).

Λ _n quaternion of the initial position relative to the inertial basis.

 Λ quaternion of the current position relative to the inertial basis.

однозначно определяется кватернионом разворота

.The “+” sign corresponds to the acceleration section, and the “-” sign corresponds to the braking section. Heading

uniquely determined by the reversal quaternion

.

 The functional structural diagram of the prototype system described in the above source contains (Fig. 2): block 1 of the initial and final positions of the apparatus (BZNKP), block 2 of the units of moment of inertia of the apparatus (BZMI), the reverser time 3 (ZVR), block 4 of the encoder of angular velocities (BDUS), strapdown inertial navigation system 5 (BINS), block 6 for determining the rotation parameters (BOPR), block 9 for determining the moment of inertia of the apparatus around the transverse axis (BOMIPO), block 10 for determining the direction of the rotation (BONR), block 11 ident the acceleration (braking) time (BOVRT), unit 12 for determining the kinetic moment of the apparatus (BOKM), block 13 for determining the deviation of the kinetic moment from the calculated one (BOOKM), block 14 for generating the control moment (BFUM), block 15 for generating the acceleration command (BFKR) , block 16 forming the braking command (BFKT), master 17 of the maximum value of the control torque (ZMVUM), block 18 determining the U-turn vector (BOVR), block 19 generating the signal about the end of the free movement section (BFSOSD), while the output of the parameter settings started of the angular position of the BZNKP (1) is connected to the input of the input of the parameters of the initial angular position of the BOPR (6) and to the input of the input of the initial conditions of the SINS (5), the output of the parameter of the final angular position of the BZNP (1) is connected to the input of the input of the parameters of the final angular position of the BOPR ( 6), the first output of setting the moments of inertia around the transverse axis of the VZMI (2) is connected with the first input of BOMIPO (9) and the first input of entering the moments of inertia of the BOKM (12), the second output of setting the moments of inertia around the transverse axis of the BZMI (2) is connected with the second BOMIPO entrance (9) and with the second input the BOKM moment of inertia input house (12), the output of the inertia moment determination around the BZMI longitudinal axis (2) is connected to the third BOMIPO input (9), the inertia moment input round the BONR longitudinal axis (10) and the third input of the BOKM inertia input ( 12), the BINS output (4) is connected to the input of the input of the SINS angular velocity vector (5) and to the input of the input of the angular velocity BOKM (12), the output of the SINS (5) is connected to the input of the input of the angular velocity BOOKM (13) and to the task input angular position of the BFUM (14), the output of the BOMIPO (9) is connected to the input input moment of inertia around the transverse axis ONR (10) and with the input of the moment of inertia input BOVRT (11), the output of the BOVRT (11) is connected to the input for setting the acceleration time of the BOOKM (13), the output of the BOKM (12) is connected to the input of the input of the kinetic moment of the BOOKM (13) and with the information input BFKT (16), BOOKM output (13) is connected to the BFKR information input (15), BFKR output (15) is connected to the first BFUM logical input (14), BFKT output (16) is connected to the second BFUM logical input (14), output ZMVUM (17) is connected to the input input of the maximum control moment of the BOVRT (11), with the input input of the value of the required control moment of the BOOKM (13) and with the input of the task in the magnitude of the control moment BFUM (14).

Одновременно БОМИПО (9) вычисляет, по известным моментам инерции КА: J_x, J_y, J_z в связанных осях, величину

Далее в БОНР (10) определяется направление расчетного кинетического момента

в связанных осях (направление разворота) и угол разворота ψ По времени разворота Т_к, углу разворота j и моменту инерции вокруг поперечной оси J БОВРТ (11) определяется время разгона (торможения) t по формуле:

В БОВРТ 18 вычисляется вектор разворота

согласно выражению:

Вектор

неподвижен в инерциальной системе координат. По информации БИНС (5) Λ определяется направление требуемого кинетического момента

в связанной системе координат.From the initial Λ _n and final Λ _{to the} positions of the BOPR 6 determines the quaternion of the turn Λ _p by the expression

At the same time, BOMIPO (9) calculates, according to the known moments of inertia of the spacecraft: J _x , J _y , J _z in the connected axes, the value

Further, in the BONR (10), the direction of the calculated kinetic moment is determined

in the connected axes (the direction of the turn) and the angle of the turn ψ From the time of the turn T _to , the angle of the turn j and the moment of inertia around the transverse axis J BOWRT (11), the acceleration (braking) time t is determined by the formula:

In BOVRT 18, the U-turn vector is calculated

according to the expression:

Vector

motionless in an inertial coordinate system. According to the SINS (5) Λ, the direction of the required kinetic moment is determined

in a linked coordinate system.

определяемой БДУС (4), и моментам инерции КА в БОКМ (12) вычисляется фактический кинетический момент:

В БООКМ (13) вычисляется рассогласование

. Управляющий момент прикладывается до тех пор, пока

В момент времени, когда

начинается участок свободного движения, на котором управляющий момент отсутствует. Через время t_т= T_к- τ с начала разворота на выходе БФСОСД (19) появляется сигнал начала торможения, БФКТ (16) выдает команду: Т "I", по которой БФУМ (14) формирует и прикладывает к КА управляющий момент

(тормозной импульс; Т "I"). В момент времени, когда

БФКТ (16) снимает команду на торможение: Т "0", разворот КА будет завершен, и управляющие моменты отсутствуют. Система готова к следующему развороту.From the moment a command is received for turning t _times “I”, the BFKR (15) generates a set signal of the required kinetic momentum R “I”, and a control moment (accelerating pulse) generated in the BFMU (14) is applied to the spacecraft. Angular velocity

determined by BDUS (4), and the moments of inertia of the spacecraft in the BOKM (12), the actual kinetic moment is calculated:

In BOOCM (13), the mismatch is calculated

. The control moment is applied until

At the point in time when

the free movement section begins, on which the control moment is absent. After a time t _t = T _to - τ from the beginning of the turn, the signal of the start of braking appears at the output of the BFSSD (19), the BFKT (16) issues the command: T "I", by which the BFUM (14) generates and applies the control moment to the spacecraft

(brake impulse; T "I"). At the point in time when

BFKT (16) removes the braking command: T "0", the spacecraft rotation will be completed, and control moments are absent. The system is ready for the next turn.

не учитывает действия динамических эффектов и внешних возмущающих моментов, которые имеют место при реальных программных разворотах КА.The disadvantage of the method and the prototype system is the low accuracy of the turn in the case of an asymmetric spacecraft and when turning at large angles, since the determination of the turn vector

It does not take into account the effects of dynamic effects and external disturbing moments that occur during real programmed turns of the spacecraft.

 The technical result of this invention is a significant increase in the accuracy of bringing a virtually asymmetric spacecraft to the required angular position at relatively low fuel costs.

где
Λ_к кватернион заданного конечного углового положения космического аппарата;
Λ^* кватернион прогнозируемого углового положения космического аппарата;
L кватернион текущего углового положения космического аппарата;
L_пр кватернион прицелочного положения космического аппарата, затем определяют вектор кинетического момента

требуемого для приведения космического аппарата при свободном его вращении в прицелочное положение, и прикладывают к космическому аппарату управляющий момент, определяемый выражением

до тех пор, пока

где

фактический кинетический момент космического аппарата;

требуемый кинетический момент;
m_o максимальная величина управляющего момента,
с момента равенства фактического кинетического момента

требуемому

измеряют угол разворота вокруг оси эквивалентного вращения от текущего к конечному угловому положению ν_к определяют значение угла доворота ψ_дов производимого при торможении космического аппарата, по выражению

где
I₁, I₂, I₃ моменты инерции КА относительно его связанных осей: x, y, z;
I моменты инерции КА вокруг поперечной оси;
l₁, l₂, l₃ компоненты кватерниона доворота:

