RU2676844C1 - System of return of course orientation of space vehicle using orbital gyrocompass - Google Patents

Abstract

FIELD: astronautics.SUBSTANCE: system for the recovery of the course orientation (CO) of a spacecraft (SC) using an orbital gyrocompass (OGC) contains a device for orientation on the Earth (DOE), a unit of gyroscopic angular velocity meters (UAVM), navigation-ballistic unit (NBU), containing a central on-board computer (COBC) and satellite navigation equipment (SNE), nine adders, three amplification and conversion modules (ACM, ACM, ACM), cosine (CAT) and sine (SAT) angle transducers, four units of compensation for the influence of orientation channels (UCIC), three integrators, a module of logical zero (MLZ), a module for calculating the heading angle (MCHA), a module for forming a command (MFC), program rotation calculation module (PRCM), five normally closed keys (K1÷K5), five normally open keys (K1÷K5), stabilization system (SS).EFFECT: quality is improved and the transition time is reduced when the spacecraft course orientation is restored with the use of free-form OGC.1 cl, 3 dwg

Description

The present invention relates to the field of space technology and can be used to restore the directional orientation of the spacecraft (SC) relative to the orbital coordinate system (OSK) using an orbital gyrocompass (OGK) of the strap-type type.

In the known orientation systems built on the principle of orbital gyrocompassing, the course orientation is restored by simply turning on the OGK mode after the spacecraft’s vertical is constructed using the Earth-orientation device (POS), see, for example, book [1] by V. A. Besekersky authors , Ivanova V.A., Samotokina B.B. "Orbital gyrocompassing." SPb. 251 p. 1993.

The book discusses a device for restoring the course orientation of a spacecraft using a gyroorbitant (gyroorbits). The disadvantages of the device should include a long time to restore the course orientation and the low quality of the transition process, expressed in a large amount of overshoot in the channels of the angular orientation of the spacecraft of the order of 5 ÷ 10 °. Similar disadvantages are possessed by all, without exception, known types of OGKs, for example, [3-6]. This is due to the fact that in the classic OGKs, the exchange rate orientation is restored by directly turning on the gyrocompassing mode, which is fundamentally not adapted to work in this mode. In this case, the motion of the spacecraft toward the stable pole (orbital plane) takes too long, uncoordinated, with large errors along the orientation channels. Extremely negatively, this drawback is manifested in control systems of orbital spacecraft with relay stabilization mode on jet engines.

возможности для их устранения.A close analogue may be the technical solution presented in the patent 2509690 RU, which has the above disadvantages, but has

opportunities to eliminate them.

The technical result is to improve the quality and significantly reduce the transition process when restoring the course orientation of the spacecraft with the use of strap-type WGCs.

, где ε заданное малое значение сигналов ПОЗ, например 0,1°, модуль вычисления курсового угла (МВКУ) с вычислительной функцией

