WO2020103290A1 - Attitude control method for final substage orbital application subsystem - Google Patents
Attitude control method for final substage orbital application subsystemInfo
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- WO2020103290A1 WO2020103290A1 PCT/CN2018/124508 CN2018124508W WO2020103290A1 WO 2020103290 A1 WO2020103290 A1 WO 2020103290A1 CN 2018124508 W CN2018124508 W CN 2018124508W WO 2020103290 A1 WO2020103290 A1 WO 2020103290A1
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- attitude
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/285—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using momentum wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
- B64G1/363—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors using sun sensors
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- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
- B64G1/366—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors using magnetometers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
- B64G1/369—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors using gyroscopes as attitude sensors
Definitions
- the attitude determination algorithm is selected, but not limited to, one or more of the extended Kalman filtering method and the single magnetic vector attitude determination algorithm.
- Step 1 Using Euler angle method, the posture kinematics model is established as
- FIG. 3 is a flowchart of the attitude control method of the last sub-track-keeping application subsystem of the preferred embodiment of the present invention.
- FIG. 19 is a graph of the change in pitch angle of the application subsystem of the last sub-track keeping track when the time-lag compensation algorithm is not used in the steady-state control stage;
- FIG. 25 is a graph showing the change of the Z-axis rotation angular velocity of the last-stage track keeping application subsystem when the time-lag compensation algorithm is used in the steady-state control stage;
- a method for attitude control of the last sub-track staying application subsystem includes:
- the rate of change of the magnetic field vector of the last-sub-track application subsystem reflects the angular velocity information of the last-sub-track application subsystem. Under certain conditions, there is a monotonous approximate correspondence between the two. Therefore, The angular velocity of the last-sub-track application subsystem can be damped by using the rate of change of the magnetic field vector under the current system of the last-sub-track application subsystem.
- the attitude sensor includes, but is not limited to, one or more of a sun sensor, a three-axis magnetic torque device, a magnetometer, and a gyro.
- the attitude sensor may include the following:
- the attitude determination algorithm is selected, but not limited to, one or more of the extended Kalman filtering method and the single magnetic vector attitude determination algorithm.
- Equation (8) After time delay compensation, e- ⁇ s in equation (8) is outside the closed-loop control loop and does not affect system stability.
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Abstract
Description
Claims (10)
- 一种末子级留轨应用子系统姿态控制方法,其特征在于,包括:An attitude control method for the application subsystem of the last sub-track staying track, characterized in that it includes:末子级留轨应用子系统进入任务设定轨道后,在姿态控制器内预存有所述末子级留轨应用子系统的姿态角速率的设置阈值,当所述姿态角速率大于所述姿态控制器内的设置阈值,启动速率阻尼阶段,对所述末子级留轨应用子系统进行消旋处理;当所述姿态角速率小于等于所述姿态控制器内的设置阈值,所述末子级留轨应用子系统进入对地定向的稳态控制阶段;After the last sub-tracking application subsystem enters the mission setting track, a setting threshold value of the post-tracking application subsystem's attitude angular rate is pre-stored in the attitude controller, when the attitude angular rate is greater than the attitude controller Within the set threshold, start the rate damping phase, and de-rotate the last sub-stage derailment application subsystem; when the attitude angular rate is less than or equal to the set threshold in the attitude controller, the last sub-stage derailment application The subsystem enters the steady-state control phase of ground orientation;其中,在所述速率阻尼阶段,所述姿态控制器采用Minus B-dot磁控律,利用三轴磁力矩器作为执行机构施加控制磁矩来阻尼所述末子级留轨应用子系统的俯仰轴、滚动轴、偏向轴的角速度,实现速率阻尼阶段的姿态控制;Among them, in the rate damping phase, the attitude controller uses the Minus B-dot magnetron law, and uses a three-axis magnetic torque device as an actuator to apply a control magnetic moment to damp the pitch axis of the last sub-tracking application subsystem , The angular velocity of the rolling axis and the deflection axis to achieve attitude control in the rate damping phase;其中,在所述稳态控制阶段,所述姿态控制器在俯仰回路采用带有时滞补偿的PD控制律,利用偏置动量轮和所述三轴磁力矩器作为执行机构施加控制磁矩来完成俯仰回路的姿态控制,同时消除时滞的影响;所述姿态控制器在滚动回路和偏置回路采用滑模控制律设计切换函数和变结构控制规律,构造所述末子级留轨应用子系统的滚动回路和偏航回路的控制指令。Among them, in the steady state control phase, the attitude controller adopts the PD control law with time lag compensation in the pitch loop, and uses the bias momentum wheel and the three-axis magnetic torque device as the actuator to apply the control magnetic moment to complete Attitude control of the pitch loop, while eliminating the effects of time lag; the attitude controller uses sliding mode control laws to design switching functions and variable structure control laws in the rolling loop and offset loop, constructing the last sub-track application subsystem Control commands for rolling and yaw circuits.