в момент равенства ν_к = ψ_дов определяют направление тормозного импульса и прикладывают к космическому аппарату управляющий момент в этом направлении.The specified technical result is achieved by the fact that in the proposed method of controlling the spacecraft’s turn, including determining the parameters of the turn, forming and from a given moment applying an accelerating impulse to the spacecraft, at the end of the free motion section, forming and applying a braking impulse, measure the turning angles around the axis of equivalent rotation between the current and initial (ν _n ) angular positions and between the current and final (ν _k ) angular positions, compare them, at the moment of equality ν _n = ν _k fix the current angular position, compare it with the predicted angular position corresponding to the position of the spacecraft at the moment of equality ν $\genfrac{}{}{0ex}{}{\text{*}}{\text{n}}$ = ν $\genfrac{}{}{0ex}{}{\text{*}}{\text{to}}$ for the calculated trajectory of motion, and determine the impact parameters Λ _pr by the expression

Where
Λ _{to the} quaternion of a given final angular position of the spacecraft;
Λ ^* quaternion of the predicted angular position of the spacecraft;
L quaternion of the current angular position of the spacecraft;
L _pr quaternion aiming position of the spacecraft, then determine the vector of kinetic moment

required to bring the spacecraft with its free rotation in the aiming position, and apply to the spacecraft a control moment defined by the expression

until

Where

the actual kinetic moment of the spacecraft;

required kinetic moment;
m _{o the} maximum value of the control moment,
since the equality of the actual kinetic moment

required

measure the rotation angle around the axis of equivalent rotation from the current to the final angular position ν _to determine the value of the angle of rotation ψ _dov produced during braking of the spacecraft, by the expression

Where
I ₁ , I ₂ , I ₃ moments of inertia of the spacecraft relative to its associated axes: x, y, z;
I moments of inertia of the spacecraft around the transverse axis;
l ₁ , l ₂ , l ₃ components of the quaternion dovor:

at the moment of equality ν _k = ψ _dov determine the direction of the braking pulse and apply a control moment in this direction to the spacecraft.

требуемому

непрерывно определять параметры доворота

определять кинетический момент доворота в проекциях на связанные оси аппарата:

определять угол доворота, производимого космическим аппаратом при торможении, по выражению

где

вектор угловой скорости космического аппарата, измерять угол разворота вокруг оси эквивалентного вращения от текущего к конечному угловому положению n_к в момент равенства

к космическому аппарату прикладывать корректирующий момент до достижения равенства

с момента выполнения условия ν_к = ν_дов к космическому аппарату прикладывать управляющий момент

до полной остановки космического аппарата.Moreover, the method proposes from the moment of equality of the actual kinetic moment

required

continuously determine the parameters of the turn

determine the kinetic moment of a turn in projections onto the connected axes of the apparatus:

determine the angle of the turn made by the spacecraft during braking, by the expression

Where

spacecraft angular velocity vector; measure the rotation angle around the axis of equivalent rotation from the current to the final angular position n _k at the moment of equality

apply a corrective moment to the spacecraft until equality is achieved

from the moment the condition ν _k = ν _{dov is} fulfilled, apply a control moment to the spacecraft

until the spacecraft stops completely.

 The indicated technical result is also achieved by the fact that the spacecraft’s turn control system contains a set of adjusters for the initial and final positions of the apparatus, a set of moment inertia adjusters of the apparatus, a turn time adjuster, an angular velocity sensor block, a strap-down inertial navigation system, a turn parameter determination unit, and a determination unit the moment of inertia of the apparatus around the transverse axis, the unit for determining the direction of the turn, the unit for determining the time of acceleration-braking, the unit for determining the kinetic moment of the apparatus, a unit for determining the deviation of the kinetic moment from the calculated one, a unit for generating a control moment, a unit for generating an acceleration command, a unit for generating a braking command, a setpoint for a maximum value for the control moment, and an output for setting parameters of an initial angular position of a set of adjusters for an initial and final position of the apparatus connected to the input of input parameters of the initial angular position of the unit for determining the parameters of the turn and with the input input of the initial conditions of platform of an inertial navigation system, the output of setting the parameters of the final angular position of the set of adjusters of the initial and final positions of the apparatus is connected to the input of the input of the parameters of the final angular position of the set of parameters for turning, the first output of setting the moments of inertia around the transverse axis of the set of adjusters of the moment of inertia of the apparatus is connected to the first input of the determining unit the moment of inertia of the apparatus around the transverse axis and with the first input of the moment of inertia of the unit for determining the kinetic moment of the apparatus a, the second output of the set of moments of inertia around the transverse axis of the unit of setpoints of moment of inertia of the apparatus is connected with the second input of the unit for determining the moment of inertia of the apparatus around the transverse axis and with the second input of the set of moments of inertia of the unit for determining the kinetic moment of the apparatus, the output of the set of moment of inertia around the longitudinal axis of the set of moment setters the inertia of the apparatus is connected with the third input of the unit for determining the moment of inertia of the apparatus around the transverse axis, with the input of the input of the moment of inertia around the longitudinal axis of the block being determined the direction of the headland and with the third input of the moment of inertia input of the unit determining the kinetic moment of the device, the output of the unit of angular velocity sensors is connected to the input of the input of the angular velocity vector of the strapdown inertial navigation system and the input of the input of the angular speed of the unit of determining the kinetic moment of the device, the output of the strapdown inertial navigation system is connected with the input input of the current angular position of the unit for determining the deviation of the kinetic moment from the calculated one and with the input of the task the angular position of the control moment formation unit, the output of the apparatus inertia moment determination unit around the transverse axis is connected with the input of the moment of inertia input about the transverse axis of the rotation direction determination unit and with the input of the inertia moment input of the acceleration-braking time determination unit, the output of the acceleration-braking time determination unit is connected with the input of the job for the acceleration time of the unit for determining the deviation of the kinetic moment from the calculated one, the output of the unit for determining the kinetic moment of the apparatus is connected to the input the input of the kinetic moment of the unit for determining the deviation of the kinetic moment from the calculated one and with the information input of the unit for generating the braking command, the output of the unit for determining the deviation of the kinetic moment from the calculated one is connected to the information input of the unit for generating the acceleration command, the output of the unit for generating the acceleration command is associated with the first logical input control moment formation block, the output of the brake command formation block is connected to the second logical input of the control formation block of the moment, the output of the setpoint of the maximum value of the control moment is connected to the input of the input of the maximum control moment of the unit for determining the acceleration-braking time, with the input of the input of the value of the required control moment of the unit for determining the deviation of the kinetic moment from the calculated one and with the input of the task of the value of the control moment of the control moment formation unit, the block is entered correction of the turn time, block of correction of the parameters of the turn, block of fixing the parameters of the turn, block of determination of the aiming parameters, b U-turn parameters update lock, unit for determining the estimated angular position, unit for determining the angle of the do-not produced during braking of the device, unit for determining the presence of the u-turn, unit for fixing the angular position of the device at the beginning of the free movement section, unit for determining the moment of issuing a correction pulse, unit for determining the start of braking, a unit for determining the direction of the accelerating and correcting pulses, a unit for determining the direction of the brake pulse, a unit for determining the direction of the control about the moment, while the output of setting the parameters of the initial angular position of the set of adjusters of the initial and final positions of the apparatus is connected to the input of the input of the initial conditions of the block fixing the angular position of the apparatus to the beginning of the free movement section and the input of the input of the initial position of the block determining the moment of issuance of the correcting pulse, the output of the final parameters the angular position of the setter unit of the initial and final positions of the apparatus is connected with the input input of the required position of the parameter correction unit inversion and with the input of the input of the final position of the unit determining the moment of output of the correcting pulse, the first output of the set of moments of inertia around the transverse axis of the unit of moment of inertia of the apparatus is connected with the first input of the input of moments of inertia of the unit to determine the calculated angular position, the second output of the set of moments of inertia around the transverse axis of the unit of setters moments of inertia of the apparatus is connected with the second input of the input of moments of inertia of the unit for determining the calculated angular position, the output of the job of the moment of inertia of the wok angle of the longitudinal axis of the unit of moment of inertia adjusters of the apparatus is connected to the third input of the input of moments of inertia of the unit for determining the calculated angular position, the output of the turn time adjuster is connected to the input of the turn time correction block, the output of the strapdown inertial navigation system is connected to the input of the current position input of the turn parameter correction block, s the input of the input of the motion parameters of the block fixing the angular position of the apparatus at the beginning of the free movement section, with the input of the input of the actual angular position of the unit for determining the moment of issuance of the correcting pulse, with inputs for entering the angular position of the unit for determining the direction of the accelerating and correcting impulses and the unit for determining the direction of the brake pulse, the output of the unit for determining the parameters of the rotation is connected to the input of the input of the initial conditions of the block for fixing the parameters of the rotation, the output of the unit for determining the moment of inertia of the apparatus around the transverse axis is connected to the input of the task of the averaged moment of inertia of the unit for determining the calculated angular position and input and the moment of inertia of the unit for determining the angle of rotation, produced during braking of the device, the output of the job of the rotation vector of the block for determining the direction of rotation is connected to the input of the input of the rotation vector of the block for determining the estimated angular position, the output of the job of the angle of rotation of the block determining the direction of rotation is connected to the input of the input of the rotation angle of the block for determining angular position, the output of the unit for determining the kinetic moment of the apparatus is connected to the input input of the motion parameters of the unit for determining the angle of rotation produced during braking of the apparatus, and with the input of the input of the kinetic moment of the block determining the direction of the brake pulse, the outputs of the block for determining the deviation of the kinetic moment from the calculated one are connected to the input of the input of the mismatch of the block for determining the direction of the accelerating and correcting pulses, the output of the unit for generating the acceleration command is connected to the logical input of the block determine the direction of the accelerating and correcting pulses and with the first gate input of the block determining the direction of the control moment, in the output of the unit for generating the braking command is connected with the logical input of the unit for determining the direction of the brake pulse and with the second gate input of the unit for determining the direction of the control moment, the output of the master unit for the maximum value of the control moment is connected to the input of the input of the value of the moment of control of the unit for determining the angle of rotation made during braking of the device, the output the heading time correction unit is connected to the inputs of the heading-in time of the heading unit for determining the acceleration-braking time and the unit for determining p of an ascending angular position, the output of the correction unit for the rotation parameters is connected to the input of the input of new parameters of the block for fixing the parameters of the rotation, the output of the block for fixing parameters of the rotation is connected to the first input of the block for determining the aiming parameters and the input for entering the initial conditions of the block for updating the parameters of the rotation, the output of the block for determining the aiming parameters is connected with inputs of the input of the required angular position of the unit for updating the U-turn parameters and the unit for determining the calculated angular position, the output of the block parameters of the heading is connected to the information input of the heading unit for determining the direction of the heading, the output of specifying the heading angle of the unit for determining the calculated angular position is connected to the input of the heading angle of the heading unit for determining the acceleration-braking time, the output of specifying the heading vector of the heading unit for determining the calculated angular position is connected to the input of inputting the heading unit vector determining the deviation of the kinetic moment from the calculated one and with the input of the block for determining the presence of a reversal vector, the output of the task of the calculated position I of the unit for determining the estimated angular position is connected to the input of the input of the calculated parameters of the unit for correcting the rotation parameters, the logical output of the unit for determining the estimated angular position is connected to the gate input of the unit for updating the parameters of the rotation, the output of the job of the angular position according to the forecast of the unit for determining the estimated angular position is connected to the input of the predicted position input the unit for updating the U-turn parameters, the output of the unit for determining the angle of the U-turn produced during braking of the device is connected with the first input of the unit for determining the start of braking, the output of the unit for determining the presence of a turn vector is connected with the input of the resolution of the unit for generating the acceleration command, the output of the unit for fixing the angular position of the apparatus at the beginning of the free movement section is connected with the input of the input of the initial conditions of the unit for determining the deviation of the kinetic moment from the calculated one, with the second the input of the block for determining the aiming parameters and with the input input for entering the initial position of the block for determining the calculated angular position, the logical output of the block for determining the moment the corrective impulse is issued is connected to the gate input of the acceleration command generation unit, with the control inputs of the pivot parameter fixation unit and the device's angular position fixation unit at the beginning of the free movement section, the information output of the corrective impulse moment determination unit is connected to the second input of the brake start determination unit, the output of the unit for determining the start of braking is connected with the logical input of the unit for generating the acceleration command and with the logical input of the block is formed a braking command, the output of the block for determining the direction of the accelerating and correcting pulses is connected to the first information input of the block for determining the direction of the control moment, the output of the block for determining the direction of the brake moment is connected to the second information input of the block for determining the direction of the control moment, the output of the block for determining the direction of the control moment is connected to the input entering the direction of the reversal of the control moment formation block

