CN108995829A - A kind of platform on-orbit calibration method - Google Patents
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Abstract
A kind of platform on-orbit calibration method, especially a kind of six degree of freedom Gough-Stewart platform on-orbit calibration method are actively directed toward the actuator force coefficient of ultra quiet platform by compensating, and reduce the actuator load three-axis attitude coefficient of coup for being actively directed toward ultra quiet platform.Comprising steps of determining the practical resultant moment normalization result being subject to of the matter center three-axle of load entirety according to the three-axis attitude of the load entirety of normalized, three axis principal moments；According to the translation displacements of the load mass center of normalized, normalized load matter center three-axle actual force.According to the translation displacements of the load mass center of normalized and normalized load matter center three-axle actual force, iterative calculation provides the optimal solution of actuator force coefficient.It is actively directed toward super quiet actuator driving current according to the compensation of the actuator force coefficient of identification, the load three-axis attitude decoupling for being actively directed toward ultra quiet platform is realized, reduces the three-axis attitude coefficient of coup.
Description
Technical field
The invention belongs to Spacecraft Attitude Control fields, are related to a kind of platform on-orbit calibration method.
Background technique
Currently, spacecraft optics load high-precision is directed toward, high stability control be unable to do without accurate kinematics parameters.And by
Winding back emf coefficient in actuator in each actuator is inconsistent, causes in identical input condition, each motor
The power of output is respectively had any different.This makes load three-axis attitude have obvious coupling.Therefore, it is necessary to carry out the actuation of load attitude decoupling
The calibration of device force coefficient, reduces the load three-axis attitude coefficient of coup.
Single actuator force coefficient scaling method has the disadvantage that
1, in existing ultra quiet platform load high-precision control, the force coefficient calibration of single actuator, nothing are usually only carried out
Method realizes the concentration calibration of multiple actuator force coefficients；
2, existing calibration technique needs to obtain load mass center posture and mass center simultaneously in multiple actuator calibration process
Translation displacements.When load mass center translation displacements can not obtain, existing scaling method is difficult to realize multiple actuator force coefficients
Accurate calibration.
3, what multiple actuator were constituted is actively directed toward ultra quiet platform, and the presence of platform configuration error directly affects load
Three-axis attitude error.The single actuator force coefficient scaling method of the prior art does not demarcate load mass center Jacobian matrix JpStructure
Load attitude error caused by type deviation not can solve load mass center Jacobian matrix JpBetween actual value and Theoretical Design
Difference and bring load attitude misalignment problem.
Summary of the invention
Technical problem solved by the present invention is a kind of platform on-orbit calibration method has been overcome the deficiencies of the prior art and provide,
It can be realized the load three-axis attitude coefficient of coup to be greatly lowered, controlled for spacecraft optics load high-precision direction, high stable,
Fast and stable control provides technical foundation.
The technical solution of the invention is as follows:
A kind of platform on-orbit calibration method, comprises the following steps that
1) all load for carrying platform as a whole, seek whole mass center as load-transfer mechanism mass center, according to load
The three-axis attitude of the equivalent mass center of lotus, three axis principal moments determine the practical resultant moment normalization knot being subject to of load-transfer mechanism matter center three-axle
Fruit τreal, norm；According to the translation displacements r of load-transfer mechanism mass centerp, determine load-transfer mechanism matter center three-axle actual force normalization knot
Fruit FReal, norm；
2) normalization of iterated revision active force is as a result, normalize result and resultant moment desired value τ according to resultant momentr=[τ1
τ2 τ3] find active force normalization result level off to 0 optimal solution, τ1, τ2, τ3Respectively the axis of rolling of load-transfer mechanism mass center, bow
Face upward axis and yaw axis torque desired value；
3) according to active force normalize result level off to 0 optimal solution and resultant moment normalization result determine actuator power system
Number completes calibration.
It is described that result and resultant moment desired value τ are normalized according to resultant momentr=[τ1τ2τ3] find active force normalization result
Level off to 0 optimal solution method, specifically:
21) result is normalized according to resultant moment and active force normalization result determines target function Jreal；
22) judge index function JrealWhether absolute value is less than critical value, if being less than critical value, target function Jreal
In active force normalization result be determined as optimal solution；If being not less than critical value, enter step 23)；The critical value is less than
10-3。
23) normalization of iterated revision active force is as a result, repeat step 22) until obtaining the optimal of active force normalization result
Solution.
