RU2597015C1 - System for controlling spatial orientation of spacecraft using gimballess orbital gyrocompass - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: invention relates to aviation and space instrument making and can be used in systems for control of angular position of spacecrafts (SC), in which orientation system using strap down orbital gyrocompasses (SOGC) are used. For this purpose, in output circuits of local vertical plotter (LVP) by roll and pitch adders are included, one per each channel so that their inputs are connected to corresponding outputs of LVP, orientation control module (OCM), first and second inputs of the OCM by roll and pitch are connected to outputs of corresponding adders at LVP output, and roll and pitch outputs of OCM are connected to inputs of first and eighth adders respectively, output circuits of first, second and third integrators include first module of direct conversion process angles of spacecraft stabilization, first, second and third inputs of which are connected to outputs of first, second and third integrators respectively. At that, control system allows to perform SC program turns relative to orbital coordinate system (OCS) simultaneously over heading, roll and pitch while SOGC continues to operate normally, without any disturbance of orbital gyrocompassing mode.

EFFECT: technical result is expansion of functional capabilities.

1 cl, 9 dwg

Description

The invention relates to the field of space technology, and more specifically to systems for controlling the angular position of spacecraft (SC), in which strapdown orbital gyrocompasses (BOGK) are used to construct the orbital coordinate system (OSK). The purpose of the invention is to provide the spacecraft with freedom of programmatic turns along the heading, pitch and roll channels relative to the OSK without violating the orbital gyrocompassing mode implemented by the BOGK during programmatic turns.

In control systems for the angular position of orbital spacecraft, strapdown orbital gyrocompasses are widely used, because have a simple structure, have autonomy, are convenient when restoring the orientation of the spacecraft.

The equations of motion describing the operation of the classical orbital gyrocompass (OGK) have the form:

where γ, Ψ, ϑ - small angles of orientation of the associated axes of the spacecraft relative to the OSK roll, heading and pitch;

, α, $$\dot{\alpha }$$

, θ, $$\dot{\theta }$$

- малые углы и угловые скорости ориентации приборной системы координат ОГК относительно ОСК по крену, курсу и тангажу;β $$\dot{\beta }$$

, α, $$\dot{\alpha }$$

, θ, $$\dot{\theta }$$

- small angles and angular velocities of the orientation of the instrument coordinate system of the OGK relative to the OSK in roll, course and pitch;

Δβ, Δθ - feedback signals, they are the output signals of the OGKs to the spacecraft stabilization system (SS) in the angle in the roll and pitch channels, they are the stabilization errors in the angle in the roll and pitch channels;

γ _PMV , ϑ _PMV - output signals of the local vertical builder (PMV) for roll and pitch;

Δα is the output signal of the OGK stabilization of the spacecraft in the angle in the channel

- орбитальная угловая скорость КА (производная от изменения аргумента широты (u); $$\dot{u}$$

- the orbital angular velocity of the spacecraft (the derivative of a change in the latitude argument (u);

to ₁ , to ₂ , to ₃ - correction factors.

OGK is described in many sources, for example, in the book Orbital Gyrocompassing by V.A. Besekersky, V.A. Ivanova and B. B. Samotokina. St. Petersburg: Polytechnic, 1993.256 s.

As part of modern spacecraft control systems, strapdown orbital gyrocompasses - BOGK are used, for the practical implementation of which the inverse formulas obtained from (1) are used:

where ω _X , ω _Y , ω _Z are the angular velocity of the spacecraft relative to the inertial coordinate system (CSI) in the projections on the connected axis of the spacecraft along the roll, course and pitch, measured by gyroscopic sensors;

, Δα, $$\Delta \dot{\alpha }$$

, Δθ, $$\Delta \dot{\theta }$$

- выходные сигналы БОГК в систему стабилизации КА по углам и угловым скоростям в каналах крена, курса и тангажа.Δβ $$\Delta \dot{\beta }$$

, Δα, $$\Delta \dot{\alpha }$$

, Δθ, $$\Delta \dot{\theta }$$

- BOGK output signals to the spacecraft stabilization system at angles and angular velocities in the roll, heading, and pitch channels.