, где ω_Xi, ω_Zi - измеренные БИУС абсолютные угловые скорость КА в каналах крена и тангажа соответственно, модуль формирования команды (МФК) на подключение БИУС и ПОЗ к ОГК, модуль расчета программного поворота (МРПП), пять нормально-замкнутых ключей (К_НЗ) и пять нормально разомкнутых ключей (К_НР), при этом входы первого и второго К_НЗ подключены к выходам ПОЗ по крену и тангажу, а их выходы - ко входам ИО в каналах крена и тангажа соответственно, входы третьего, четвертого и пятого К_НЗ соединены с выходами БИУС в каналах крена, курса и тангажа, а их выходы подключены ко входам ИО в каналах крена, курса и тангажа соответственно, входы первого и второго К_НР соединены с выходами ПОЗ по крену и тангажу, а их выходы подключены к первым входам первого и четвертого сумматоров соответственно, входы третьего, четвертого и пятого К_НP соединены с выходами БИУС по крену, курсу и тангажу, а их выходы подключены ко вторым входам второго, восьмого и пятого сумматоров соответственно, первый и второй вход МЛН соединены с выходами ПОЗ соответственно по крену и тангажу, а его выход подключен к первому входу МВКУ, второй и третий входы которого подключены к выходам БИУС в каналах крена и тангажа соответственно, а выход подключен одновременно ко входам МФК и МРПП, при этом выход МФК подключен ко вторым входам всех К_НЗ и всех К_НР, а так же к первому входу МРПП, второй вход которого подключен к НББ, а его первый, второй и третий выходы подключены к третьим входам второго, восьмого и пятого сумматоров, а четвертый - ко вторым входам первого, второго, третьего и четвертого БКВК и вторым входам КПУ и СПУ.In contrast to the known device, which contains the Earth orientation device (REF), as well as the first adder, the first amplification and conversion module (MUP), the second adder, the third adder, the first integrator, the output and input of which are sequentially connected in the roll channel the inputs to the circuit of the spacecraft stabilization system (SS) along the roll, respectively, in angle and angular velocity, while the output of the first integrator is simultaneously connected to the second input of the first adder containing in series with the fourth the adder, the second CBM, the fifth and sixth adders, the second integrator, the output and input of which are the inputs to the spacecraft SS circuit in pitch and angle and angular velocity, respectively, while the output of the second integrator is simultaneously connected to the second input of the fourth adder containing a cosine in the heading channel (KPU) and sine angle converters (SPU), the input of the first of which is connected to the input of the first CBM, and the input of the second is connected to the input of the second CBM, while the outputs of both converters are connected respectively to the first and second input Am of the seventh adder, which is connected in series with the seventh adder itself, the third CBM, the eighth and ninth adders, and the third integrator, the output and input of which are inputs to the SS AC circuit at the heading in angle and angular velocity, respectively, containing four channel interference compensation units orientation (BKVK), the inputs of the first and second of which are connected to the output of the third integrator, and their outputs are connected to the second inputs of the third and sixth adders, respectively, the input of the third BKVK It is connected to the output of the first integrator, and the output is connected to the second input of the ninth adder, the input of the fourth BKVK is connected to the output of the second integrator, and the output is connected to the third input of the ninth adder, which also contains a block of gyroscopic angular velocity meters (CIUS) the spacecraft axes and the navigation ballistic unit (BSS), the logical zero module (MLN) with the function of “crossing” signals is additionally introduced into the system

where ε is the specified small value of the REF signals, for example, 0.1 °, the heading angle calculation module (MCC) with a computational function

, where ω _Xi , ω _Zi are the measured CIRS absolute angular velocity of the spacecraft in the roll and pitch channels, respectively, the command generation module (MFC) for connecting the CIUS and REF to the OGK, the software module for calculating the rotation (MRP), five normally closed keys (K _NC ) and five normally open keys (K _NR ), while the inputs of the first and second K _{NC are} connected to the outputs of the RPC in roll and pitch, and their outputs are connected to the inputs of the IO in the channels of roll and pitch, respectively, the inputs of the third, fourth and fifth K _NC outputs connected to a CICS bank channels, and pitch rate, and x outputs are connected to inputs of the EUT in the roll channel, rate and pitch, respectively, inputs of the first and second K _HP connected to outputs REF roll and pitch, and their outputs are connected to first inputs of first and fourth adders, respectively, the third inputs of the fourth and fifth K _{NR are} connected to the BIUS outputs by roll, heading and pitch, and their outputs are connected to the second inputs of the second, eighth and fifth adders, respectively, the first and second MLN inputs are connected to the REF outputs respectively in roll and pitch, and its output is connected to the first go MVKU, the second and third inputs of which are connected to the outputs of the CIU in the channels of roll and pitch, respectively, and the output is connected simultaneously to the inputs of the MFK and MPPP, while the output of the MFK is connected to the second inputs of all K _NC and all K _NR , as well as the first MPRP input, the second input of which is connected to the NBB, and its first, second and third outputs are connected to the third inputs of the second, eighth and fifth adders, and the fourth to the second inputs of the first, second, third and fourth BKVK and second inputs of the CPU and SPU.

In figures 1 ÷ 3 shows an example of a practical implementation of the proposed device.