The target function JrealSpecifically:
Freal,norm(n)=[Frealx Frealy Frealz],
τreal,norm=[τrealx τrealy τrealz],
τr=[τ1 τ2 τ3],
Freal,norm(0)=FReal, norm,
Wherein, lower footnote realx, realy, realz respectively indicate the axis of rolling, pitch axis and yaw of load-transfer mechanism mass center
Component on axis, τ1, τ2, τ3The respectively axis of rolling of load-transfer mechanism mass center, pitch axis and yaw axis torque desired value, n=0,1,
2,...。
The method of the iterated revision active force normalization result, specifically:
Wherein, krealResult is normalized for active force and updates coefficient, and value range is (- 1,1), and t is the time.
The platform is six degree of freedom Gough-Stewart platform；
The step 3) determines actuator force coefficient α=[α1 … α6] method particularly includes:
Wherein, βijFor the element that the i-th row jth of β matrix arranges, β=(Jp T)-1,JpFor load-transfer mechanism mass center Jacobi square
Battle array；Work as βi,3+kWhen=0, αi=1, i=1,2 ..., 6, j=1,2 ..., 6, k=1,2,3.
The step 1) determines the practical resultant moment normalization result τ being subject to of load-transfer mechanism matter center three-axleReal, normSide
Method, specifically:
τReal, norm=k2·θpnorm·Ipnorm,
Wherein, θp=[θpx,θpy,θpz] it is that load-transfer mechanism matter center three-axle couples attitude measurement value, Ipx,Ipy,IpzRespectively
The load-transfer mechanism mass center axis of rolling, pitch axis and yaw axis principal moments measured value, k2For load-transfer mechanism mass center rotational stiffness coefficient, root
It is obtained according to the rigidity of platform actuator.
The step 1) determines that active force normalizes result FReal, normMethod, specifically:
FReal, norm=(k1·rpnorm) m,
Wherein, rpx,rpy,rpzFor the translation displacements design for being respectively the load-transfer mechanism mass center axis of rolling, pitch axis and yaw axis
Value, rpx,rpy,rpzValue range be (- 0.1~0.1)；M is quality of loads, k1For the translation of load-transfer mechanism matter center three-axle
The stiffness coefficient of displacement is obtained according to the rigidity of platform actuator.
The beneficial effect of the present invention compared with prior art is:
1) peg model for establishing 6 actuator force coefficient α solves load mass center active force by establishing target function
Optimal solution, realize that multiple actuator force coefficients concentrate calibration, realize the inconsistent unification of multiple actuator force coefficients, realize more
The identification calibration of a actuator force coefficient.
2) present invention does not need measurement load mass center translation displacements, initial by using setting load mass center translation displacements
Value finds the optimal solution that is used as power of load matter center three-axle by iterative manner so that load matter center three-axle is used as power actual value with
Error between desired value is minimum.On this basis, the optimal solution of actuator force coefficient is obtained, the calibration of actuator force coefficient is improved
Precision.
3) comprising because of load mass center Jacobian matrix J in load three-axis attitudepLoad attitude misalignment caused by configuration deviation.
The present invention only passes through measurement load three-axis attitude, it will be able to compensate load mass center Jacobian matrix JpLoad caused by configuration deviation
Attitude error.
Detailed description of the invention
Fig. 1 is the flow chart of the method for the present invention.
Specific embodiment
The present invention completes the load attitude decoupling actuator force coefficient mark for being actively directed toward ultra quiet platform using process shown in Fig. 1
Determine method.
1) all load for carrying platform as a whole, seek whole mass center as load-transfer mechanism mass center, according to load
The three-axis attitude of the equivalent mass center of lotus, three axis principal moments determine the practical resultant moment normalization knot being subject to of load-transfer mechanism matter center three-axle
Fruit τReal, norm；According to the translation displacements r of load-transfer mechanism mass centerp, determine load-transfer mechanism matter center three-axle actual force normalization knot
Fruit FReal, norm；
2) normalization of iterated revision active force is as a result, normalize result and resultant moment desired value τ according to resultant momentr=[τ1
τ2 τ3] find active force normalization result level off to 0 optimal solution, τ1, τ2, τ3Respectively the axis of rolling of load-transfer mechanism mass center, bow
Face upward axis and yaw axis torque desired value；
3) according to active force normalize result level off to 0 optimal solution and resultant moment normalization result determine actuator power system
Number completes calibration.