BOGK works in conjunction with the spacecraft angular stabilization system, in which the flywheel engines, gyrodynes, jet nozzles, etc. can be used as executive bodies, with the spacecraft stabilization loop settings for angle and angular velocity:

where _{τ X, τ Y, τ Z} - signals (values of the control points) arriving at the spacecraft actuators, such as flywheels;

, к_α, $${к}_{\dot{\alpha }}$$

, к_θ, $${к}_{\dot{\theta }}$$

- настроечные коэффициенты контура стабилизации КА по углу и угловой скорости.to _β, $${\mathrm{to}}_{\dot{\beta }}$$

, to _α , $${\mathrm{to}}_{\dot{\alpha }}$$

, to _θ , $${\mathrm{to}}_{\dot{\theta }}$$

- tuning coefficients of the stabilization loop of the spacecraft in angle and angular velocity.

Formulas (1-2) are valid only for small deviations of the associated axes of the spacecraft and the instrument axes of the BOGK relative to the OSK, for which the values of angular velocities are valid:

, ψ, $$\dot{\psi }$$

, ϑ, $$\dot{\vartheta }$$

- малые углы и угловые скорости связанных осей относительно ОСК,where γ, $$\dot{\gamma }$$

, ψ, $$\dot{\psi }$$

, ϑ, $$\dot{\vartheta }$$

- small angles and angular velocities of the connected axes relative to the OSK,

therefore, for systems of this type, spatial programmatic rotations of the spacecraft are impossible without violating the gyrocompassing mode and losing stable control of the angular position of the spacecraft. Equations (2) are sometimes called the WGC observer.

The spacecraft control system using BOGK, which has an algorithm in the form (2), is also described in many foreign counterparts, for example, in the work of the authors A. Bryson and V. Kortyum “Calculation of the local angular position of an orbiting spacecraft”. Proceedings of the III IFAC International Symposium on Automatic Control in the Peaceful Uses of Outer Space. Management in space vol. 2, p. 83-105, Moscow, “Science”, 1972

The disadvantage of these systems is the ban on software turns of the spacecraft relative to the USC at heading, pitch and roll angles.

As a prototype, we can take the spacecraft angular position control system proposed in RF patent No. 2509690 of March 20, 2014, which implements a device that allows the spacecraft to rotate at unlimited programmed angles at the heading, while maintaining gyrocompassing mode. The disadvantage of this system is the fundamental lack of the ability to program spacecraft rotations simultaneously through other orientation channels - roll and pitch while maintaining a stable gyrocompassing mode.

The aim of the invention is to remedy these disadvantages, i.e. the creation of such a spacecraft angular position control system that provides the spacecraft with freedom of programmatic turns along the heading, pitch and roll channels relative to the OSK and at the same time maintains the stable operation of the BOGK in the gyrocompassing mode, and therefore, the stable control of the spacecraft's programmatic angular position as a whole.

To achieve this goal, in a well-known technical solution containing PMV, the output of which is tilted to the first adder, the first amplification and conversion module (MUP), the second adder, the third adder, the first integrator, the first module for adjusting the spacecraft stabilization by the angle in the channel roll (MNK-U) and the fourth adder, the output of which is the input of the executive bodies (IO) of the spacecraft in the roll channel.

The first adder, the second CBM, the fifth adder, the sixth adder, the second integrator, the second KA stabilization module for the angle in the yaw channel (MNR-U), the seventh adder, the output of which is the input of the IO KA, which is sequentially connected in the course channel in the course channel.

The PMV containing the pitch channel in the pitch channel, the pitch output of which is connected to the eighth adder, the third CBM, the ninth adder, the third integrator, the third spacecraft stabilization tuning module by the angle in the pitch channel (MNT-U), the tenth adder, the output of which is the IO input SC in the pitch channel.

Containing modules for adjusting the stabilization loop of the spacecraft according to the angular velocity of MNK-S, MNR-S, MNT-S through the corresponding roll, yaw and pitch channels, the inputs of which are connected to the outputs of the third, sixth and ninth adders, respectively, and the outputs are connected to the second inputs respectively, the fourth, seventh and tenth adders.

