CN103808323B - A kind of attitude of satellite follows the tracks of motor-driven cosine transition angular acceleration Path Method - Google Patents
A kind of attitude of satellite follows the tracks of motor-driven cosine transition angular acceleration Path Method Download PDFInfo
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- CN103808323B CN103808323B CN201210439266.7A CN201210439266A CN103808323B CN 103808323 B CN103808323 B CN 103808323B CN 201210439266 A CN201210439266 A CN 201210439266A CN 103808323 B CN103808323 B CN 103808323B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The invention provides a kind of cosine transition acceleration Path Method motor-driven for attitude of satellite tracking, the half period cosine function transition of biasing is used at the angular acceleration sudden change in BCB path, satellite body system three axle is projected to according to predetermined motor-driven direction vector according to angular acceleration path, obtain angular speed path after integration, then use kinematics to resolve attitude angle or attitude quaternion path.Compared with prior art, the vibration of flexible appendage can be greatly decreased, and then improve stability and rapidity, flexible inhibition is good.Method for designing is simple, it is easy to Project Realization, and the attitude of satellite that can be suitable for flexible coupling bigger is motor-driven.
Description
Technical field
The present invention relates to attitude control of satellite technology, the especially attitude of satellite and follow the tracks of motor-driven trajectory planning, a kind of use is remaining
The method in string transition angular acceleration path.
Background technology
In order to increase satellite imagery fabric width, accident area is realized instant observation, or by satellite along course bearing
Forward sight and backsight realize three-dimensional imaging, the fast reserve ability of satellite is proposed strict requirements.The attitude of satellite is motor-driven
Method be divided into that open loop is motor-driven and closed loop is motor-driven.Open loop is motor-driven higher to model qualitative requirement really, is normally only used for single shaft machine
Dynamic；Closed loop is motor-driven is divided into step instruction mode and path planning pattern, and step instruction mode often has overshoot, path planning
Pattern then can avoid overshoot, and mobile process is the most reliable.So, use path planning pattern to realize the attitude of satellite motor-driven,
Especially three-axis attitude is motor-driven is a kind of trend.
A new generation's satellite structure generally requires and carries large-scale solar array or large-scale deployable antenna, the sudden change of angular acceleration
Process is equivalent to the step response process of second-order system, easily evokes the vibration of flexible appendage, especially windsurfing, its modal damping
Ratio is the least, vibration modal frequency is low, and the effect of step exciting force will cause windsurfing violent oscillatory motion last very long, seriously
Affect the attitude stability of satellite body, add the difficulty of gesture stability.For the maneuver model in trace command path, path
Planning quality have a strong impact on the vibration suppressioning effect of flexible appendage.
Prior art checks in published paths planning method have:
1) BCB path: be the more motor-driven path of currently practical application, according to bang-bang control principle, according to " often
Value accelerates-at the uniform velocity-constant value slows down " the path of mode planning, this path can make this system quickly respond, but angular acceleration
Sudden change (i.e. discontinuity) often results in the judder of flexible windsurfing, and control accuracy is the highest.As it is shown in figure 1, it is most for application
BCB path schematic diagram, this path planning is simple.Nearly all open loop is motor-driven is all the BCB mode that uses, but couples for flexibility
The satellite increasingly stronger, stability requirement is the highest, it is necessary to instruction mode is made improvement.
2) S type path: by " calculating based on multi-target evolution at 2010 the 25th curly hair tables of aviation power journal such as Shen Xiaoning
The motor-driven path planning of satellite of method " in, propose motor-driven path based on S type rate curve for sudden change of acceleration problem, should
Method application multi-objective optimization algorithm finds the parameter of S function.But its Path form is complicated, and speed is relatively big, executing agency
The most saturated, be not suitable for Project Realization.As in figure 2 it is shown, be parabolic type acceleration path schematic diagram, it can be seen that,
, , Moment angular acceleration differential is relatively big, and compares with BCB path, does not make full use of accessible maximum
Angular acceleration.
3) parabolic type acceleration path: by Zheng Lijun etc. at 2011 the 39th curly hair tables of Central China University of Science and Technology's journal
In " Spacecraft Large Angle Attitude Maneuver path planning ", angle based on the parabolic function design motor-driven path of syllogic is proposed
Acceleration, is replaced the constant in BCB path by parabolic function.There is certain flexible inhibition, but due to the most rationally
Utilize the maximum output torque of executing agency so that the path time of planning is longer, and the differential of segment section angular acceleration is relatively
Greatly, it is further improved.
Above-mentioned each path there is the problem that BCB path planning is simple, but flexibility suppression is not made consideration；S type
Path considers flexibility suppression, but form is complicated, is not easy to Project Realization；Flexibility suppression is made by parabolic type acceleration path
Consider, but to sacrifice planning time as cost.It is thus desirable to the rule that flexible suppression and energy Practical can be considered
Draw path.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of cosine transition angle motor-driven for attitude of satellite tracking and accelerates
Degree Path Method, can suppress flexible appendage to vibrate, and form is simple, the motor-driven path that engineering is easily achieved.