на фиг. 17 схема определения направления на землю в связанных осях

на фиг. 19 схема реализации блоков 52, 55; на фиг. 20 схема реализации БОМВКИ 29 и блока 56; на фиг. 21 схема реализации БО6ПР 26; на фиг. 22 схема реализации блока 74; на фиг. 23 схема реализации БОВРТ 11; на фиг. 24 схема реализации БОКМ 12; на фиг. 25 схема реализации БООКМ 13; на фиг. 26 схема умножения вектора на скаляр; на фиг. 27 схема реализации блока 81; на фиг. 28 схема реализации БФУМ 14; на фиг. 29 схема реализации БФКР 15; на фиг. 30 схема реализации БФКТ 16; на фиг. 31 схема реализации БКПР 21; на фиг. 32 схема реализации БОУД 26; на фиг. 33 схема реализации БФПР 22 и БФУПН 28; на фиг. 34 схема реализации БОНТ 30; на фиг. 35 схема реализации БОНРКИ 31 и ВОНТИ 32; на фиг. 36 схема реализации БОНУМ 33; на фиг. 37 циклограмма процесса разворота КА.In FIG. 1 shows a functional diagram of an analog system; in FIG. 2 is a functional diagram of a prototype system; in FIG. 3 timing diagrams for the prototype system and the proposed system; in FIG. 4 functional diagram of the proposed system; in FIG. 5 implementation scheme of BOPR 6; in FIG. 6 scheme for determining the reverse quaternion; in FIG. 7 quaternion multiplication scheme; in FIG. 8 implementation scheme of BOMIPO 9; in FIG. 9 implementation scheme of BONR 10; in FIG. 10 determination scheme of Φ, Ω, α ₃₃ (implementation of block 42); in FIG. 11 is an implementation diagram of blocks 45, 46; in FIG. 12 is an implementation diagram of block 44; in FIG. 13 is a diagram of the implementation of BORUP 25; in FIG. 14 scheme of squaring a vector; in FIG. 15 implementation diagram of the BONVR 27 and block 48; in FIG. 16 diagram of the formation of the initial angular velocity

in FIG. 17 scheme for determining the direction of the earth in the associated axes

in FIG. 19 is an implementation diagram of blocks 52, 55; in FIG. 20 diagram of the implementation of BOMVKI 29 and block 56; in FIG. 21 implementation scheme BO6PR 26; in FIG. 22 is an implementation diagram of block 74; in FIG. 23 implementation scheme of BOVRT 11; in FIG. 24 implementation scheme of BOKM 12; in FIG. 25 implementation scheme of BOOKM 13; in FIG. 26 vector scalar multiplication scheme; in FIG. 27 is an implementation diagram of block 81; in FIG. 28 scheme for the implementation of BFUM 14; in FIG. 29 scheme for the implementation of BFKR 15; in FIG. 30 implementation scheme BFKT 16; in FIG. 31 implementation scheme BKPR 21; in FIG. 32 diagram of the implementation of the BODA 26; in FIG. 33 implementation scheme of BFPR 22 and BFUPN 28; in FIG. 34 scheme for the implementation of BONT 30; in FIG. 35 implementation diagram of BONRKI 31 and SBSTI 32; in FIG. 36 implementation scheme of BONUM 33; in FIG. 37 cyclogram of the spacecraft rotation process.