Containing the first and second modules for compensation of channel interference (ICWC), the inputs of which are connected to the outputs of the first and second integrators, respectively, and the outputs are connected to the second inputs of the sixth and third adders, respectively.

Containing a block of gyroscopic angular velocity meters (CIUS), the outputs of which are connected to the second inputs of the second, fifth, and ninth adders through the roll, heading, and pitch channels, respectively.

To achieve this goal in the well-known technical solution introduced new functional elements and relationships.

An orientation control module (MCO) with a signal conversion function has been introduced into the PMV roll and pitch output circuits with a signal conversion function:

where γ _ПМВ , ϑ _ПМВ - signals ПМВ along roll and pitch in the program coordinate system (UCS);

- сигналы ПМВ по крену и тангажу, пересчитанные к показаниям ПМВ относительно орбитальной системы координат (ОСК); $${\gamma }_{PM\mathrm{AT}}^{\mathrm{ABOUT}},{\vartheta }_{PM\mathrm{AT}}^{\mathrm{ABOUT}}$$

- PMV roll and pitch signals recalculated to PMV readings relative to the orbital coordinate system (OSK);

λ, µ, ε are the angles of the programmed turns of the spacecraft relative to the OSK, respectively, in the course, pitch and roll,

the first and second IOC roll and pitch inputs are connected to the corresponding PMV outputs, and the IOC roll and pitch outputs are connected to the inputs of the first and eighth adders, respectively.

The first direct conversion module (MPM) of the stabilization angles of the spacecraft is introduced into the output circuits of the first, second, and third integrators, the first, second, and third inputs of which are connected to the outputs of the first, second, and third integrators, respectively, and the outputs are connected to the inputs of MNK-U, MNR, respectively -U and MNT-U and performing the function:

for the sequence of rotations λ, µ, ε.

The second MPP of the spacecraft stabilization angular velocity is introduced into the output circuits of the third, sixth, and ninth adders so that its first, second, and third inputs are connected to the outputs of the third, sixth, and ninth adders, respectively, and its outputs are connected to the first by the roll, course, and pitch channels the inputs of the newly introduced eleventh, twelfth and thirteenth adders, respectively, whose outputs are connected to the inputs of MNK-S, MHP-S and MNT-S, respectively, while the second MPP repeats the function of the first MPP.

The fourteenth, fifteenth, and sixteenth adders are introduced into the output circuits of the BIUS, the inputs of which are connected to the outputs of the BIUS, respectively, through the roll, course, and pitch channels, and the inverse transformation module (MOS), whose inputs are connected to the corresponding outputs of the fourteenth, fifteenth, and sixteenth adders, and its the outputs are connected to the inputs of the second, fifth and ninth adders, respectively, while the MOSFET performs the function B ^T , where m is the transpose sign.

A program motion assignment block (BACA) and a program motion calculation module (MRL) are also introduced into the system, the input of which is connected to the BZAP output, and the first, second, and third MRPD outputs corresponding to the spacecraft angular speeds in roll, course, and pitch are connected, respectively to the second inputs of the fourteenth, fifteenth and sixteenth adders and simultaneously to the second inputs of the eleventh, twelfth and thirteenth adders respectively. The fourth, fifth and sixth MRPD outputs, corresponding to the programmed angles of rotation of the spacecraft, respectively, in roll, course and pitch, are connected channel-by-channel to the fourth, fifth and sixth inputs of the MOSFET, the first and second MPP, as well as to the third, fourth and fifth inputs of the MCO, and the seventh output of the MRPD is connected to the third input of the ninth adder and the second inputs of the first and second ICWC.

The following is an example of a practical implementation of the proposal.