- 根据权利要求1所述的末子级留轨应用子系统姿态控制方法,其特征在于:所述三轴磁力矩器的一种实现结构包括三根独立的性能相同的磁棒,三根磁棒分别沿所述末子级留轨测量子系统的X、Y、Z三轴安装。The attitude control method of the final sub-track application subsystem according to claim 1, characterized in that: an implementation structure of the three-axis magnetic torque device includes three independent magnetic rods with the same performance, and the three magnetic rods are respectively along the The X, Y, Z three-axis installation of the last sub-track gauge measurement subsystem is described.
- 根据权利要求1所述的末子级留轨应用子系统姿态控制方法,其特征在于,所述三轴磁力矩器作为执行机构施加的一种控制磁矩为:The attitude control method of the final sub-track application subsystem according to claim 1, wherein the three-axis magnetic torque device as a control magnetic moment applied by the actuator is:其中,M为三轴磁力矩器施加的控制磁矩,X、Y、Z三方向分别为[M x M y M z]; 为所述末子级留轨应用子系统本体系下的磁场矢量的变化率,X、Y、Z三方向为[B bx B by B bz],分别由磁强计的测量值进行差分处理后获得;K为控制增益系数,X、Y、Z三方向为k 1、k 2、k 3。 Among them, M is the control magnetic moment applied by the three-axis magnetic torque device, and the three directions of X, Y and Z are [M x M y M z ]; It is the rate of change of the magnetic field vector under the system of the last sub-track-keeping application subsystem. The three directions of X, Y, and Z are [B bx B by B bz ], which are obtained by differential processing from the measured values of the magnetometer respectively ; K is the control gain coefficient, and the three directions of X, Y, and Z are k 1 , k 2 , and k 3 .
- 根据权利要求1所述的末子级留轨应用子系统姿态控制方法,其特征在于:所述偏置动量轮安装于所述俯仰轴的负方向。The attitude control method of the last sub-track application subsystem of claim 1, wherein the offset momentum wheel is installed in the negative direction of the pitch axis.
- 根据权利要求1所述的末子级留轨应用子系统姿态控制方法,其特征在于,所述一种末子级留轨应用子系统姿态控制方法,还包括:The attitude control method of the last sub-track application subsystem according to claim 1, wherein the attitude control method of the last sub-track application subsystem further comprises:选定姿态敏感器,对所述末子级留轨应用子系统的姿态信息进行测量;Select an attitude sensor to measure the attitude information of the last sub-track-keeping application subsystem;根据所述姿态敏感器的测量数据,选用姿态确定算法进行姿态确定。Based on the measurement data of the attitude sensor, an attitude determination algorithm is used to determine the attitude.