It is described that result and resultant moment desired value τ are normalized according to resultant momentr=[τ1 τ2 τ3] find active force normalization knot
Fruit level off to 0 optimal solution method, specifically:
21) result is normalized according to resultant moment and active force normalization result determines target function Jreal；
22) judge index function JrealWhether absolute value is less than critical value, if being less than critical value, target function Jreal
In active force normalization result be determined as optimal solution；If being not less than critical value, enter step 23)；
23) normalization of iterated revision active force is as a result, repeat step 22) until obtaining the optimal of active force normalization result
Solution.
The specific method is as follows:
(1) kinematics model of actuator translation displacements Yu the generalized displacement of load mass center is established, specifically:
δ L=Jp[rp θp]T
Wherein, δ L is the displacement of actuator, rpFor the translation displacements of load mass center, θp=[θpx,θpy,θpz] it is the three of load
Axis couples attitude measurement value.JpFor load mass center Jacobian matrix.
(2) actuator power output, actuator force coefficient α and load mass center generalized force kinetic model are established specifically:
Wherein, fr=[fr1,…,fr6,]TFor the desired output power of six actuator；FrealIt is practical for load matter center three-axle
Active force, τrealFor the practical resultant moment being subject to of lotus matter center three-axle.
(3) actuator desired output power and reality output power model
Utilize kinematical equation, actuator power output and the load matter for being actively directed toward super quiet actuator displacement and load mass center
Super quiet actuator force coefficient peg model is actively directed toward in composite force that the heart is subject to, momental equation building；Wherein, load couples posture
First input quantity as peg model is measured, with load translation control force initial value FrealSecond for peg model is defeated
Enter amount；Actuator force coefficient is the output quantity of peg model；Power, torque and the actuator of actuator kinematic relation reflection load
Relationship between power indicates are as follows:
Wherein, FrFor the expected force of load mass center, since ultra quiet platform only carries out load gesture stability, then Fr≡0；τr=
[τ1 τ2 τ3], τ1, τ2, τ3The respectively axis of rolling of load mass center, pitch axis and yaw axis torque desired value.fr=[fr1,…,
fr6,]TFor the desired output power of six actuator；JpFor load mass center Jacobian matrix.
The model of actuator power output desired value and reality output power indicates are as follows:
freal=α fr
Wherein, frealFor the reality output power of each actuator, α=[α1 … α6] be actuator reality output and expectation
Power output ratio coefficient.
(4) load attitude test and the coefficient of coup calculate
The load three-axis attitude measurement for being actively directed toward ultra quiet platform is carried out, load three-axis attitude coupling measurements θ is obtainedp=
[θpx,θpy,θpz], and the assumed (specified) load three-axis attitude coefficient of coup is
γij=θj/θi
In above formula, γijIndicate the i-th axis attitude maneuver to the posture coefficient of coup of jth axis；θiIndicate survey when the i-th axis is motor-driven
The posture of amount；θjIndicate the posture component of jth axis coupling.Test result is as follows shown in table for the load three-axis attitude coefficient of coup.
(5) load posture and the normalization of three axis inertia of load
It carries out load three-axis attitude according to the following formula and inertia normalized, result is
Wherein, Ip=[Ipx,Ipy,Ipz] be load three axis principal moments；Test result is as follows shown in table for normalization.
Battle array θ is normalized by the three-axis attitude of load-transfer mechanism mass centerpnormBattle array is normalized with three axis principal moments of load-transfer mechanism
Ipnorm, determine the practical resultant moment normalization result τ being subject to of load-transfer mechanism matter center three-axleReal, norm:
τReal, norm=k2·θpnorm·Ipnorm,
Wherein, θp=[θpx,θpy,θpz] it is that load-transfer mechanism matter center three-axle couples attitude measurement value, Ipx,Ipy,IpzRespectively
The load-transfer mechanism mass center axis of rolling, pitch axis and yaw axis principal moments measured value, k2For load-transfer mechanism mass center rotational stiffness coefficient, root
It is obtained according to the rigidity of platform actuator.
Determine that active force normalizes result FReal, normMethod, specifically:
FReal, norm=(k1·rpnorm) m,
Wherein, rpx,rpy,rpzFor the translation displacements design for being respectively the load-transfer mechanism mass center axis of rolling, pitch axis and yaw axis
Value, rpx,rpy,rpzValue range be (- 0.1~0.1)；M is quality of loads, k1For the translation of load-transfer mechanism matter center three-axle
The stiffness coefficient of displacement is obtained according to the rigidity of platform actuator.