In FIG. 1 shows:

1 - PMV;

2 - CIUS;

3-20 - adders;

21 - MCO;

22 - MOS;

23-22 - MPP;

25-27 - municipal unitary enterprise;

28-30 - integrators;

31-32 - ICWC;

34-35 - MNK-U, MNR-U, MNT-U;

36-38 - MNK-S, MHP-S, MNT-S;

39 - BZPD;

40 - MRPD;

IO - executive bodies;

, Δα, $$\Delta \dot{\alpha }$$

, Δθ, $$\Delta \dot{\theta }$$

- выходные сигналы БОГК в систему стабилизации КА по углам и угловым скоростям в каналах крена, курса и тангажа;Δβ $$\Delta \dot{\beta }$$

, Δα, $$\Delta \dot{\alpha }$$

, Δθ, $$\Delta \dot{\theta }$$

- BOGK output signals to the spacecraft stabilization system at angles and angular velocities in the roll, heading, and pitch channels;

Δβ _P , Δα _P , Δθ _P - output signals of the first MPP 23 to the spacecraft stabilization system at the angles in the channels of roll, course and pitch;

, $$\Delta {\dot{\alpha }}_{П}$$

, $$\Delta {\dot{\theta }}_{П}$$

- выходные сигналы второго МПП 24 в систему стабилизации КА по скорости в каналах крена, курса и тангажа; $$\Delta {\dot{\beta }}_P$$

, $$\Delta {\dot{\alpha }}_P$$

, $$\Delta {\dot{\theta }}_P$$

- the output signals of the second MPP 24 to the spacecraft stabilization system by speed in the roll, heading and pitch channels;

ω _X , ω _Y , ω _Z - angular velocity of the spacecraft relative to the inertial coordinate system (CSI) in the projections on the connected axis of the spacecraft in roll, course and pitch, measured by gyroscopic sensors;

ω _Xo , ω _Yo , ω _Zo are the angular velocities of the “virtual” spacecraft relative to the inertial coordinate system (CSI) in the projections onto the connected axes of the “virtual” spacecraft according to the roll, course, and pitch, formed by MOSFET 22;

ω _XП , ω _YП , ω _ZП - the values of the program angular velocity of the spacecraft relative to the ISK in the projections on the connected axes formed by the MPD;

_PMA γ, θ _PMA - PMA signals roll and pitch in the CPM;

- сигналы ПМВ по крену и тангажу, пересчитанные к показаниям ПМВ относительно ОСК для «виртуального» КА; $${\gamma }_{PM\mathrm{AT}}^{\mathrm{ABOUT}},{\vartheta }_{\text{PMV}}^{\mathrm{ABOUT}}$$

- PMV roll and pitch signals recalculated to the PMV readings relative to the USC for the “virtual” spacecraft;

, µ, $$\dot{\mu }$$

, ε, $$\dot{\epsilon }$$

, $$\dot{u}$$

- углы и угловые скорости программных поворотов КА относительно ОСК соответственно по курсу, тангажу и крену и угловая скорость КА относительно ОСК - $$\dot{u}$$

, рассчитанные в МРПД по заданным значениям из БЗПД;λ $$\dot{\lambda }$$

, µ, $$\dot{\mu }$$

, ε, $$\dot{\epsilon }$$

, $$\dot{u}$$

- angles and angular velocities of the programmed turns of the spacecraft relative to the USC, respectively, in the course, pitch and roll, and the angular speed of the spacecraft relative to the USC - $$\dot{u}$$

calculated in the MRPD according to the set values from the BZPD;

, µ_З, $${\dot{\mu }}_{З}$$

, ε_З, $${\dot{\epsilon }}_{З}$$

, $${\dot{u}}_{З}$$

- углы и угловые скорости программных поворотов КА относительно ОСК соответственно по курсу, тангажу и крену и орбитальная угловая скорость КА (соответствующая производной от аргумента широты $${\dot{u}}_{З}$$

), задаваемые БЗПД;λ ₃ $${\dot{\lambda }}_3$$

, µ ₃ , $${\dot{\mu }}_3$$

, ε ₃ , $${\dot{\epsilon }}_3$$

, $${\dot{u}}_3$$

- angles and angular velocities of the programmed turns of the spacecraft relative to the USC, respectively, in the course, pitch and roll, and the orbital angular speed of the spacecraft (corresponding to the derivative of the latitude argument $${\dot{u}}_3$$

) specified by the BZPD;

to ₁ , to ₂ , to ₃ - correction coefficients BOGK, implemented by the first, second and third CBM, respectively.