- 根据权利要求5所述的末子级留轨应用子系统姿态控制方法,其特征在于,所述姿态确定算法包括:The attitude control method of the last sub-track-keeping application subsystem according to claim 5, wherein the attitude determination algorithm includes:当所述末子级留轨应用子系统工作在速率阻尼阶段时,所述姿态确定算法选用、但不限于双矢量定姿算法、单磁矢量定姿算法中的一种或几种;When the last sub-stage track keeping application subsystem works in the rate damping stage, the attitude determination algorithm is selected, but not limited to, one or more of a dual vector attitude determination algorithm and a single magnetic vector attitude determination algorithm;当所述末子级留轨应用子系统工作在稳态控制阶段时,所述姿态确定算法选用、但不限于扩展卡尔曼滤波法、单磁矢量定姿算法中的一种或几种。When the last sub-stage track keeping application subsystem works in the steady state control stage, the attitude determination algorithm is selected, but not limited to, one or more of the extended Kalman filtering method and the single magnetic vector attitude determination algorithm.
- 根据权利要求5所述的末子级留轨应用子系统姿态控制方法,其特征在于:所述姿态敏感器包括、但不限于太阳敏感器、三轴磁力矩器、磁强计、陀螺中的一种或几种。The attitude control method of the last sub-track application subsystem according to claim 5, wherein the attitude sensor includes, but is not limited to, one of a sun sensor, a three-axis magnetic torque sensor, a magnetometer, and a gyro Kind or several.
- 根据权利要求1所述的末子级留轨应用子系统姿态控制方法,其特征在于,所述一种末子级留轨应用子系统姿态控制方法,还包括:The attitude control method of the last sub-track application subsystem according to claim 1, wherein the attitude control method of the last sub-track application subsystem further comprises:步骤1:采用欧拉角方式,建立姿态运动学模型为Step 1: Using Euler angle method, the posture kinematics model is established as式(1),ω为末子级留轨应用子系统的惯性角速度在本体坐标系下的分量列阵;ω x、ω y、ω z为末子级留轨应用子系统的三轴惯性角速度; 为三轴姿态角速度,即分别为滚动姿态角速度、俯仰姿态角速度和偏航姿态角速度; θ、ψ为三轴姿态角,即分别为滚动姿态角、俯仰姿态角和偏航姿态角;ω o为轨道角速度; Equation (1), ω is the component array of the inertial angular velocity of the last sub-tracking application subsystem in the body coordinate system; ω x , ω y , ω z are the three-axis inertial angular velocity of the last sub-tracking application subsystem; Is the three-axis attitude angular velocity, that is, the rolling attitude angular velocity, pitch attitude angular velocity and yaw attitude angular velocity, respectively; θ, ψ three-axis attitude angle, i.e. the angle of roll attitude, pitch attitude angle and yaw attitude angle; ω o is the angular velocity of the track;步骤2:忽略挠性因素的影响,建立所述末子级留轨应用子系统的姿态动力 学模型为Step 2: Ignore the influence of flexible factors, and establish the posture dynamics model of the last sub-track application subsystem as式(2)中,I为末子级留轨应用子系统的惯性矩阵;ω为末子级留轨应用子系统的惯性角速度在本体坐标系下的分量列阵; 为惯性角速度的微分;h为偏置动量轮的角动量,在本体三轴上的分量为h=[h x h y h z] T;T c为控制力矩,T d为干扰力矩; In equation (2), I is the inertial matrix of the last sub-track application subsystem; ω is the component array of the inertial angular velocity of the last sub-track application subsystem in the body coordinate system; Is the differential of the inertial angular velocity; h is the angular momentum of the offset momentum wheel, and the component on the three axes of the body is h = [h x h y h z ] T ; T c is the control torque and T d is the disturbance torque;步骤3:当所述末子级留轨应用子系统工作在稳态控制阶段,三轴姿态角速度为小角度时,简化所述姿态运动学模型为Step 3: When the last sub-track application subsystem works in the steady-state control stage and the triaxial attitude