For solving above-mentioned technical problem, a kind of of the present invention follows the tracks of motor-driven cosine transition angular acceleration for the attitude of satellite
Path Method, is the improvement to BCB path, uses the half period cosine letter of biasing at the angular acceleration sudden change in BCB path
Number transition, projects to satellite body system three axle according to angular acceleration path according to predetermined motor-driven direction vector, after integration
Obtain angular speed path, then use kinematics to resolve attitude angle or attitude quaternion path.
Described cosine transition angular acceleration Path Method, specifically includes following steps:
Step one, calculating attitude of satellite anglec of rotation size, determine motor-driven direction；
Step 2, choose transit time by engineering is actual
If the flexible coefficient of coup of satellite flexible appendage is big, then choose transit timeValue is big, otherwise when then choosing transition
BetweenIt is worth little；
Maximum angular is chosen in step 3, foundation actuator stem force square restriction, satellite inertia size and motor-driven direction
Acceleration amplitude
Consider that executing agency's moment is saturated, choose, in formulaFor executing agency on an axle
Big output torque,For satellite body three axle maximum principal moments；
Step 4, limit according to the range of speed measuring device and determine at the uniform velocity section angular speed size
Desirable in order to reserve surplus, in formulaFor the measurable maximum angular rate of speed measuring device；
Step 5, basisCalculate the constant accelerating sections time；
Step 6, calculate the at the uniform velocity section time
If, calculate ；If , then put, and reset in step 3；
Step 7, to planning angular acceleration path be assigned on body series three axle by the direction vector determined in step one
Obtain；
Step 8, angular acceleration vector path integration obtain target angular velocity；Angular velocity vector path uses four
Unit's number kinematical equation resolves and obtains Satellite Targets attitude quaternion。
The cosine transition angular acceleration Path Method of the present invention, compared with prior art, its advantage and providing the benefit that:
1, make full use of the maximum output of executing agency, on the basis of reducing planning time, utilize cosine function mistake as far as possible
Cross and reduce the flexible vibration brought in mobile process；
2, the cosine transition function used is owing to being zero at initial and end differential, does not has angular acceleration saltus step and angle to accelerate
Degree differential saltus step, flexible inhibition is good；
3, cosine changeover portion has only to just to plan migration path selected transit time, and Project Realization is simple；
4, acceleration path is multiplied with known inertia battle array, obtains the torque command of softening, mould motor-driven for open loop
Formula, uses such torque command can suppress the vibration of flexible appendage, and then improves stability and rapidity.
Accompanying drawing explanation
Fig. 1 is existing BCB path schematic diagram；
Fig. 2 is existing parabolic type acceleration path schematic diagram；
Fig. 3 is cosine transition angular acceleration path schematic diagram of the present invention；
Fig. 4 is the cosine transition angular acceleration path design flow diagram of the present invention；
Fig. 5 is that cosine transition angular acceleration path compares figure with BCB path to flexible inhibition；
Fig. 6 is that flexibility is suppressed by cosine transition angular acceleration path with parabolic type acceleration path
Effect comparison figure.
Detailed description of the invention
Below with reference to drawings and Examples, the present invention is described in further detail:
As it is shown on figure 3, be cosine transition angular acceleration path schematic diagram.At the angular acceleration sudden change in existing BCB path
Use the half period cosine function transition of biasing, project according to predetermined motor-driven direction vector according to angular acceleration path
To satellite body system three axle, obtain angular speed path after integration, then use kinematics to resolve attitude angle or attitude quaternion path.
In figureFor maximum angular acceleration amplitude；For transit time；The constant accelerating sections time.Four changeover portions use remaining
String function describes, as first paragraph transition cosine curve is.It is to be appreciated that do not provide the signal of S type path
Figure, being because S type path is with angular speed as plan objects, and this method comparativity is not strong, and S type path is Project Realization
Difficulty.