In FIG. 2, 3, 4 are graphs of the spacecraft program turns in roll (Fig. 2), heading (Fig. 3) and pitch (Fig. 4) at equal angles of 15 °, which indicate:

γ, ψ, ϑ - the angular position of the spacecraft relative to the OSK during program turns (increase in angles) and after their completion (shelves);

ω _X , ω _Y , ω _Z are the angular velocity of the spacecraft along the roll, course and pitch, respectively, relative to the CSI in the projection on the connected axes;

ω _XO , ω _YO , ω _ZO are the angular velocities of the “virtual” spacecraft according to the roll, course and pitch, respectively, relative to the CSI in the projection onto the connected axes of the “virtual” spacecraft;

In FIG. Figure 5 shows the transients of simultaneously executed spacecraft rotations by different angles. The notation in FIG. 5 correspond to the notation of FIG. 2-4.

обозначена как $${\dot{\psi }}_{ПР}$$

.In FIG. Figure 6 shows an example of the implementation of the spacecraft control system for programmed rotation of the spacecraft along the course (in the example, 90 °) at zero values of the programmatic rotations in roll and pitch. In FIG. 6 for clarity, all designations of FIG. 1, only the program angle at the rate λ is designated as ψ _PR , and the program speed at the rate $$\dot{\lambda }$$

marked as $${\dot{\psi }}_{PR}$$

.

In FIG. Figure 7 shows the transient graphs for the programmed course turn at zero values of the programmed roll and pitch turns. The notation in FIG. 7 correspond to the notation of FIG. 2-4.

, $${\dot{\mu }}_{З}$$

, $${\dot{\epsilon }}_{З}$$

функционирование БОГК остается независимым от этих движений. Движение БОГК поддерживается движением «виртуального» КА, который также непрерывно ориентируется относительно ОСК по сигналам БОГК. При этих условиях сохраняется устойчивый режим гирокомпасирования, который соответствует классическому БОГК, описываемому формульными зависимостями (2). В процессе программного поворота космический аппарат как бы «обкатывает» БОГК, работающий в обычном для себя режиме.The idea of the invention is that in the process of turning the spacecraft at predetermined program angles λ _З , μ _З , ε _З with given program angular velocities $${\dot{\lambda }}_3$$

, $${\dot{\mu }}_3$$

, $${\dot{\epsilon }}_3$$

the functioning of BOGK remains independent of these movements. The movement of the BOGK is supported by the movement of the “virtual” spacecraft, which is also continuously oriented with respect to the USC according to the signals of the BOGK. Under these conditions, a stable gyrocompassing regime is maintained, which corresponds to the classical BOGK described by formula dependences (2). In the process of software rotation, the spacecraft, as it were, “runs through” the BOGK, which operates in its usual mode.

In accordance with FIG. 1 equations of motion of the spacecraft angular motion control system have the form:

equations (8) fully correspond to equations (2) of the classical BOGK, where:

Where

E is the identity matrix

where τ _ХП , τ _YП , τ _ZП - moments of control of the angular motion of the spacecraft along the associated axes of the roll, course and pitch, respectively, realized by IO, for example, flywheel engines.

, µ, $$\dot{\mu }$$

, ε, $$\dot{\epsilon }$$

, $${\dot{u}}_{ПР}$$

, ω_XП, ω_YП, ω_ZП, которые производятся в МРПД 40 по численным значениям, поступающим из БЗПД 39. Углы ε_З, λ_З, µ_З задаются исходя из требуемых оператору величин программных поворотов. Программные скорости КА $${\dot{\epsilon }}_{З}$$

, $${\dot{\lambda }}_{З}$$

, $${\dot{\mu }}_{З}$$

задаются исходя из способности ИО придавать корпусу КА необходимые скорости вращения.Program turns begin with the calculation of program movements λ, $$\dot{\lambda }$$

, µ, $$\dot{\mu }$$

, ε, $$\dot{\epsilon }$$

, $${\dot{u}}_{PR}$$

, ω _XП , ω _YП , ω _ZП , which are produced in the MRPD 40 according to the numerical values coming from the BZPD 39. The angles ε _З , λ _З , µ _З are set based on the values of program turns required by the operator. Spacecraft software speeds $${\dot{\epsilon }}_3$$

, $${\dot{\lambda }}_3$$

, $${\dot{\mu }}_3$$

are set based on the ability of the IO to give the spacecraft body the necessary speeds of rotation.

