CN109625329A - A kind of autonomous discharging method of flywheel angular momentum based on discrete jet - Google Patents
A kind of autonomous discharging method of flywheel angular momentum based on discrete jet Download PDFInfo
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- CN109625329A CN109625329A CN201811504178.4A CN201811504178A CN109625329A CN 109625329 A CN109625329 A CN 109625329A CN 201811504178 A CN201811504178 A CN 201811504178A CN 109625329 A CN109625329 A CN 109625329A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000007599 discharging Methods 0.000 title claims abstract description 17
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- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000003786 synthesis reaction Methods 0.000 claims description 4
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- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000007921 spray Substances 0.000 abstract description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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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
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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
- 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
- B64G1/283—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using reaction wheels
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Abstract
The present invention provides a kind of autonomous discharging method of flywheel angular momentum based on discrete jet includes the following steps: to calculate satellite body angular momentum；Determine flywheel angular momentum dumping threshold value；Calculate the unloading each jet duration of thruster；Calculate the interval time that thruster unloads jet every time；Calculate the number of thruster unloading jet.By giving by calculating Satellite Angle momentum according to the revolving speed of flywheel, and according to the requirement of the mounting arrangement of thruster and Satellite Attitude Control and stability, the thruster of unloading, time width, jet interval time, the jet number of thruster jet are selected.The present invention is based on using discrete " point spray " the autonomous angular momentum dumping technology of thruster, it is ensured that under the premise of meeting attitude control accuracy, independently realizes angular momentum dumping, improves the in-orbit autonomous operation ability of satellite.
Description
Technical field
It is the invention belongs to geostationary orbit satellite attitude control technology field, in particular to a kind of based on discrete jet
The autonomous discharging method of flywheel angular momentum.
Background technique
To guarantee payload long-term stable operation on star, period uses flywheel as posture control to satellite in orbit for a long time
The executing agency of system processed is influenced by external disturbance torque, and the angular momentum of flywheel is constantly accumulated at any time, when the angular motion of flywheel
When amount can reach saturation, then control fan-out capability is lost, therefore, it is necessary to apply additional unloading torque to the angular momentum of flywheel
It is unloaded, to prevent flywheel angular momentum from " saturation " occur.In view of the earth magnetic field of geostationary orbit is weaker, no image of Buddha
In, low orbit satellite equally by geomagnetic torque realize unload, can only by star lifting force device periodically " jet " generate required for
Torque is unloaded, realizes the unloading to flywheel angular momentum.
Current most of geostationary orbit satellites periodically send jet unloading command by ground and realize to flywheel angular motion
The unloading of amount.The angular momentum dumping scheme is required to accurately estimate the disturbing moment that is subject to of satellite to guarantee in unloading cycle
The angular momentum of flywheel is not in " saturation ".For complicated Large-scale satellite, disturbance torque is difficult to accurately calculate, diagonally
The regular unloading design of momentum brings larger difficulty, while increasing the dependence to floor control.
Summary of the invention
For technological deficiency of the existing technology, it is autonomous that the present invention provides a kind of flywheel angular momentum based on discrete jet
Discharging method realizes that satellite is independently unloaded in orbital angular momentum.
In order to solve the above technical problems, the present invention be realized by the following technical solution it is a kind of based on discrete jet fly
The autonomous discharging method of angular momentum is taken turns, is included the following steps:
A, satellite body angular momentum is calculated；
B, flywheel angular momentum dumping threshold value is determined；
C, the unloading each jet duration of thruster is calculated；
D, the interval time that thruster unloads jet every time is calculated；
F, the number of thruster unloading jet is calculated.
Preferably, the step a includes being configured according to the flywheel on star, calculates each fly using the revolving speed of current flywheel
The angular momentum of wheel calculates flywheel offer in the satellite body angular momentum in conjunction with the mounting arrangement of flywheel.
Preferably, before the step b, angular momentum dumping is judged whether to.