 An example of the implementation of the proposed method and system is presented in figure 4, where it is indicated: 1 block of adjusters of the initial and final positions of the apparatus (BZNKP), 2 block of adjusters of the moments of inertia of the apparatus (BZMI), 3 rotation time adjuster (ZVR), 4 block of angular velocity sensors (BDUS), 5 - strapdown inertial navigation system (SINS), 6 block for determining the parameters of a turn (BOPR), 9 block for determining the moment of inertia of the apparatus around the transverse axis (BOMIPO), 10 block for determining the direction of a turn (BONR), 11 block for determining the time it (braking) (BOVRT), 12 unit for determining the kinetic moment of the apparatus (BOKM), 13 unit for determining the deviation of the kinetic moment from the calculated one (BOOKM), 14 unit for generating the control moment (BFUM), 15 unit for generating an acceleration command (BFKR), 16 block for the formation of a braking command (BFKT), 17 - setpoint for the maximum value of the control torque (ZMVUM), 20 block for correcting the time of a turn (BKVR), 21 block for correcting the parameters of a turn (BKPR), 22 block for fixing the parameters of a turn (BFPR), 23 block for determining aiming parameters (VOPP), 24 unit for updating the U-turn parameters (BO6PR), 25 unit for determining the calculated angular position (BORUP), 26 - unit for determining the angle of the dovar produced during braking of the device (BOUD), 27 unit for determining the presence of the heading vector (BONVR), 28 block for fixing the angular position of the device at the beginning of the free movement section (BFUPN), 29 block determining the moment of issuing corrective pulses (BOMVKI), 30 - block determining the beginning of braking (BONT), 31 block determining the direction of accelerating and correcting pulses (BONRKI), 32 block determining direction of the brake pulse (BONTI), 33 control moment direction determination unit (BONUM), while the output of setting the parameters of the initial angular position of the VZNKP 1 is connected to the input of the input of the initial conditions of BFUPN 28 and the input of the input of the initial position of the BOMVK 29, the output of setting the parameters of the final angular position BZNKP 1 is connected to the input of the input of the desired position BKPR 21 and to the input of the input of the final position BOMVK 29, the first output of the set of moments of inertia around the transverse axis of the BZMI 2 is connected with the first input of the input of moments of inertia of the BO UP 25, the second output of the moment of inertia about the transverse axis of the BZMI 2 is connected to the second input of the moment of inertia input BORUP 25, the output of the moment of inertia about the longitudinal axis of the BZMI 2 is connected to the third input of the input moment of inertia BORUP 25, the output of the ZVR 3 is connected to the input BKVR 20 , the BINS 5 output is connected to the input of the input of the current position of BKPR 21, with the input of the input of the BFUPN 28 motion parameters, with the input of the input of the actual angular position of the BOMVK 29, with the input of the input of the angular position of the BONR 10 KI and BONT 30 I, the output of the BOPR 6 is connected to the input input initial conditions BFPR 22, the output of BOMIPO 9 is connected to the input of the job of the averaged moment of inertia BORUP 25 and to the input of the input of the moment of inertia of the BOUP 26, the output of the job of the U-turn vector BONP 10 is connected to the input of the input of the U-turn vector BORUP 25, the output of the job of the U-turn 10 is connected to the input of the angle input BORUP 25 reversal, BOKM 12 output is connected to the input of the BOUD 26 motion parameters input and BONT 30 I kinetic moment input water, the BOOKM 13 output is connected to the input of the BONR 10 KI mismatch, the output of the BFKR 15 is connected to the logical input of the BONR 10 KI and to the first gate input B NUM 33, the output of BFKT 16 is connected to the logical input of BONT 30 AND and with the second gate input of BONUM 33, the output of the ZVR 3 is connected to the input of the input of the magnitude of the control moment of the BOUD 26, the output of the BKBR 20 is connected to the inputs of the input of the turn time input of the BOVRT 11 and BORUP 25, the output BKPR 21 is connected to the input of the input of new parameters BFPR 22, the output of the BFPR 22 is connected to the first input of the BOPP 23 and to the input of the input of initial conditions BO6PR 24, the output of the BOPP 23 is connected to the inputs of the input of the required angular position BO6PR 24 and BORUP 25, the output of BO6PR 24 is connected to BONR 10 information input, output of setting the angle of rotation of the BO RUE 25 is connected to the input of the input of the U-turn angle BOVRT 11, the output of the job of the U-turn vector BOVRT 11, the output of the job of the U-turn vector BORUP 25 is connected to the input of the U-turn vector BOOKM 13 and to the input of the BONVR 27, the output of the job of the estimated position BORUP 25 is connected to the input of the input of the design parameters BKPR 21, the logic output of BORUP 25 is connected to the gate input BO6PR 24, the output of the job of the angular position according to the forecast BORUP 25 is connected to the input of the input of the predicted position BO6PR 24, the output of the BOUD 26 is connected to the first input of BONT 30, the output of BONVR 27 is connected to the input of permission B KR 15, the output of BFUPN 28 is connected to the input of the input of initial conditions of BOOKM 13, with the second input of the VOPP 23 and with the input of the input of the initial position BORUP 25, the logical output of BOMVKI 29 is connected to the gate input BFKR 15, with the control inputs BFPR 22 and BFUPN 28, information the output of BOMVKA 29 is connected to the second input of BONT 30, the output of BONT 30 is connected to the logical input of BFKR 15 and to the logical input of BFKT 16, the output of BONR 10 KI is connected to the first information input of BONUM 33, the output of BONT 30 And is connected to the second information input of BONUM 33, BONUM 33 output is connected to the input input is directed BFUM U-Turn 14.

 The implementation of the individual blocks and elements of the proposed system is made on integrated circuits and standard analog modules and is presented in Fig.5-36.

и содержит два субблока: 34 блок определения сопряженного кватерниона (фиг. 6) и 35 блок перемножения кватернионов (фиг.7). Блок определения сопряженного кватерниона состоит из трех инверторов, связывающих соответствующие входы и выходы с 1-го по 3-ий. Нулевой вход напрямую связан с нулевым выходом. Блок перемножения кватернионов имеет два входа и один выход. Если Λ первый вход, М второй вход, N выход, то N = Λ°M.BOPR 6 (figure 5) calculates the quaternion of a U-turn according to the formula

and contains two subunits: 34 unit for determining the conjugated quaternion (Fig. 6) and 35 block for the multiplication of quaternions (Fig. 7). The unit for determining the conjugated quaternion consists of three inverters connecting the corresponding inputs and outputs from the 1st to the 3rd. The zero input is directly connected to the zero output. The quaternion multiplication unit has two inputs and one output. If Λ is the first input, M is the second input, N is the output, then N = Λ ° M.

 BOMIPO 9 averages the moments of inertia around the transverse axes, according to the above expression for the moment of inertia I (Fig. 8).

BONR 10 depending on the turning conditions: Λ _p ≡ {Λ $\genfrac{}{}{0ex}{}{\text{p}}{\text{o}}$ , Λ $\genfrac{}{}{0ex}{}{\text{p}}{\text{one}}$ , λ $\genfrac{}{}{0ex}{}{\text{p}}{}$$\genfrac{}{}{0ex}{}{}{\text{2}}$ , λ $\genfrac{}{}{0ex}{}{\text{p}}{\text{3}}$ } chooses one of three options:
1) a turn around the longitudinal axis: λ $\genfrac{}{}{0ex}{}{\text{p}}{\text{one}}$ = λ $\genfrac{}{}{0ex}{}{\text{p}}{}$$\genfrac{}{}{0ex}{}{}{\text{2}}$ = 0;
2) a turn around the transverse axis: λ $\genfrac{}{}{0ex}{}{\text{p}}{}$$\genfrac{}{}{0ex}{}{}{\text{3}}$ = 0;
3) oblique spread (Fig.9).

и угол ψ соответствующие варианту 1.The work of BONR is as follows. If | λ $\genfrac{}{}{0ex}{}{\text{p}}{\text{one}}$ | + | λ $\genfrac{}{}{0ex}{}{\text{p}}{}$$\genfrac{}{}{0ex}{}{}{\text{2}}$ | = 0, then the comparator issues a control signal to the keys 36 and 38, and at the VONR output there will be a turn vector

and the angle ψ corresponding to option 1.