, при этом качество переходного процесса в каналах значительно ухудшится и может стать неприемлемым.The introduction of speed control software makes it possible to achieve an almost perfect transient quality in each control channel (see Figs. 2-5, 7), but program control can only be done by angle, setting $${\dot{\epsilon }}_3={\dot{\lambda }}_3={\dot{\mu }}_3=0$$

, while the quality of the transition process in the channels will deteriorate significantly and may become unacceptable.

In the MRPD, the calculation of program angles and program speeds is performed:

- axis rotation time:

- current values of program angles:

, ω_XП(t), ω_YП(t), ω_ZП(t) рассчитываются по формулам (11-12) путем непрерывной подстановки рассчитанных на предыдущем шаге (17) программных углов.- current values of program angular velocities $${\dot{u}}_{PR}\equiv \dot{u}$$

, ω _XП (t), ω _YП (t), ω _ZП (t) are calculated by formulas (11-12) by continuously substituting the program angles calculated at the previous step (17).

Software rotation of the spacecraft is carried out due to:

- introducing angular displacements into the PMW signals by the values of the program catch ε, μ and recalculating the obtained differences (γ _PMV -ε) and (ϑ _PMV -µ) from the UCS to the USC taking into account the programmed rotation of the spacecraft along the course by the value of the program angle λ. This is carried out in MCO 9, which at the end of the transition process precisely controls the position of the spacecraft relative to the USC;

, $$\left(\Delta {\dot{\alpha }}_{П}-{\omega }_{YП}\right)$$

, $$\left(\Delta {\dot{\theta }}_{П}-{\omega }_{ZП}\right)$$

.- introducing programmed angular velocities (11) into spacecraft stabilization signals by speed $$\left(\Delta {\dot{\beta }}_P-{\omega }_{XP}\right)$$

, $$\left(\Delta {\dot{\alpha }}_P-{\omega }_{YP}\right)$$

, $$\left(\Delta {\dot{\theta }}_P-{\omega }_{ZP}\right)$$

.

, Δα_П, $$\Delta {\dot{\alpha }}_{П}$$

, Δθ_П, $$\Delta {\dot{\theta }}_{П}$$

в процессе программных поворотов должны в точности соответствовать параметрам стабилизации Δβ, $$\Delta \dot{\beta }$$

, Δα, $$\Delta \dot{\alpha }$$

, Δθ, $$\Delta \dot{\theta }$$

«виртуального» КА, всегда ориентированного в орбитальной системе координат. Это достигается приравниванием векторов моментов управления КА в исходной орбитальной и текущей программной системах координат и соответствующими преобразованиями выходных сигналов БОГК по углу и угловой скорости в модулях МПП 23 и 24.In order to preserve the initial operation of BOGK in accordance with (2) the stabilization parameters themselves Δβ _P , $$\Delta {\dot{\beta }}_P$$

, Δα _P , $$\Delta {\dot{\alpha }}_P$$

, Δθ _P , $$\Delta {\dot{\theta }}_P$$

during program turns, they must exactly correspond to the stabilization parameters Δβ, $$\Delta \dot{\beta }$$

, Δα, $$\Delta \dot{\alpha }$$

, Δθ, $$\Delta \dot{\theta }$$

“Virtual” spacecraft, always oriented in the orbital coordinate system. This is achieved by equating the vectors of the spacecraft control moments in the original orbital and current software coordinate systems and the corresponding transformations of the BOGK output signals in angle and angular velocity in the MPP modules 23 and 24.

In the process of a program turn, the spacecraft program speeds — ω _XП , ω _YП , ω _ZП — appear in the output signals of the _CIUS . They are compensated on the adders 12-14, because “Interfere” with the normal functioning of BOGK in mode (2). After that, the difference signals are recalculated in MOSFET 22 at low speeds ω _Xo , ω _Yo , ω _{Zo of the} “virtual” spacecraft relative to the CCS, which fully satisfies the BOGK (2) and relations (4).