(6) by taking load some axis is motor-driven as an example, peg model is constructed are as follows:
Wherein, β=(Jp T)-1, βijThe element arranged for the i-th row jth of β matrix.Work as βi4When=0, αi=1.Work as βi4≠0
When, then have
Freal,norm=[Frealx Frealy Frealz],
τreal,norm=[τrealx τrealy τrealz],
τr=[τ1 τ2 τ3], k=1,2,3 be respectively the axis of rolling, pitch axis and yaw axis the torque expectation of load mass center
Value.
(7) it is illustrated so that x-axis is motor-driven as an example, the resultant force to load x, y direction is 0, i.e. Frealx=0, Frealy=0, structure
Build load z-axis composite force FrealzWith the model of actuator force coefficient α are as follows:
λi=(βi4τrealx+βi5τrealy+βi6τrealz)/βi4
γi=βi3/βi4
Then, actuator force coefficient α is expressed as FrealzFunction is,
(8) parameter function Jreal；If initial Freal=0, calculate composite force, torque and the load of the output of actuator motor
Lotus expected force, the Euclid norm of torque.
Freal,norm(n)=[Frealx Frealy Frealz],
τreal,norm=[τrealx τrealy τrealz],
τr=[τ1 τ2 τ3],
Freal,norm(0)=FReal, norm,
Wherein, lower footnote realx, realy, realz respectively indicate the axis of rolling, pitch axis and yaw of load-transfer mechanism mass center
Component on axis, τ1, τ2, τ3The respectively axis of rolling of load-transfer mechanism mass center, pitch axis and yaw axis torque desired value, n=0,1,
2,...。
(9) to target function JrealDerivation, judge index function JrealDerivative variation tendency.If derivative absolute value
Meet the requirement of critical value, i.e. target function JrealDerivative absolute value < 10-3, then determine that actuator force coefficient identification result meets
It is required that and exiting；Enter in next step if being unsatisfactory for；
(10) the resultant force F of load matter center three-axle actual force is updatedreal,norm:
Freal,norm(0)=FReal, norm,
Wherein, krealResult F is normalized for load matter center three-axle active forcereal,normCoefficient is updated, optimal value range is
(- 1,1)；K is positive integer, and t is the time.
(11) it is illustrated so that x-axis is motor-driven as an example, by iterating to calculate Frealz=-0.1590.The force coefficient that is used as power identification
The result is as follows:
| ? | α1 | α2 | α3 | α4 | α5 | α6 |
| Value | 1.0385 | 1.0391 | 0.7823 | 0.7823 | 1.0461 | 1.0450 |
(12) the actuator force compensating coefficient obtained according to step (11) is solidificated in load dsp controller, is made
Dynamic device compensation control, realizes load three-axis attitude decoupling control.Actuator force compensating coefficient calculates are as follows:
kfi=1/ αi
Test result is as follows shown in table for actuator force compensating coefficient.
| ? | kf1 | kf2 | kf3 | kf4 | kf5 | kf6 |
| Value | 0.9629 | 0.9624 | 1.2782 | 1.2800 | 0.9559 | 0.9569 |
(13) the actuator force compensating coefficient obtained according to step (12) is subjected to the test of load three-axis attitude, three axis of load
The posture coefficient of coup test result is as follows table.
| Project | Before calibration | After calibration |
| Load X is to the Y-axis coefficient of coup | 8.22% | 0.50% |
| Load X is to the Z axis coefficient of coup | 0.48% | 0.28% |
| Load Y is to the X-axis coefficient of coup | 7.65% | 0.29% |
| Load Y is to the Z axis coefficient of coup | 0.85% | 0.84% |
| Load Z is to the X-axis coefficient of coup | 1.0% | 0.73% |
| Load Z is to the Y-axis coefficient of coup | 0.5% | 0.35% |
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (8)
1. a kind of platform on-orbit calibration method, which is characterized in that comprise the following steps that
1) all load for carrying platform as a whole, seek whole mass center as load-transfer mechanism mass center, according to load etc.
Three-axis attitude, the three axis principal moments for imitating mass center determine the practical resultant moment normalization result being subject to of load-transfer mechanism matter center three-axle
τReal, norm；According to the translation displacements r of load-transfer mechanism mass centerp, determine that load-transfer mechanism matter center three-axle actual force normalizes result
FReal, norm；Three axis is the axis of rolling, pitch axis and the yaw axis of load-transfer mechanism mass center；
2) normalization of iterated revision active force is as a result, normalize result and resultant moment desired value τ according to resultant momentr=[τ1 τ2 τ3]
Find active force normalization result level off to 0 optimal solution, τ1, τ2, τ3The respectively axis of rolling of load-transfer mechanism mass center, pitch axis
With yaw axis torque desired value；
3) according to active force normalize result level off to 0 optimal solution and resultant moment normalization result determine actuator force coefficient,
Complete calibration.