и угла ψ.Accordingly, for option 2 (keys 37 and 39). If both options are absent, then the logical negation circuit generates a trigger signal to the integrator for algorithmic calculation of the reversal vector

and angle ψ.

Для определения углов Φ и W может быть применена известная схема умножения переменной на знаковую функцию. Величина угла v определяется вторым входом блока 45 и равна |Φ| = π/2 - arcsinα₃₁ вычисления производятся блоком нелинейной функции и сумматором (фиг.11). Знак угла Φ совпадает со знаком a₃₂ и определяется первым входом блока 45. Подключив выход сумматора к непрерывному входу схемы умножения 67, а первый вход блока 45 к знаковому входу той же схемы, на выходе ее получим требуемое значение интересующего угла.Subunits 43, 44 and the integrator form a circuit that algorithmically solves the equation f (u) 0, and subunit 42 determines the necessary constants a ₃₃ , Φ, Ω according to the computational scheme of Fig. 10, moreover:

To determine the angles Φ and W, the well-known scheme for multiplying a variable by a sign function can be applied. The angle v is determined by the second input of block 45 and is equal to | Φ | = π / 2 - arcsinα ₃₁ calculations are performed by a nonlinear function block and an adder (Fig. 11). The sign of the angle Φ coincides with the sign of a ₃₂ and is determined by the first input of block 45. By connecting the output of the adder to the continuous input of the multiplication circuit 67, and the first input of block 45 to the sign input of the same circuit, at the output we get the desired value of the angle of interest.

 Subunit 46 works in a similar way, but its output will have the value of the angle Ω.

 Block 44 calculates the actual function f depending on the changing signal U ≡ cosθ (Fig. 12).

с найденным решением, построенным согласно схеме фиг.12.At the point in time when f (u) 0; u const (no longer changing), i.e. solution found, comparator issues permission to keys 40 and 41 for switching outputs

with the solution found, constructed according to the scheme of Fig. 12.

определяются начальным положением Λ_п вектором разворота и инерционными характеристиками, а также углом разворота ψ и временем разворота Т_к. Требуемую на начало участка свободного движения угловую скорость определяет блок 49, согласно вычислительной схеме фиг.16.BORUP 25 implements a mathematical model of the rotational motion of a solid in the Earth's gravitational field (Fig. 12). It contains a determinant of the presence of a nonzero reversal vector (block 48; shown in Fig. 15), which gives an impulse to launch integrators, and a harmonic signal generator 47. Initial conditions

are determined by the initial position Λ _p by the turn vector and inertial characteristics, as well as by the turn angle ψ and the turn time T _k . The angular velocity required at the beginning of the free motion section is determined by block 49, according to the computational scheme of FIG. 16.

определяется блоком 51 по вычислительной схеме фиг. 17, при этом ориентацию связанных с КА осей относительно орбитальной системы координат L_от вычисляет блок 50 по выражению Λ_от= Λ_ор° μ(t) где μ(t) степень отдаленности моделируемого положения КА (см. ниже).Direction to Earth

determined by block 51 according to the computational scheme of FIG. 17, while the orientation of the axes associated with the spacecraft relative to the orbital coordinate system L _{from is} calculated by block 50 using the expression Λ _from = Λ _о ° μ (t) where μ (t) is the degree of remoteness of the modeled position of the spacecraft (see below).

.Blocks 53, 55 together with the integrator form a dynamic contour of the mathematical model. Block 54 and the second integrator simulate kinematic equations. Blocks 52 and 55 are necessary for the formation of pairwise products β _j β _k , ω _j ω _k (k ≢ j) which are included in the left-hand sides of the dynamic equations of the mathematical model (Fig. 19). Block 53 (Fig. 18) generates angular acceleration

.

Λ_o, получим угловую скорость

.After integration by the unit, taking into account the initial conditions

Λ _o , we obtain the angular velocity

.

(фиг.20). В момент, когда

переключается компаратор 70, и на выходе "Cр." появляется импульс, по которому фиксируется промежуточное положение КА по прогнозу μ^* Блок 57 есть схема отслеживания максимальной величины e Блоки 57 и 60 совместно формируют управляющий сигнал (логическую единицу) в момент начала спада e В этот момент схемы хранения аналоговых сигналов 58 и 59 фиксируют лучшие значения ε_к и μ^*, μ(T_к). Если точность разворота удовлетворительная: ε_к ≥ ε_доп то компаратор 61 формирует управляющий сигнал на схемы хранения 64, 65, 66 и на аналоговых выходах БОРУП 25 будут расчетные значения

При этом на логическом выходе БОРУП 25 сигнал будет отсутствовать. В противном случае: e_к < ε_доп указанные значения будут отсутствовать, а сигнал с логического выхода БОРУП разрешает БО6ПРу 24 продолжение цикла интеграций, реализованного блоками 22, 23, 24.The degree of remoteness of the simulated position m (t) from the final Λ _pr is determined by block 56 by the expression

(Fig.20). At the moment when

comparator 70 is switched, and the output is "Cf." an impulse appears, according to which the intermediate position of the spacecraft is fixed according to the forecast μ ^* Block 57 has a tracking scheme for the maximum value e Blocks 57 and 60 together form a control signal (logical unit) at the beginning of the decline e At this point, the storage circuits of analog signals 58 and 59 fix the best the values of ε _к and μ ^* , μ (T _к ). If the accuracy of the turn is satisfactory: ε _to ≥ ε _additional, then the comparator 61 generates a control signal to the storage circuits 64, 65, 66 and the BOUP 25 analog outputs will have calculated values

At the same time, there will be no signal at the logic output of BORUP 25. Otherwise: e _to <ε _ext these values will be omitted and logic signal output Borup BO6PRu 24 permits continued cycle integrations implemented blocks 22, 23, 24.

причем левую часть вычисляют блоки 71, 72 и 73. Схема 74 обновляет информацию на выходе (фиг.22). В исходном состоянии выход Λ $\genfrac{}{}{0ex}{}{\text{′}}{\text{p}}$ скоммутирован с входом Λ_p По наличию новых параметров разворота и с приходом очередного импульса с генератора схема 76 запоминает новую информацию Λ $\genfrac{}{}{0ex}{}{\text{(i+1)}}{\text{p}}$
БОВРТ 11 вычисляет время разгона (торможения) τ по вышеуказанному выражению, согласно схеме фиг.23.BO6PR 24 is shown in FIG. 21 and organizes the integration process

and the left part is calculated by blocks 71, 72 and 73. The circuit 74 updates the output information (Fig. 22). In the initial state, the output Λ $\genfrac{}{}{0ex}{}{\text{′}}{\text{p}}$ connected with the input Λ _p. By the presence of new parameters of the turn and with the arrival of the next pulse from the generator, the circuit 76 stores the new information Λ $\genfrac{}{}{0ex}{}{\text{(i + 1)}}{\text{p}}$
BOVRT 11 calculates the acceleration (braking) time τ according to the above expression, according to the scheme of Fig.23.

 Restriction blocks 78 and 79 are necessary for the possibility of taking the square root and for ensuring the condition of positivity. At the signal "nos" t is fixed.

 BOKM 12 is presented in Fig. 24 and consists of three multipliers and multiplies the angular velocity vector by the diagonal matrix of moments of inertia.