Preferably, flywheel angular momentum dumping threshold value described in the step b includes that flywheel angular momentum produces under satellite body
The angular momentum that raw component and satellite own angular velocity generate.
Preferably, when the synthesis angular momentum of the flywheel angular momentum and satellite angular momentum itself meets unloading threshold value, from
Main carry out angular momentum dumping.
Preferably, the step c includes, according to the output of control moment size, flywheel that the unloading thruster generates
The requirement of torque size and Satellite Attitude Control calculates thruster and unloads each jet duration.
Preferably, the interval time attitude of satellite for unloading jet described in the step d every time carries out closed loop by flywheel
Gesture stability.
Preferably, interval time and flywheel maximum output torque and the posture of jet are unloaded described in the step d every time
Control system regulating time is related.
Preferably, before the step f, according to angular momentum dumping threshold value described in step b, confirmation unloading angular momentum is big
It is small.
Preferably, the step f includes unloading each jet duration according to the thruster and determining that thruster unloads jet
Number.
The present invention provides a kind of autonomous discharging method of flywheel angular momentum based on discrete jet, passes through root by giving
Satellite Angle momentum is calculated according to the revolving speed of flywheel, and according to the mounting arrangement of thruster and Satellite Attitude Control and stability
It is required that selecting time width, jet interval time, the jet number of the thruster of unloading, thruster jet.The present invention is based on adopt
With discrete " point spray " the autonomous angular momentum dumping technology of thruster, it is ensured that autonomous real under the premise of meeting attitude control accuracy
Existing angular momentum dumping, improves the in-orbit autonomous operation ability of satellite.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 shows a specific embodiment of the invention, and a kind of flywheel angular momentum based on discrete jet independently unloads
Method；
Fig. 2 shows the embodiment of the present invention one, and the mounting arrangement schematic diagram of 4 counteraction flybacks is installed on star；
Fig. 3 shows the embodiment of the present invention one, counteraction flyback angular momentum dumping process schematic.
Specific embodiment
In order to preferably technical solution of the present invention be made clearly to show, the present invention is made into one with reference to the accompanying drawing
Walk explanation.
Fig. 1 shows a specific embodiment of the invention, and a kind of flywheel angular momentum based on discrete jet independently unloads
Method.Specifically, include the following steps:
Firstly, entering step S101, satellite body angular momentum is calculated: being configured according to the flywheel on star, utilize current flywheel
Revolving speed calculate the angular momentum of each flywheel, calculate flywheel in conjunction with the mounting arrangement of flywheel and provide in the satellite body angular motion
Amount.
Then, S102 is entered step, flywheel angular momentum dumping threshold value is determined: judging whether to angular momentum dumping, it is described
Flywheel angular momentum dumping threshold value includes that the component that flywheel angular momentum generates under satellite body and satellite own angular velocity generate
Angular momentum.When the synthesis angular momentum of the flywheel angular momentum and satellite angular momentum itself meets unloading threshold value, angle is independently carried out
Momentum discharge.
Furthermore S103 is entered step, the unloading each jet duration of thruster is calculated: generated according to the unloading thruster
Control moment size, the output torque size of flywheel and the requirement of Satellite Attitude Control calculate thruster unloading spray every time
Gas duration, the interval time attitude of satellite for unloading jet every time carry out closed loop gesture stability by flywheel.
Later, S104 is entered step, the interval time that thruster unloads jet every time is calculated: each unloading jet
The interval time attitude of satellite carries out closed loop gesture stability by flywheel.The interval time of unloading jet and flywheel maximum output every time
Torque and attitude control system regulating time are related.
Finally, enter step S105, the number of thruster unloading jet is calculated: according to the angular momentum dumping threshold value,
Confirmation unloading angular momentum size, and the number that each jet duration determines thruster unloading jet is unloaded according to the thruster.