In FIG. 1 is indicated:

1 - REF orientation device on the Earth;

2 - BIUS block gyroscopic measuring angular velocity;

3 - NBB navigation and ballistic unit, comprising, a central on-board computer (PPM) and satellite navigation equipment (ASN);

4 ÷ 12 - adders;

13 ÷ 15 - MUP ₁ , MUP ₂ MUP ₃ first, second and third amplification and conversion modules;

16 ÷ 17 - KPU and SPU cosine and sine converters;

18 ÷ 21 - BKVK blocks compensation for the influence of orientation channels ;;

22 ÷ 24 - integrators;

25 - MLN logical zero module;

26 - MVKU module calculating the angle of the course;

27 - IFC module forming teams;

28 - MPPP module for calculating the software rotation;

To _NC 1 ÷ To _HP 5 - normally closed keys;

To _NR 1 ÷ To _NR 5 - normally open keys;

γ _P , ϑ _P - output signals REF in roll and pitch, respectively;

ω _X , ω _Y , ω _Z - output signals CIUS in the channels of the roll, course and pitch, respectively;

SS - stabilization system;

- орбитальная угловая скорость КА, выдаваемая НББ;

- the orbital angular velocity of the spacecraft issued by the BSS;

- орбитальная угловая скорость КА, реализуемая в ОГК;

- the orbital angular velocity of the spacecraft, implemented in the OGK;

- вычисленное и запомненное значение курсового угла на момент времени t_i;

- the calculated and stored value of the heading angle at time t _i ;

- текущее программное значение угла курса и скорость его изменения;

- the current program value of the course angle and its rate of change;

τ is the relative time of the programmed motion of the spacecraft;

- аргумент разности начального запомненного угла курса

и текущего программного значения λ(τ);

- argument of the difference of the initial stored angle

and the current program value λ (τ);

- выходные сигналы ОГК в систему стабилизации КА по углам и угловым скоростям в каналах крена, курса и тангажа соответственно;

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

In figures 2 and 3 shows the results of modeling the operation of the system for restoring the course orientation of the spacecraft for the known system (Fig. 2) and the proposed (Fig. 3).

In the figures indicated:

γ _grad , ψ _grad , θ _grad - the angular position of the spacecraft relative to the OSK in roll, heading and pitch, respectively;

- абсолютные угловые скорости КА в проекциях на собственные оси крена, курса и тангажа.

- the absolute angular velocity of the spacecraft in projections on its own axis of heel, course and pitch.

The VO system works as follows.

At the initial moment of time, the spacecraft is brought to the local vertical, for which the REF signals along the roll γ _П and pitch γ _П through normally-closed keys К _НЗ 1 and К _НЗ 2 are received in the SS by executive bodies (ИО), for example, flywheels. At the same time, the CIU signals ω _X , ω _Y , ω _Z in the roll, heading and pitch channels through normally-closed keys K _NC 3, K _NC 4 and K _NC 5 are also connected to the SS to ensure stability of the spacecraft stabilization process.

After bringing the spacecraft to the local vertical, the orientation of the spacecraft in the course turns out to be in some arbitrary and indefinite position. At the same time, the current heading position of the spacecraft is damped by the BIUS signal in the heading channel and is relatively stable relative to the CCS - the change in the heading position of the spacecraft occurs very slowly and is limited by the drift of the gyroscope at a level of ≤0.1 ° / hour.

From this moment begins the restoration of the course position of the spacecraft - bringing the spacecraft into the orbit plane.

т.е. КА будет приведен к вертикали места с заданной погрешностью ε, МЛН выдает сигнал в МВКУ, для расчета текущего курсового положения

. Расчет выполняется по формуле:

как функция осредненных на момент времени t_i показаний БИУС в каналах крена ω_Xi и тангажа ω_Zi. Данное значение угла запоминается и принимается за программный угол, на который надо повернуть КА для его перевода в плоскость орбиты.As soon as the condition for the “intersection” of signals is fulfilled in MLN

those. The spacecraft will be reduced to the vertical of the place with a given error ε, the MFN will give a signal to the MVKU to calculate the current heading position

. The calculation is performed according to the formula:

as a function of the CIU readings averaged over time t _i in the roll channels ω _Xi and pitch ω _Zi . This angle value is remembered and taken as the program angle, by which the spacecraft must be turned to transfer it to the orbit plane.

поступает в МФК и МРПП. При поступлении сигнала

в МФК этот модуль вырабатывает команду на переключение нормально-замкнутых ключей в положение «разомкнуто», а нормально-разомкнутых ключей в положение «замкнуто». При этом ПОЗ и БИУС отсоединяются от СС и подключаются в контур гирокомпасирования. Ориентация и стабилизация КА в дальнейшем осуществляется только по выходным сигналам гирокомпаса -

.Stored angle

enters the IFC and MPPP. When a signal arrives

in IFC, this module generates a command to switch normally-closed keys to the “open” position, and normally-open keys to the “closed” position. At the same time, the POS and CIUS are disconnected from the SS and connected to the gyrocompass circuit. Orientation and stabilization of the spacecraft in the future is carried out only by the output signals of the gyrocompass -

.