на момент выдачи управляющего импульса (блок 80), вычисление расчетного кинетического момента

в связанных осях (блок 81) и вычитание фактического кинетического момента из расчетного. Реализация блоков 80 и 81 приведена на фиг. 26 и 27 соответственно. Блоки 82, 83 и 84 вычисляют расчетный кинетический момент в инерциальном базисе по формуле:

Относительно связанных с КА осей вектор

является подвижным и определяется блоками 85, 86 и 87 по выражению

БФУМ 14 вычисляет потребный момент управления

исходя из фактического углового положения Λ и вектора разворота

(фиг.28). Он содержит блок 91 умножения вектора на скаляр, блок 88 обращения кватерниона, блоки 89, 90 умножения кватернионов, векторный инвертор и два ключа 92 и 93, коммутирующих с выходом

либо

(если R "1"), либо

(если R "1") и реализует функцию

При отсутствии сигналов на выходе БФУМ будет нулевой вектор момента.BOOKM 13 is presented in FIG. 25 and performs three main operations — determining the required kinetic moment

at the time of issuing the control pulse (block 80), the calculation of the calculated kinetic moment

in the connected axes (block 81) and subtracting the actual kinetic moment from the calculated one. The implementation of blocks 80 and 81 is shown in FIG. 26 and 27, respectively. Blocks 82, 83 and 84 calculate the calculated kinetic moment in an inertial basis by the formula:

Relative to CA axis axes vector

is mobile and is determined by blocks 85, 86 and 87 in the expression

BFUM 14 calculates the required control moment

based on the actual angular position Λ and the rotation vector

(Fig. 28). It contains a block 91 multiplying the vector by a scalar, a block 88 of the quaternion, blocks 89, 90 of the multiplication of the quaternions, a vector inverter and two keys 92 and 93, commuting with the output

or

(if R is "1"), or

(if R "1") and implements the function

If there are no signals at the output of the BFUM, there will be a zero moment vector.

BFKR 15 is presented in Fig.29. The enable signal at the first output (R "1") is only possible during a spacecraft rotation (t _un "1"). The basis of the block is a trigger controlled by logical multiplication schemes. In the initial state, a log is set at the trigger output. "1", for which the entry "nos" is necessary. A pulse at the S input occurs when there is a pulse at any of the “n.” Or “cf.” inputs, under the simultaneous condition zψ = "1" The vector squaring circuit 94 together with relay 95 determines the moment the actual kinetic moment reaches the required value and reset the trigger, thereby setting the output R "0". Trigger collection is possible only in the course of a spacecraft turn (t _break "1") in the presence of a nonzero turn vector (Hp "1") and the absence of a signal at its S input. The output of the BFKR is also protected by a masking circuit "AND", which guarantees the absence of a signal "1" at the output at unacceptable times (t _un "0" or Hp "0", or zψ = "0".

и на выходе Т "1" до тех пор, пока

В момент отсутствия кинетического момента логическая схема переключается и на выходе устанавливает Т "0".BFKT 16 consists of a circuit 96 of the impact of the vector into a square, a relay 97 and a logic circuit "OR NOT" (Fig.30). If the logic input BFKT is set to "0", then the kinetic moment is analyzed

and at the output T "1" until

In the absence of a kinetic moment, the logic circuit switches and sets T "0" at the output.

 BPVR 20 is an amplifier with a gain of approximately 0.98 and is used to provide some margin on turn time.

BKPR 21 determines the parameters of the turn for the second unmanaged section (Λ $\genfrac{}{}{0ex}{}{\text{′}}{\text{p}}$ ) (Fig. 31).

 BOPP 23 is a quaternion multiplication scheme.

(фиг.32).BODA 26 has three inputs and one output, where the function is implemented:

(Fig. 32).

 BONVR 27 is shown in FIG. 15 and consists of a vector squaring circuit 68 (FIG. 14) and a relay. If the input has a zero vector, then the logical "0" is set at the output, otherwise, "1".

 BFPR 22 and BFUPN 28 are identical (Fig.33). They are based on the update circuit 103 disclosed in FIG. On impulse "nu" the output remembers information taken from the first information input. On impulse "cf." from the second information input.

 BOMB 29 is shown in FIG.

(фиг.24).BONT 30 contains a nonlinear function block 104, an adder and a comparator 105, which compares the values:

(Fig.24).

At the moment when ν <ψ _calculation , a logical "0" is formed at the output of the BONT.

относительно инерциальной системы отчета. В момент единичного скачка на входе R найденное отклонение фиксируется схемой 109, после чего схемами 110, 111, 112 определяется направление разгонного импульса в инерциальном базисе

БОНТИ 32 полностью повторяет БОНРКИ и реализует требуемое соотношение для вектора

Значение этого вектора фиксируется по переднему фронту сигнала, поступающего с входа Т.BONRKI 31 is shown in Fig. 35 and consists of a block for determining the inverse quaternion, two blocks 106, 107 for multiplying the quaternions, a circuit for generating a rectangular pulse along the leading edge of the input signal (TC circuit with a shunt diode D), a clamp 109 of an analog vector signal, a vector square determination circuit 111, a square root extraction circuit 112, and a vector by number division circuit 110. The vector is determined by the deviation of the kinetic moment from the calculated value and the angular position of the spacecraft by blocks 106, 107, 108

regarding the inertial reporting system. At the moment of a single jump at the input R, the deviation found is fixed by the circuit 109, after which the direction of the acceleration pulse in the inertial basis is determined by the circuits 110, 111, 112

BONTI 32 repeats Bonrki completely and implements the required ratio for the vector

The value of this vector is fixed at the leading edge of the signal from input T.

.BONUM 33 is presented in Fig. 36 and consists of two keys that feed the BONUM output either the direction of the accelerating pulse (if R "1") or the direction of the braking pulse (if T "1"). If both signals are absent, then the zero vector will be set at the BONUM output:

.

 The described system operates as follows.

в связанной системе координат. Далее БОРУП модулирует движение объекта в ускоренном масштабе времени и в предположении, что ему сообщен кинетический момент в направлении

; при этом определяются угловое положение на момент удовлетворения равенства ν_н = ν_к промах ε и кватернион m(T_к). Пока ε < ε_доп фактическое угловое положение μ(T_к) полученное моделированием в БОРУП, сравнивается с требуемым Λ_пр и рассчитывается БОБПР новый кватернион разворота:

который поступает в качестве исходных данных в БОНР, рассчитывается новое направление и т.д. процесс повторяется. Как только ε ≥ ε_доп БОРУП фиксирует расчетное угловое положение КА в середине разворота и полученные в БОНР угол разворота и направление кинетического момента. По углу разворота в БОВРТ определяется время действия разгонного импульса τ которое фиксируется и остается постоянным на все время разворота. По информации об угловой скорости

выдаваемой БДУС в БОКМ, определяется фактический кинематический момент

В БООКМ вычисляется требуемый кинетический момент

и путем сравнения его с фактическим определяется отклонение

которое является исходной информацией для формирования направления разгонного импульса. По ней в БОНРКИ определяется направление

разгонного импульса в инерциальном базисе. Найденный вектор поступает в БОНУМ. По фактическому угловому положению, определенному БИНС, определяется вектор момента управления

Разрешение на выдачу разгонного импульса (или импульса коррекции) определяется сигналом R.First of all, in BOMIPO 9, the moment of inertia is determined around the transverse axis I. From the initial Λ _n and final Λ _{to the} positions in the VOPR, as indicated above, the rotation quaternion Λ _p is determined and is fixed in the BFPR. At the same time, the initial position of the spacecraft is fixed in BOMVKI: Λ _p = Λ _n and BOPP determines the aiming parameters: Λ _pr = Λ _p ° Λ _p According to the obtained quaternion of the turn and inertial characteristics of the spacecraft, BONR gives the angle of turn ψ and the direction of the kinetic moment

in a linked coordinate system. Further, BORUP modulates the movement of the object in an accelerated time scale and under the assumption that the kinetic moment in the direction

; in this case, the angular position at the time of satisfying the equality ν _n = ν _{to the} slip ε and the quaternion m (T _to ) is determined. While ε <ε is the _additional actual angular position μ (T _k ) obtained by modeling in the BORUP, it is compared with the required Λ _pr and a new turn quaternion is calculated by the BOBR:

which comes as the initial data to the BONR, a new direction is calculated, etc. the process is repeated. As soon as ε ≥ ε, _additional BORUP fixes the calculated angular position of the spacecraft in the middle of the turn and the angle of turn and the direction of the kinetic moment obtained in the BONR. The angle of the turn in the BOVRT determines the duration of the acceleration pulse τ, which is fixed and remains constant for the entire time of the turn. According to angular velocity information

issued by BDUS in BOKM, the actual kinematic moment is determined

In BOOKM, the required kinetic moment is calculated

and by comparing it with the actual deviation is determined

which is the source information for the formation of the direction of the accelerating pulse. By it, in BONRKI, the direction is determined

acceleration pulse in the inertial basis. The found vector goes to BONUM. The actual angular position determined by the SINS determines the vector of the control moment

The permission to issue an acceleration pulse (or correction pulse) is determined by signal R.