Fig. 2 shows the first embodiment of the present invention, and the mounting arrangement schematic diagram of 4 counteraction flybacks is installed on star,
Specifically, include the following steps:
Firstly, calculating current time satellite body angular momentum, configuration 4 maximum angular momentums are 15Nms, maximum output on star
Torque is the counteraction flyback of 0.15Nm, using three orthogonal one oblique mounting arrangement modes.According to the rotation-speed measuring device of flywheel
The revolving speed that current time X, Y, Z, S flywheel can be set is respectively ωx(k),ωy(k),ωz(k),ωs(k), unit rpm.Satellite
Three axis inertia angular speed be respectively wx, wy, wz, Gyro measurement can be passed through and obtained.Then it is estimated that satellite system is worked as
Preceding synthesis angular momentum:
H=[Hx Hy Hz]=I* [wx, wy, wz]T+[hx hy hz]T
Wherein, I is the moment of inertia matrix of satellite；
Hx, hy, hz are respectively three shaft angle momentum of the flywheel in satellite body system；
Wx, wy, wz are respectively the rolling, pitching, yaw inertia angular speed of satellite.
Then, it is determined that flywheel angular momentum dumping threshold value, it is contemplated that under the conditions of different flywheels, flywheel is under satellite body
The angular momentum of generation is of different sizes, and therefore, flywheel angular momentum dumping threshold value is related to flywheel access state.It is with roll channel
Example, flywheel angular momentum dumping threshold value are as follows:
When XYZ flywheel carries out closed-loop control, flywheel is 15Nms in the maximum angular momentum that X-direction provides, it is contemplated that 20%
Allowance, the threshold value Hx0 of X-direction angular momentum dumping is taken as 12Nms；
When YZS flywheel carries out closed-loop control, flywheel is 8.67Nms in the maximum angular momentum that X-direction provides, it is contemplated that
The threshold value Hx0 of 20% allowance, X-direction angular momentum dumping is taken as 6.9Nms.
As Hx > Hx0, then rotating direction carries out negative angular momentum unloading；
As Hx≤- Hx0, then rotating direction carries out positive angular momentum dumping；
Similarly, the angular momentum dumping threshold value of pitching, yaw direction can be determined.
Furthermore each jet duration of thruster is unloaded, if the angular momentum that each jet unloading of thruster generates is Δ Hi(i
=x, y, z), value size is related to the mounting arrangement of thruster and jet duration.The angular speed of satellite caused by jet changes
Amount is Δ ωi(i=x, y, z), angular momentum dumping process are as shown in Figure 3.
By taking the axis of rolling as an example, if satellite initial angular velocity is 0, Δ ω is that satellite angular speed caused by thruster unloads becomes
Change, by relationship in figure it can be concluded that the maximum roll attitude deviation of satellite are as follows:
Wherein, Ixx is roll rotational inertia.
Tcw is the maximum output torque of flywheel: in view of angle mount flywheel output torque is smaller with respect to formal dress flywheel, therefore,
The value of Tcw is related to flywheel access state: when the control of flywheel XYZ access system, Tcw 0.15Nm；When flywheel YZS is accessed
When system, Tcw=0.087Nm.
It can further obtain:
Consider that maximum attitude angle deviation is 1 °, the control moment to roll thruster generation is in terms of 8.6353Nm is carried out
It calculates, rolling thruster and unloading longest jet time every time is 0.369s；
Similarly, pitching can be calculated, the longest jet time that yaw unloads every time.
Later, the interval time that thruster unloads jet every time is calculated, jet interim, system is pushed away by flywheel absorption
Power device bring attitude disturbance, time needed for flywheel eliminates attitude misalignment are as follows:
T can be calculated by bringing data intos_x≈52s；
It can similarly calculate, the time required for jet unloading bring attitude misalignment is eliminated in pitching, yaw direction flywheel.