МРПП рассчитывает программные движения ОГК в процессе курсового приведения КА:

, где

, которые подаются на третьи входы 5, 8 и 11 сумматоров соответственно. Первый и второй сигналы - для компенсации проекций орбитальной угловой скорости в выходных сигналах БИУС крена и тангажа в процессе курсового поворота, а третий - для программного вращения КА по курсу и стабилизации его программного движения в процессе этого движения. Четвертый выход МРПП обеспечивает вычисление текущих значений КПУ и СПУ и вычисления текущих компонент БКВК, которые служат для компенсации «паразитных» перекрестных сигналов в контуре ОГК в процессе программного движения КА. ННБ служит для уточнения угловой орбитальной скорости КА

в течение всего времени полета КА.At the same time, on a signal

MRPP calculates the programmed movements of the OGKs in the course of the course reduction of the spacecraft:

where

which are fed to the third inputs of the 5, 8 and 11 adders, respectively. The first and second signals are used to compensate for the projections of the orbital angular velocity in the output signals of the CIUS roll and pitch during a course turn, and the third one is for programmed rotation of the spacecraft along the course and stabilization of its programmed motion during this movement. The fourth MRPP output provides the calculation of the current values of the CPU and the control system and the calculation of the current BKVK components, which serve to compensate for “spurious” crosstalk signals in the OGK circuit during the spacecraft programmed motion. The NNS serves to refine the angular orbital velocity of the spacecraft

during the entire spacecraft flight.

The equations of motion of the OGK during the course of the spacecraft reduction to the orbit plane will take the form:

where k ₁ , k ₂ , k ₃ are the correction coefficients in the channels of the roll, course and pitch of the OGK from the composition of the MPU 1, 2, 3 arrays;

- текущее значение программного угла и скорости - задаются проектировщиком исходя из возможностей ИО, например, двигателей маховиков, и требуемого качества переходного процесса.λ (τ) and

- the current value of the program angle and speed are set by the designer based on the capabilities of the IO, for example, flywheel engines, and the required quality of the transition process.

при нулевых начальных положениях КА по γ и ϑ показаны на фигуре 2.The simulation results of the process of restoring the course orientation of the spacecraft from the extreme position

at zero initial positions of the spacecraft with respect to γ and ϑ are shown in figure 2.

, а текущее значение программной уставки λ(τ) рассчитывалось по формуле:In the process of modeling, the permissible angular error ε - of the restoration of the course orientation was taken equal to 1% of the full value

, and the current value of the program setting λ (τ) was calculated by the formula:

λ (τ) = ω _З ⋅τ,

.where ω _{З the} speed of the zeroing program rotation is set as the maximum allowable angular velocity of the spacecraft in the heading channel. In this case, the program rotation time was calculated by the formula:

.

время программного поворота составило 900 с и стало на порядок меньше по сравнению со временем известной системы ВО (рис. 2, 3), а перерегулирование в канале курса не превысила 1° или 0,6% - существенно меньше чем в известных системах ВО (рис. 2, 3). Одновременно отклонения КА в каналах крена и тангажа относительно ОСК в течение всего времени поворота изменялись незначительно, оставаясь около нулевых значений.Thus, for ω _З = 0.2 ° / s and

the program turnaround time was 900 s and became an order of magnitude shorter than the time of the known VO system (Figs. 2, 3), and the overshoot in the heading channel did not exceed 1 ° or 0.6% — significantly less than in the known VO systems (Fig. . 2, 3). At the same time, the deviations of the spacecraft in the roll and pitch channels relative to the OSK during the entire rotation time changed insignificantly, remaining near zero values.

The technical result was achieved both in the quality of the transition process - the process is close to optimal, and in time - the time of the transition process to restore the course orientation of the spacecraft decreased ~ by an order of magnitude.