Сигнал начальной установки "н.у." в виде двух прямоугольных импульсов вводит систему в исходное состояние. В момент поступления команды на разворот t_разв "1" появляется сигнал разгона R "1", и БФУМ формирует управляющий момент

в направлении расчетного кинетического момента

БДУС измеряет абсолютную угловую скорость

в БОКМ определяется фактический кинетический момент, и разгон продолжается до тех пор, пока этот момент не совпадает с расчетным. При достижении КА требуемого кинетического момента:

управление прекращается: R "0".

0, и аппарат совершает свободное движение.Timing diagrams of the reversal process are presented in Fig. 37. At the initial time:

Signal of initial installation "NU" in the form of two rectangular pulses brings the system to its original state. At the moment of receipt of the command to turn t _raz "1", the acceleration signal R "1" appears, and the BFUM generates a control moment

in the direction of the calculated kinetic moment

BDUS measures absolute angular velocity

in BOKM, the actual kinetic moment is determined, and acceleration continues until this moment coincides with the calculated one. When the spacecraft reaches the required kinetic moment:

control terminates: R "0".

0, and the device makes free movement.

требуемого кинетического момента, в БООКМ сравнивается фактический кинетический момент с расчетным; найденное отклонение

определяет направление корректирующего импульса, появляется разрешение на коррекцию движения; Hp "1", R "1" и БФУМ выдает импульс

направленный на совмещение кинетического момента КА с требуемым значением. В момент

действие импульса прекращается, и КА совершает неуправляемый разворот.Upon reaching half the turning angle, BOMWK gives an impulse cf. "1", according to which BFUPN fixes the current angular position of the connected axes: Λ _p = Λ VKPR calculates the turning quaternion of the second half of the path Λ $\genfrac{}{}{0ex}{}{\text{′}}{\text{p}}$ the contour from BOBPR, BONR and BORUP defines a new direction

the required kinetic moment, in BOOKM the actual kinetic moment is compared with the calculated one; found deviation

determines the direction of the correction impulse, permission to correct the movement appears; Hp "1", R "1" and BFUM gives an impulse

aimed at combining the kinetic moment of the spacecraft with the desired value. In the moment

the action of the pulse ceases, and the spacecraft makes an uncontrollable turn.

вычисляемое в БОНТИ с учетом фактического углового положения КА на момент начала торможения. Это направление сохраняется постоянным в инерциальном пространстве.During the entire movement, the residual angle ν _{to the} turn to the final angular position is determined, which in SBST is compared with the maximum permissible value ψ of the _{calculation of a} certain BOD, and when ν _to ≅ ψ of _calculation at the output of the SBST, a logical signal is generated "zψ" = "0" prohibiting further spacecraft motion control. On it BFKT forms a signal for braking: T "1", along which BONUM fixes the direction

calculated in BONTI taking into account the actual angular position of the spacecraft at the time of the start of braking. This direction remains constant in inertial space.

который направлен против фактического кинетического момента

и действует до полной остановки объекта:

При

сигнал Т "0" говорит о том, что разворот окончен. Система готова к следующему развороту.BFUM determines brake impulse

which is directed against the actual kinetic moment

and is valid until the object stops completely:

At

signal T "0" indicates that the turn is over. The system is ready for the next turn.

 The effectiveness of the proposed system is due primarily to the fact that for most of the path of the reversal in the areas of free rotation there is no control, which can significantly reduce fuel consumption per turn. At the same time, specially organized control and correction of the motion path, as described above, significantly increase the accuracy of bringing the spacecraft to the required angular position. Fuel consumption per corrective pulse is negligible.

Claims (3)

1. A method of controlling the turn of a spacecraft, including determining the parameters of a turn, the formation and, from a given moment, applying an accelerating impulse to the spacecraft, at the end of the free movement section, forming and applying a braking impulse, characterized in that the rotation angles around the axis of equivalent rotation are measured between the current and ν _n initial angular position and between the current and final angular positions _to ν, compare them at the moment the equality ν _n = ν _{to a} fixed current coal howling position, compare it with the predicted angular position corresponding to the position of the spacecraft at the time of the equality ν $\genfrac{}{}{0ex}{}{\text{*}}{\text{n}}$ = ν $\genfrac{}{}{0ex}{}{\text{*}}{\text{to}}$ for the calculated trajectory of motion, and determine the impact parameters Λ _pr by the expression

where Λ _to - quaternion of a given final angular position of the spacecraft;
Λ ^* - quaternion of the predicted angular position of the spacecraft;
Λ - quaternion of the current angular position of the spacecraft;
Λ _pr - quaternion aiming position of the spacecraft,
then determine the vector of kinetic moment

required to bring the spacecraft with its free rotation in the aiming position, and apply to the spacecraft a control moment defined by the expression

until

Where

the actual kinetic moment of the spacecraft;

required kinetic moment;
m _{0 the} maximum value of the control moment,
since the equality of the actual kinetic moment

required

measure the rotation angle around the axis of equivalent rotation from the current to the final angular position ν _to , determine the value of the angle of rotation ψ _dov produced during braking of the spacecraft, by the expression

where I ₁ , I ₂ , I ₃ moments of inertia of the spacecraft relative to its associated axes;
I moment of inertia of the spacecraft around the transverse axis;
l ₁ , l ₂ , l ₃ components of the quaternion of the turn;

at the moment of equality ν _k = ψ _dov determine the direction of the braking pulse and apply a control moment in this direction to the spacecraft. 2. The method according to p. 1, characterized in that from the moment of equality of the actual kinetic moment

required

continuously determine the parameters of the turn

determine the kinetic moment of a turn in projections on the connected axis of the apparatus

determine the angle of the turn made by the spacecraft during braking, by the expression

Where

spacecraft angular velocity vector,
measure the angle of rotation around the axis of equivalent rotation from the current to the final angular position, and at the time of equality

corrective moment is applied to the spacecraft until equality is achieved

from the moment the condition ν _k = ν _{dov is} fulfilled, a control moment is applied to the spacecraft