As shown in Figure 4, for the design flow diagram in cosine transition acceleration path, motor-driven with three axles using quaternion feedback
As a example by, specifically include following steps:
Step one, calculating attitude of satellite anglec of rotation size, determine motor-driven direction
The quaternary number initial value assuming satellite initial attitude relative target attitude is , then
Satellite has needed around Euler's axleRotate；
In formulaFor initial attitude relative to the quaternary number of reference frame,
For targeted attitude relative to the quaternary number of reference frame；
Step 2, choose transit time
Transit time is chosen by engineering is actual, when if the flexible coefficient of coup of satellite flexible appendage is big, then when choosing transition
BetweenValue is big, otherwise then chooses transit timeIt is worth little；
Step 3, choose maximum angular acceleration amplitude
Maximum angular acceleration width is chosen according to the restriction of actuator stem force square, satellite inertia size and motor-driven direction
Value, it is considered to executing agency's moment is saturated can be chosen, in formulaFor executing agency's maximum on an axle
Output torque,For satellite body three axle maximum principal moments；
Step 4, determine at the uniform velocity section angular speed size
Range according to speed measuring device limits and determines at the uniform velocity section angular speed size, desirable in order to reserve surplus
, in formulaFor the measurable maximum angular rate of speed measuring device；
Step 5, calculating constant accelerating sections time
Accelerate mobile process to have ；
Step 6, calculate the at the uniform velocity section time
If, then calculate；
If , then put, and revise in step 3；
If it is determined that constant angular acceleration, the constant acceleration time, transit timeAfterwards, at the uniform velocity timeSize
Needing to determine according to required motor-driven angle, the most motor-driven angle is
=
If, illustrate need not at the uniform velocity section, at this moment can determine to repair according to engineering problem
Just、Or, or three parameters revise simultaneously, it is only necessary to makeJust can, step 6 is given
It is to revise。
Step 7, to the angular acceleration path of planning by the Central European pulling shaft of step oneDirection vector be assigned to body series three
Angular acceleration vector is obtained on axle；
Step 8, angular acceleration vector path integration obtain expectation angular speed；Angular velocity vector path uses four
Unit's number kinematical equation resolves and obtains satellite expectation attitude quaternion。
As it is shown in figure 5, for using BCB path to control what parameters simulation was tested with cosine transition acceleration path with identical
Result comparison figure, BCB path realized planning at 42 seconds, and cosine transition acceleration path realized planning at 46 seconds, provided 45-in figure
The front quadravalence flexible mode figure of 80 seconds, it can be seen that residual oscillation situation, although cosine transition acceleration path somewhat extends
Planning time, but obvious to flexible inhibitory action effect.
As shown in Figure 6, parabolic type acceleration path is used to add with use cosine transition angle for the test of same maneuver simulation
The emulation comparison figure of speed path, parabolic type acceleration path realized planning at 55 seconds, ratio BCB path length 13 seconds, but
The most do not use cosine transition acceleration path good to remaining flexible vibration suppressioning effect.Before figure gives the 55-80 second
Quadravalence flexible mode figure.
Claims (2)
1. one kind is used for the cosine transition angular acceleration Path Method that attitude of satellite tracking is motor-driven, it is characterised in that: to BCB path
Improvement, at the angular acceleration sudden change in BCB path use biasing half period cosine function transition, according to angular acceleration road
Footpath projects to satellite body system three axle according to predetermined motor-driven direction vector, obtains angular speed path, then use after integration
Kinematics resolves attitude angle or attitude quaternion path.
The cosine transition angular acceleration Path Method motor-driven for attitude of satellite tracking the most according to claim 1, it is special
Levy and be: it specifically includes following steps:
Step one, calculating attitude of satellite anglec of rotation size, determine motor-driven direction；
Step 2, choose transit time by engineering is actual；
Step 3, foundation actuator stem force square restriction, satellite inertia size and motor-driven direction are chosen maximum angular and are accelerated
Degree amplitude；
Step 4, limit according to the range of speed measuring device and determine at the uniform velocity section angular speed size；
Step 5, basisCalculate the constant accelerating sections time；
Step 6, calculate the at the uniform velocity section time；
Step 7, the angular acceleration path of target is assigned on moisture images three axle by the direction vector determined in step one
Arrive；
Step 8, angular acceleration vector path integration obtain target angular velocity；Angular velocity vector path uses quaternary number
Kinematical equation resolves and obtains Satellite Targets attitude quaternion。
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Cited By (1)
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| CN105005312B (en) * | 2015-06-29 | 2017-11-03 | 哈尔滨工业大学 | One kind is based on maximum angular acceleration and maximum angular rate satellite planned trajectory method |
| CN106527471B (en) * | 2017-01-25 | 2019-10-01 | 上海航天控制技术研究所 | Inhibit the method for planning track and system of flexible vibration during attitude maneuver |
| CN107608213B (en) * | 2017-10-12 | 2020-11-03 | 上海航天控制技术研究所 | Parameter design method for satellite attitude maneuver path planning |
| CN107831521B (en) * | 2017-10-16 | 2020-10-23 | 中国西安卫星测控中心 | Window calculation method for low-orbit satellite to track non-orbit flying high-dynamic target |
| CN107807657B (en) * | 2017-11-29 | 2021-01-26 | 南京理工大学 | Flexible spacecraft attitude self-adaptive control method based on path planning |
| CN111798701B (en) * | 2020-07-07 | 2022-07-26 | 中国船舶工业***工程研究院 | Unmanned ship path tracking control method, system, storage medium and terminal |
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