Bibliography

1. Besekersky V. A., Ivanov V. A. .., Samotokin B. B. Orbital gyrocompassing. SPb. 251 p. 1993.

2. Patent 2509690 RU.

3. Campbell, Coffey "Digital systems of reference angles." The journal "Issues of rocket technology", 1971, No. 11.

4. Bryson A.E., Kortyum V. Calculation of the local angular position of the orbiting spacecraft. Proceedings of the III International IFAC Symposium. France, Toulouse, 1970. Management in space. Volume 2. M. Science. 23 sec 1972.

5. Raushenbakh B.V., Tokar E.N. Spacecraft orientation control. M. Science. 598 p. 1974.

6. Bowers J.L., Rodden J.J., Scott E.D., Debra D.B. Orbital Gyrocompassing Heading Reference, AIAA Journal of Spacecrat and Rockets, 1968, v. 5, no. 8.

Claims (1)

A system for reconstructing the directional orientation (VO) of a spacecraft (SC) using an orbital gyrocompass (OGK), containing an Earth-orientation device (POS), a block of gyroscopic angular velocity meters (BIUS), a navigation ballistic unit (BSS) containing a central on-board computer (PPM) and satellite navigation equipment (ASN), nine adders, first, second and third amplification and conversion modules (MUP ₁ , MUP ₂ , MUP ₃ ), cosine (CPU) and sine (SPU) angle converters, four interference compensation units orientation channels (BKVK), three integrators, a logical zero module (MLN), a module for calculating the heading angle (MVKU), a module for generating a command (MFK), a module for calculating program rotation (MPP), five normally closed keys (K _NC 1 ÷ To _NC 5), five normally open keys (To _NO 1 ÷ To _NO 5), a stabilization system (SS), while the outputs of the REF are connected to the inputs To _NC 1 and To _NC 2, as well as to the inputs of the MLN, and the outputs To _{NS NS} 1 and K 2 are inputs to the SS, the inputs K _HP 1, _HP 2 K are also connected to the outputs REF and the output K _HP 1 is connected to an input of the adder (4), the output K 2 _NR Connectivity li ne to the input of the adder (10), the output of the adder (4) connected to the input MUP ₁ and to the CPU input (16), a second adder input (4) connected to the output of the integrator (22) whose output is also connected to an input BKVK (19) , the second input of the adder (10) is connected to the output of the integrator (24), the output of which is also connected to the input of the BKVK (20), the output of the adder (10) is connected to the input of the CBM ₂ and to the first input of the control panel (17), the second inputs of the CPU (16) ) and the SPU (17) connected to the first output MRPP (28) to the same output connected to second inputs of four BKVK (18-21), MUP output ₁ is connected to an input of the adder (5), and its O d is connected in series through the adder (6) to the input of the integrator (22), MUP output ₂ is connected to an input of the adder (11) whose output is successively connected via an adder (12) to the input of the integrator (24), the CPU outputs (16) and SDA ( 17) are connected to the inputs of the adder (7), and its output is connected to the input of the MUP ₃ , the output of the MUP _{3 is} connected to the input of the adder (8), and its output is connected in series through the adder (9) to the input of the integrator (23), the output of which is connected to the inputs of the BKVK (18) and (21), the output of the BKVK (18) is connected to the second input of the adder (6), the outputs of the BKVK (19) and BKVK (20) sub yucheny to second and third inputs of the adder (9), yield BKVK (21) connected to the second input of the adder (12), the inputs and outputs of the integrators (22-24) connected to the MOP BIUS outputs connected to the inputs of channel-keys K 3 and K _{NS НР} 3, К _НЗ 4 and К _НР 4, К _НЗ 5 and К _НР 5, outputs К _НЗ 3-К _НЗ 5 are connected to the SS, and outputs К _НР 3-К _НР 5 - to the second inputs of the fifth (5), eighth (8) and the eleventh (11) adders, the output of the CIUS (2) by roll and pitch is connected to the inputs of the MVKU (26), the third input of which is connected to the output MLN (25), the output of the MVKU (26) is connected to the input of the MFK (27) while the output of the IFC (27) is connected ene to the second inputs of the keys K _NS 1-K _NS 5 and R _NR 1-K _NR 5 MVKU output (26) connected to the first input MRPP (28), the second, third and fourth outputs of which are connected to the third input of the adder (5) , an adder (8) and an adder (11), respectively, and the second input of the MCB is connected to the NBB.

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