angular velocity is a small angle, the simplified kinematics model is采用体系Y方向固定转速的偏置动量轮配置,简化所述姿态动力学模型为The configuration of the offset momentum wheel with a fixed speed in the Y direction of the system is used to simplify the attitude dynamic model as已知ω o为小量,式(4)进一步简化为 Given that ω o is a small quantity, equation (4) is further simplified to式(4)和式(5)中,I x、I y、I z为末子级留轨应用子系统的三轴惯性矩阵; 为三轴姿态角加速度,即分别为滚动姿态角加速度、俯仰姿态角加速度和偏航姿态角加速度;h x、h y、h z为偏置动量轮的角动量h在三轴上的分量;T x、T y、T z为为控制力矩T c在三轴上的分量; In equations (4) and (5), I x , I y , and I z are the three-axis inertial matrix of the last sub-track-keeping application subsystem; Is the three-axis attitude angular acceleration, that is, the rolling attitude angular acceleration, the pitch attitude angular acceleration, and the yaw attitude angular acceleration, respectively; h x , h y , and h z are the components of the angular momentum h of the offset momentum wheel on the three axes; T x , T y and T z are the components of the control torque T c on the three axes;其中,小角度为小于等于30°;俯仰回路与滚动回路、偏航回路解耦。Among them, the small angle is less than or equal to 30 °; the pitch circuit is decoupled from the rolling circuit and the yaw circuit.
- 根据权利要求1所述的末子级留轨应用子系统姿态控制方法,其特征在于:在所述稳态控制阶段,所述姿态控制器在俯仰回路采用带有Smith时滞补偿的PD控制律,通过对基于PD控制律的姿态控制器并接一个Smith预估器,完成俯仰回路的姿态控制,包括:The attitude control method of the last sub-stage track keeping application subsystem according to claim 1, characterized in that: in the steady-state control stage, the attitude controller adopts a PD control law with Smith delay compensation in the pitch loop, By connecting a Smith predictor to the attitude controller based on the PD control law, the attitude control of the pitch loop is completed, including:所述姿态控制器的传递函数为D(s),被控对象即所述执行机构的传递函数为D o(s)e -τs,τ为纯滞后时间常数,s为时间变量;被控对象中不包含纯滞后部分的传递函数为D o(s),被控对象纯滞后部分的传递函数为e -τs;由所述姿态控制器D(s)和Smith预估器组成的补偿回路成为纯滞后补偿器,所述纯滞后补偿器的传递函数D’(s)为 The attitude controller transfer function is D (s), i.e., the transfer function of the controlled object execution mechanism is D o (s) e -τs, τ is a pure delay time constant, s is a time variable; controlled object The transfer function that does not include the pure delay part is D o (s), and the transfer function of the controlled object pure delay part is e -τs ; the compensation loop composed of the attitude controller D (s) and the Smith predictor becomes Pure lag compensator, the transfer function D '(s) of the pure lag compensator is经补偿后,系统的闭环传递函数Φ’(s)为After compensation, the closed-loop transfer function Φ ’(s) of the system is与之相比,未补偿的系统的闭环传递函数Φ(s)为In contrast, the closed-loop transfer function Φ (s) of the uncompensated system is经过时滞补偿后,式(7)中的e -τs在闭环控制回路之外,不影响系统的稳定性。 After time-lag compensation, e- τs in equation (7) is outside the closed-loop control loop and does not affect the stability of the system.
- 根据权利要求1所述的末子级留轨应用子系统姿态控制方法,其特征在于,在所述稳态控制阶段,所述姿态控制器在俯仰回路采用带有Dalin时滞补偿的PD控制律,完成俯仰回路的姿态控制。The attitude control method of the final sub-track application subsystem according to claim 1, characterized in that, in the steady-state control stage, the attitude controller uses a PD control law with Dalin time-lag compensation in the pitch loop, Complete the attitude control of the pitch loop.
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