Finally, calculating the number of thruster unloading jet, it is contemplated that satellite state in orbit reduces the coupling between three axis
Cooperation is used, it is expected that the angular momentum that flywheel is provided in satellite body is 0, therefore, is unloaded in conjunction with flywheel angular momentum dumping threshold value and every time
Jet duration is carried, can be evaluated whether to meet under unloading threshold condition, jet number required for flywheel angular momentum.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of autonomous discharging method of flywheel angular momentum based on discrete jet, which comprises the steps of:
A, satellite body angular momentum is calculated；
B, flywheel angular momentum dumping threshold value is determined；
C, the unloading each jet duration of thruster is calculated；
D, the interval time that thruster unloads jet every time is calculated；
F, the number of thruster unloading jet is calculated.
2. discharging method according to claim 1, it is characterised in that: the step a includes being matched according to the flywheel on star
Set, the angular momentum of each flywheel calculated using the revolving speed of current flywheel, in conjunction with flywheel mounting arrangement calculate flywheel provide exist
The satellite body angular momentum.
3. discharging method according to claim 1, it is characterised in that: before the step b, judge whether to angular momentum
Unloading.
4. discharging method according to claim 1 or 3, it is characterised in that: flywheel angular momentum dumping described in the step b
Threshold value includes the angular momentum that the component that flywheel angular momentum generates under satellite body and satellite own angular velocity generate.
5. discharging method according to claim 4, it is characterised in that: when the flywheel angular momentum and satellite angular momentum itself
Synthesis angular momentum meet unloading threshold value when, independently carry out angular momentum dumping.
6. discharging method according to claim 1, it is characterised in that: the step c includes, according to the unloading thruster
Control moment size, the output torque size of flywheel and the requirement of Satellite Attitude Control of generation calculate thruster unloading
Each jet duration.
7. discharging method according to claim 1, it is characterised in that: unloaded every time described in the step d between jet
Closed loop gesture stability is carried out by flywheel every the time attitude of satellite.
8. discharging method according to claim 1, it is characterised in that: unloaded every time described in the step d between jet
It is related with flywheel maximum output torque and attitude control system regulating time every the time.
9. discharging method according to claim 1, it is characterised in that: before the step f, according to step b
Angular momentum dumping threshold value, confirmation unloading angular momentum size.
10. discharging method according to claim 6, it is characterised in that: the step f includes being unloaded according to the thruster
Carry the number that each jet duration determines thruster unloading jet.
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Cited By (4)
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| CN111319795A (en) * | 2020-02-26 | 2020-06-23 | 上海航天控制技术研究所 | High-precision orbit control method and system for autonomously feeding back and compensating attitude control jet influence in real time |
| CN111731512A (en) * | 2020-04-30 | 2020-10-02 | 上海航天控制技术研究所 | Mars surrounding device online angular momentum management method based on solar wing drive control |
| CN112193438A (en) * | 2020-09-14 | 2021-01-08 | 中国空间技术研究院 | Evaluation system and evaluation method for satellite orbit-in initial stage deflation disturbance |
| CN116280274A (en) * | 2023-04-27 | 2023-06-23 | 中国人民解放军32039部队 | Control method and device for automatic management of GEO satellite angular momentum |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111319795A (en) * | 2020-02-26 | 2020-06-23 | 上海航天控制技术研究所 | High-precision orbit control method and system for autonomously feeding back and compensating attitude control jet influence in real time |
| CN111731512A (en) * | 2020-04-30 | 2020-10-02 | 上海航天控制技术研究所 | Mars surrounding device online angular momentum management method based on solar wing drive control |
| CN111731512B (en) * | 2020-04-30 | 2022-03-04 | 上海航天控制技术研究所 | Mars surrounding device online angular momentum management method based on solar wing drive control |
| CN112193438A (en) * | 2020-09-14 | 2021-01-08 | 中国空间技术研究院 | Evaluation system and evaluation method for satellite orbit-in initial stage deflation disturbance |
| CN116280274A (en) * | 2023-04-27 | 2023-06-23 | 中国人民解放军32039部队 | Control method and device for automatic management of GEO satellite angular momentum |
| CN116280274B (en) * | 2023-04-27 | 2023-10-27 | 中国人民解放军32039部队 | Control method and device for automatic management of GEO satellite angular momentum |
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