In FIG. Figure 2-4 shows the results of modeling the motion of the spacecraft at equal program angles and with the same program angular velocity across all channels:

In MRPD 40, we calculate the parameters of program turns:

- the turn time in each channel is the same:

- program angles during the program rotation time:

The top-down graphs show the orientation angles of the spacecraft with respect to the CCS, the angular speeds of the spacecraft with respect to the CSI in projections onto its own axes and the angular velocities of the “virtual” spacecraft with respect to the CSI in projections on its own axes. A program turn takes place in the estimated time, after which there is a slight overshoot, after the transition process is completed, the orientation of the spacecraft is precisely controlled by the MCO 21 at + 15 ° positions for each channel.

In FIG. Figure 5 shows the spacecraft programmed motion simultaneously along the -170 ° course, + 20 ° roll, and -30 ° pitch with the same speed along the 0.05 ° / s channels with their own signs.

The calculation in the MRPD 40 gives:

- turnaround times:

- during the time of the program turn, it is necessary to perform:

λ = 0.05 · t for 0≤t≤3400 s,

µ = 0.05 · t for 0≤t≤600 s,

ε = 0.05 · t for 0≤t≤400 s

Thus, the control system fulfills any tasks for making spatial programmatic turns while maintaining a stable gyrocompassing mode.

In FIG. Figure 4 shows an important practical example of the implementation of the system for the case of directional program turn in the absence of program turns in roll and pitch ε = µ = 0. For clarity, in FIG. 4, a new designation of the program heading angle and program speed at the heading is introduced: λ = ψ _PR , $$\dot{\lambda }={\dot{\psi }}_{PR}$$

The system for this case is greatly simplified. Below is a view of conversion modules and program speeds.

MCO 21 module takes the form:

or

in which the recalculation of the PMV signals in the USC depends only on the programmed spacecraft angle at the heading.

Modules direct conversion MPP 23, 24 take the form:

Wherein:

или

or

, а в каналах крена и тангажа обращается в ноль.The spacecraft program speed takes place only in the course channel, is equal to $${\dot{\psi }}_{PR}$$

, and in the roll and pitch channels turns to zero.

The stabilization loop settings take the form:

вводится только в курсовой канал стабилизации КА по скорости, а программные скорости КА в каналах крена и тангажа отсутствуют.Where is the program speed $${\dot{\psi }}_{PR}$$

It is entered only into the directional channel of stabilization of the spacecraft in speed, and the programmed speed of the spacecraft in the roll and pitch channels is absent.

The MOS inverse transform module with the function В ^Т , where t is the transpose sign, takes the form:

or

An example of the behavior of a spacecraft during a program rotation in the direction of a fixed angle + 90 ° at zero values of program angles in roll and pitch is shown in FIG. 9.

As already noted, the dynamics of the system (development of time-varying program parameters in speed) depends only on the quality factor of the stabilization circuit.

The accuracy of the system depends only on the errors PMV, CIUS and integration errors, which directly follows from the above system of equations, and therefore corresponds to the accuracy of the control system using the classic BOGK.

The range of program turns in gyrocompassing mode is unlimited in course, and in roll and pitch it is limited to zones of linearity PMV, which for modern PMVs corresponds to ~ 12 ° ÷ 30 °.

When using modern PMV, spacecraft orientation errors with respect to the USC can be within the range of 3–5 angles. min and less, which allows this control system to compete with more accurate systems, such as astroorientation systems.

Thus, the proposed spatial orientation system of the spacecraft using a strapdown orbital gyrocompass provides the spacecraft with freedom of software rotations relative to the USC simultaneously along the heading, pitch and roll channels, while maintaining stable operation of the BOGC in gyrocompassing mode and stable control of the spacecraft angular position as a whole.