2. a kind of scaling method according to claim 1, which is characterized in that described to normalize result and conjunction according to resultant moment
Torque desired value τr=[τ1 τ2 τ3] find active force normalization result level off to 0 optimal solution method, specifically:
21) result is normalized according to resultant moment and active force normalization result determines target function Jreal；
22) judge index function JrealWhether absolute value is less than critical value, if being less than critical value, target function JrealIn
Active force normalization result is determined as optimal solution；If being not less than critical value, enter step 23)；
23) normalization of iterated revision active force is as a result, repeat step 22) until obtaining the optimal solution of active force normalization result.
3. a kind of scaling method according to claim 2, which is characterized in that the target function JrealSpecifically:
Freal,norm(n)=[Frealx Frealy Frealz],
τreal,norm=[τrealx τrealy τrealz],
τr=[τ1 τ2 τ3],
Freal,norm(0)=FReal, norm,
Wherein, lower footnote realx, realy, realz are respectively indicated on the axis of rolling, pitch axis and yaw axis of load-transfer mechanism mass center
Component, τ1, τ2, τ3The respectively axis of rolling of load-transfer mechanism mass center, pitch axis and yaw axis torque desired value, n=0,1,
2,...。
4. a kind of scaling method according to claim 3, which is characterized in that the iterated revision active force normalizes result
Method, specifically:
Wherein, krealResult is normalized for active force and updates coefficient, and value range is (- 1,1), and t is the time.
5. a kind of scaling method according to claim 3, it is characterised in that:
The platform is six degree of freedom Gough-Stewart platform；
The step 3) determines actuator force coefficient α=[α1 … α6] method particularly includes:
Wherein, βijFor the element that the i-th row jth of β matrix arranges, β=(Jp T)-1, JpFor load-transfer mechanism mass center Jacobian matrix；When
βi,3+kWhen=0, αi=1, i=1,2 ..., 6, j=1,2 ..., 6, k=1,2,3.
6. -5 any a kind of scaling method according to claim 1, which is characterized in that the step 1) determines load-transfer mechanism
The practical resultant moment normalization result τ being subject to of matter center three-axleReal, normMethod, specifically:
τReal, norm=k2·θpnorm·Ipnorm,
Wherein, θp=[θpx,θpy,θpz] it is that load-transfer mechanism matter center three-axle couples attitude measurement value, Ipx,Ipy,IpzRespectively load etc.
Imitate the mass center axis of rolling, pitch axis and yaw axis principal moments measured value, k2For load-transfer mechanism mass center rotational stiffness coefficient, according to platform
The rigidity of actuator obtains.
7. according to a kind of any scaling method of claim 2-5, which is characterized in that the step 1) determines that active force is returned
One changes result FReal, normMethod, specifically:
FReal, norm=(k1·rpnorm) m,
Wherein, rpx,rpy,rpzTo be respectively the load-transfer mechanism mass center axis of rolling, pitch axis and the translation displacements design value of yaw axis,
rpx,rpy,rpzValue range be (- 0.1~0.1)；M is quality of loads, k1For the translation displacements of load-transfer mechanism matter center three-axle
Stiffness coefficient, according to the rigidity of platform actuator obtain.
8. a kind of scaling method according to claim 7, it is characterised in that: the critical value is less than 10-3。
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| CN111783271B (en) * | 2020-05-11 | 2023-08-29 | 北京控制工程研究所 | Nonlinear correction method for three-override control system of spacecraft |
| CN113779829A (en) * | 2021-08-30 | 2021-12-10 | 江苏大学 | Rapid temperature calculation method for fault-tolerant permanent magnet motor under turn-to-turn short circuit fault |
| CN113779829B (en) * | 2021-08-30 | 2024-03-19 | 江苏大学 | Rapid temperature calculation method of fault-tolerant permanent magnet motor under turn-to-turn short circuit fault |
| CN115675919A (en) * | 2022-10-31 | 2023-02-03 | 北京控制工程研究所 | On-orbit calibration method for satellite active pointing hyperstatic platform |
| CN115675919B (en) * | 2022-10-31 | 2024-05-31 | 北京控制工程研究所 | On-orbit calibration method for satellite active pointing ultra-static platform |
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