until the spacecraft stops completely.  3. A control system for the rotation of the spacecraft, containing a set of adjusters for the initial and final positions of the apparatus, a set of adjusters of the moments of inertia of the apparatus, a setter of time for a turn, a block of angular velocity sensors, a strapdown inertial navigation system, a block for determining the parameters of a turn, and a block for determining the moment of inertia of the apparatus around the transverse axis , a unit for determining the direction of a turn, a unit for determining the time of acceleration-braking, a unit for determining the kinetic moment of an apparatus, a unit is defined deviation of the kinetic moment from the calculated one, control torque generation unit, acceleration command generation unit, braking command generation unit, maximum torque control unit, while the output of specifying the initial angular position of the set of initial and final unit adjusters is connected to the input of parameter input the initial angular position of the block for determining the parameters of the turn and the input input of the initial conditions of the strapdown inertial navigation system, the output of setting the parameters of the final angular position of the set of adjusters of the initial and final positions of the apparatus is connected with the input of the input of the parameters of the final angular position of the set of parameters for turning, the first output of setting the moments of inertia around the transverse axis of the set of moment of moment of inertia apparatus is connected with the first input of the unit of determining the moment of inertia of the apparatus around the transverse axis and the first input of the moment of inertia input of the unit for determining the kinetic moment of the apparatus, the second output of the set of moments of inertia in the circle of the transverse axis of the unit of inertia moments of the apparatus of inertia is connected with the second input of the unit of inertia determination of the moment of inertia of the apparatus around the transverse axis and the second input of the moment of inertia of the unit of determination of the kinetic moment of the apparatus, the output of the moment of inertia about the longitudinal axis of the set of moment of inertia of the apparatus is connected with the third input of the determination unit the moment of inertia of the apparatus around the transverse axis, the input input of the moment of inertia around the longitudinal axis of the block determining the direction of the rotation and the third input ode of moments of inertia of the apparatus kinetic moment determination unit, the output of the angular velocity sensor unit is connected to the input of the angular velocity vector of the strapdown inertial navigation system and the angular velocity input of the kinetic moment determination unit of the apparatus, the output of the strapdown inertial navigation system is connected to the input of the input of the current angular position of the determination unit deviation of the kinetic moment from the calculated and the input of the job angular position of the control unit moment, the output of the unit of moment of inertia determination of the apparatus around the transverse axis is connected to the input of the input of the moment of inertia around the transverse axis of the reversal determination unit and the input of the moment of inertia of the acceleration-deceleration time determination unit, the output of the acceleration-deceleration time determination unit is connected to the input of the acceleration time determination of the deviation determination unit kinetic moment from the calculated one, the output of the apparatus kinetic moment determination unit is connected to the kinetic moment input input of the kinetic deviation determination unit the moment from the calculated and information input of the unit for generating the command for braking, the output of the unit for determining the deviation of the kinetic moment from the calculated one is connected with the information input of the unit for generating the acceleration command, the output of the unit for generating the acceleration command is connected to the first logical input of the control moment formation unit, the output of the formation unit the braking command is connected with the second logical input of the control torque generating unit, the output of the master of the maximum value of the control torque is connected it is connected with the input of the input of the maximum control moment of the unit for determining the acceleration-braking time, the input of the input of the value of the required control time of the unit for determining the deviation of the kinetic moment from the calculated one and the input of the task of the value of the control moment of the control moment formation unit, characterized in that the unit for correction of the turn time is introduced into it, U-turn parameter correction block, U-turn parameter fixation block, Alignment parameter determination block, U-turn parameter update block, Definition block the calculation of the angular position, the unit for determining the angle of the dovar produced during braking of the device, the unit for determining the presence of a reversal vector, the unit for fixing the angular position of the device at the beginning of the free movement section, the unit for determining the moment of issuing a corrective pulse, the unit for determining the beginning of braking, the unit for determining the direction of accelerating and correcting pulses, a unit for determining the direction of the brake pulse, a unit for determining the direction of the control moment, while the output of the job parameters the initial angular position of the unit of adjusters of the initial and final positions of the apparatus is connected to the input of the input of the initial conditions of the fixation block of the angular position of the apparatus at the beginning of the free movement section and the input of the input of the initial position of the unit for determining the moment of issuing the corrective pulse, the output of the parameters of the final angular position of the set of adjusters of the initial and final positions the apparatus is connected to the input input of the desired position of the block correction parameters of the U-turn and the input input of the final position of the block determining the moment of issuing the correcting pulse, the first output of setting the moments of inertia around the transverse axis of the unit of inertia moments of the apparatus is connected with the first input of the moments of inertia of the unit for determining the calculated angular position, the second output of setting the moments of inertia around the transverse axis of the set of units of moment of inertia of the apparatus is connected to the second input input of moments of inertia of the unit for determining the calculated angular position, the output of the task of moments of inertia around the longitudinal axis of the unit of moment setters of inertia The device’s AI is connected to the third input of the input of the moments of inertia of the unit for determining the estimated angular position, the output of the turn time adjuster is connected to the input of the turn time correction block, the output of the strapdown inertial navigation system is connected to the input of the current position input of the turn parameter correction block, the input of the input of the motion parameters of the corner fixation block the position of the apparatus at the beginning of the free movement section, by the input of the input of the actual angular position of the block determining the moment of issue of the corrector input pulse, the inputs of the input angular position of the unit for determining the direction of the accelerating and correcting pulses and the unit for determining the direction of the brake pulse, the output of the unit for determining the rotation parameters is connected to the input input of the initial conditions of the block for fixing the parameters of the rotation, the output of the unit for determining the moment of inertia of the apparatus around the transverse axis is connected to the job input the averaged moment of inertia of the unit for determining the calculated angular position and the input input of the moment of inertia of the unit for determining the angle of rotation, produced when the apparatus is braking, the output of the job of the head vector of the head for determining the heading direction is connected to the input of the heading vector of the head of the block determining the estimated angular position, the heading of the head of the head of the block determining the heading of the head is connected to the input of the heading of the head of the head block of determining the calculated angular position, the output of the block determining the kinetic moment of the apparatus is connected to the input of the input of the motion parameters of the unit for determining the angle of the turn made during braking of the device, and the input to nontical moment of the block for determining the direction of the brake pulse, the output of the block for determining the deviation of the kinetic moment from the calculated one is connected to the input of the mismatch input of the block for determining the direction of the accelerating and correcting pulses, the output of the block for generating the command for acceleration is connected to the logical input of the block for determining the direction of the accelerating and correcting pulses and the first gate input block determining the direction of the control moment, the output of the block forming the command for braking is connected with the logic by the input of the unit for determining the direction of the brake pulse and the second gate input of the unit for determining the direction of the control moment, the output of the setpoint of the maximum value of the control moment is connected to the input of the input of the value of the control moment of the unit for determining the angle of rotation, produced when the device is braked, the output of the block for correcting the time of rotation is connected with the inputs of time input the reversal of the unit for determining the acceleration-braking time and the unit for determining the calculated angular position, the output of the parameter correction unit the pivot is connected to the input of input of new parameters of the pivot parameter fixing unit, the output of the pivot block of pivot parameters is connected to the first input of the reference parameters determination unit and the input of input of initial conditions of the pivot parameters updating block, the output of the pivot parameters determination block is connected to the input inputs of the required angular position of the parameter updating block of the head and the unit for determining the estimated angular position, the output of the head for updating the heading parameters is connected to the information input block determining the direction of the turn, the output of setting the turn angle of the unit for determining the estimated angular position is connected to the input of the input of the angle of the turn of the unit for determining the acceleration-braking time, the output of the task of the turning vector of the unit for determining the estimated angular position is connected to the input of the input of the vector of the turn of the unit for determining the deviation of the kinetic moment from the calculated and the input unit for determining the presence of a reversal vector, the output of the task of the estimated position of the unit for determining the estimated angular position is connected to the input the input of the calculated parameters of the correction unit for the parameters of the rotation, the logical output of the unit for determining the estimated angular position is connected to the gate input of the block for updating the parameters of the rotation, the output of the job of the angular position according to the forecast of the block for determining the estimated angular position is connected to the input of the input of the predicted position of the block for updating the parameters of the rotation, the output of the block for determining the angle the turnaround produced during braking of the device is connected with the first input of the unit for determining the beginning of braking, the output of the unit is determined The determination of the presence of the rotation vector is connected with the input of the resolution of the unit for forming the command for acceleration, the output of the block for fixing the angular position of the apparatus at the beginning of the free movement section is connected with the input of the input of the initial conditions of the unit for determining the deviation of the kinetic moment from the calculated one, the second input of the block for determining the aiming parameters and the input for entering the initial position of the unit for determining the calculated angular position, the logical output of the unit for determining the moment of issuance of the correction pulse is connected to the gate input ohm of the unit for generating an acceleration command, the control inputs of the unit for fixing the parameters of the turn and the unit for fixing the angular position of the device at the beginning of the free movement section, the information output of the unit for determining the moment of issue of the correcting pulse is connected to the second input of the unit for determining the start of braking, the output of the unit for determining the start of braking is connected with a logical the input of the unit for forming the command for acceleration and the logical input of the unit for forming the command for braking, the output of the unit for determining the direction of acceleration and correcting the pulse associated with a first data input control unit determining the direction of torque output of the unit determining the direction of the braking momentum associated with said second data input of the control unit determining the direction of torque output of the unit determining the direction of control points associated with the insertion direction reversal input unit generating a control torque.

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