Claims (1)

The control system for the spatial orientation of the spacecraft (SC) using a strapdown orbital gyrocompass (BOGK), containing a local vertical builder (PMV) in the roll channel, as well as a series-connected first adder, first amplification and conversion module (MUP), second adder, and third adder , the first integrator, the output of which is connected to the second input of the first adder, as well as the module for stabilizing the spacecraft stabilization by the angle in the roll channel (MNK-U) and the fourth adder, you the course of which is the input of the executive bodies (IO) of the spacecraft in the roll channel, containing in the course channel the same first adder, second CBM, fifth adder, sixth adder, second integrator, as well as the spacecraft stabilization tuning module by the angle in the course channel -spray (MNR-U) and the seventh adder, the output of which is the input of the IO KA in the heading channel, containing the PMV in the pitch channel, as well as the eighth adder in series, the third CBM, the ninth adder, the third integrator, the output of which of the second is connected to the second input of the eighth adder, as well as the spacecraft stabilization adjustment module for angle in the pitch channel (MNT-U) and the tenth adder, the output of which is the input of the spacecraft’s IO in the pitch channel, which also contains modules for the adjustment of the spacecraft stabilization contour in angular velocity MNK-S, MNR-S, MNT-S through the corresponding roll, yaw and pitch channels, the outputs of which are connected to the second inputs of the fourth, seventh and tenth adders, respectively, which also contains the first and second mutually compensating modules the influence of channels (ICWC), the inputs of which are connected to the outputs of the first and second integrators, respectively, and the outputs are connected to the second inputs of the sixth and third adders, respectively, which also contains a block of gyroscopic angular velocity meters (CIU), characterized in that the roll and the adders are introduced to the pitch, one for each channel so that their inputs are connected to the corresponding PMV outputs, and an orientation control module (MCO) with a signal conversion function:

where γ _ПМВ , ϑ _ПМВ - signals ПМВ along roll and pitch in the program coordinate system (UCS);

_,

- PMV roll and pitch signals recalculated to PMV readings relative to the orbital coordinate system (OSK);
λ, µ, ε are the angles of the programmed turns of the spacecraft relative to the OSK, respectively, in the course, pitch and roll,
the first and second roll and pitch MCO inputs are connected to the outputs of the respective adders at the PMV output, and the roll and pitch IOC outputs are connected to the inputs of the first and eighth adders, respectively, the first direct conversion module is introduced into the output circuits of the first, second, and third integrators (MPP) stabilization angles of the spacecraft, the first, second and third inputs of which are connected to the outputs of the first, second and third integrators, respectively, and the outputs are connected to the inputs of respectively MNK-U, MNR-U and MNT-U and performing Theological:

the second MPP of the angular velocity of stabilization of the spacecraft is introduced into the output circuits of the third, sixth and ninth adders so that its first, second and third inputs are connected respectively to the outputs of the third, sixth and ninth adders, and its outputs are connected to the first by the roll, course and pitch channels the inputs of the newly introduced eleventh, twelfth and thirteenth adders, respectively, the outputs of which are connected to the inputs of MNK-S, MNR-S and MNT-S, respectively, while the second MPP repeats the function of the first MPP, four the eleventh, fifteenth and sixteenth adders, the inputs of which are connected to the outputs of the CIUS, respectively, through the roll, course and pitch channels, and the inverse transformation module (MOS), whose inputs are connected to the corresponding outputs of the fourteenth, fifteenth and sixteenth adders, and its outputs are connected to the inputs, respectively of the second, fifth and ninth adders, while the MOS performs the function B ^t , where t is the transpose sign, the program motion setting block (BZPD) and the program motion calculation module are also introduced into the system I (MRPD), the input of which is connected to the output of the BJPM, and the first, second and third outputs of the MPJP, corresponding to the program angular velocity of the spacecraft in roll, course and pitch, are connected respectively to the second inputs of the fourteenth, fifteenth and sixteenth adders and simultaneously to the second inputs respectively eleventh, twelfth and thirteenth adders, and the fourth, fifth and sixth MRPD outputs, corresponding to the programmed angles of rotation of the spacecraft, respectively, in roll, course and pitch, are connected channel-by-channel to the fourth, fifth and poles m inputs of the MOSFET, fourth, fifth and sixth inputs of the first and second MPP, as well as to the third, fourth and fifth inputs of the MCO, and the fourth and sixth outputs of the MPPD are connected to the second inputs of the adders at the PMV output, respectively, in the roll and pitch channels, and the seventh output MRPD is connected to the third input of the ninth adder and the second inputs of the first and second ICWC.

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