CN110389592B - Spacecraft attitude control method based on distributed intelligent flywheel - Google Patents
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Abstract
The invention discloses a spacecraft attitude control method based on a distributed intelligent flywheel. The invention constructs a distributed attitude control system by a plurality of intelligent flywheels through wireless networking, and provides a distributed control method according to the characteristics of the system, and the strategy comprises the steps of fault self-checking, determining the working intelligent flywheel combination, receiving sensor system broadcast attitude information, time delay state synchronization, independent calculation control output and the like, thereby realizing the distributed cooperative calculation of the spacecraft attitude control system, being beneficial to the modularized assembly of a spacecraft platform, and having great significance for the rapid assembly test of the spacecraft and the plug and play of satellite-borne components.
Description
Technical Field
The invention relates to the technical field of spacecraft attitude control, in particular to a spacecraft attitude control method based on a distributed intelligent flywheel.
Background
In recent years, with the continuous development of aerospace technology, the design and manufacture of spacecrafts tend to be more and more miniaturized in mass and volume, and for micro-nano satellites using traditional interfaces and cables for information transmission between subsystems and parts, the weight of the interfaces and the cables can account for 8 to 10 percent of the weight of the whole satellite; meanwhile, as the satellite test adopts a serial test mode, when a certain new component is accessed into the satellite system and needs to be subjected to function test, the power-off processing needs to be carried out on the new component, so that the test work of other equipment is influenced, and the rapid assembly and production of the micro-nano satellite are not facilitated. Therefore, the weight of the whole satellite of the satellite can be greatly reduced, the development period is shortened, and the launching and development cost is reduced by adopting the cableless design of the satellite-borne component. For example, the Holland Delft university develops a Delfi-C3 satellite, the in-satellite wireless communication technology is realized for the first time, and the carried sun sensor communicates with other components in a wireless broadcast mode.
The attitude control system is one of the most important subsystems in the whole spacecraft subsystem composition, whether the on-orbit task of the spacecraft can be normally implemented depends on the attitude control precision of the spacecraft to a great extent, and the traditional attitude control method is that a sensor sends spacecraft attitude information to an on-board computer, and the on-board computer intensively calculates a control instruction and sends the control instruction to each execution mechanism. The spacecraft attitude control system adopting the distributed intelligent flywheel has the capability of automatically resolving control instructions, and can independently resolve control output only by receiving spacecraft attitude information and task instructions transmitted by a wireless network. The attitude information is transmitted by adopting a wireless network, so that the control precision is influenced by the problems of network delay and the like which are inevitable; and each intelligent flywheel is independent, and how to coordinate to complete the task instruction is also a critical problem to be considered.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the technical problems, the invention provides a spacecraft attitude control method based on a distributed intelligent flywheel, which is characterized in that a control flow is described in detail by building a distributed intelligent flywheel attitude control system, a specific process for realizing spacecraft attitude control by the distributed intelligent flywheel is provided, a scheme for reducing the influence of a wireless network on the control system is provided, and the method has great significance for plug and play of spacecraft satellite-borne components and large-scale manufacture, rapid test and launching of future spacecraft.
The technical scheme is as follows: in order to realize the purpose, the invention adopts the following technical scheme:
a spacecraft attitude control method based on a distributed intelligent flywheel aims at spacecraft attitude control of installing the distributed intelligent flywheel, and attitude control resolving is independently completed by each intelligent flywheel system; each intelligent flywheel receives a spacecraft attitude with a timestamp and attitude angular velocity information through a wireless network in each control period, records the receiving time and stores the receiving time into a memory, and performs network transmission delay state synchronous estimation on the attitude information; and each intelligent flywheel performs distributed decoupling control to complete the attitude control task of the spacecraft.
The method specifically comprises the following steps of assuming that at most one group of intelligent flywheels has faults:
(1) starting a single attitude control cycle, self-checking the fault of each intelligent flywheel, and determining a working intelligent flywheel combination;
(2) synchronously estimating the time delay state of the spacecraft, wherein the intelligent flywheel processor module determines an attitude information estimation value of the synchronous moment in the period according to the received attitude information and the historical estimation value of the previous N periods;
(3) and the X-axis, Y-axis, Z-axis and oblique-axis intelligent flywheel controller subsystems independently resolve decoupling control output to drive the flywheel to output control torque, and the control cycle is finished.
Further, the step (1) comprises the following steps:
(11) starting a single attitude control cycle, and starting fault self-checking of each intelligent flywheel;
(12) judging whether each intelligent flywheel system has no fault or not, and the specific process is as follows: each intelligent flywheel processor module periodically collects the operation data of each intelligent flywheel, diagnoses the data state, judges whether the data is abnormal according to a fault database and an expert system, judges that the intelligent flywheel has faults if an error state is continuously diagnosed by a certain intelligent flywheel in the period, and enters a step (13) if no faults exist, and enters a step (14) if faults exist;
(13) selecting intelligent flywheel combinations installed on X, Y and Z axes as working flywheel combinations, and entering the step (2);
(14) judging whether the inclined intelligent flywheel system has a fault, if so, returning to the step (13), otherwise, entering the step (15);
(15) the combination of the oblique intelligent flywheel system and the two normal working intelligent flywheel systems is selected as a working flywheel combination.
Further, the step (2) comprises the following steps:
(21) each normally working intelligent flywheel system receives attitude information with a timestamp and a task instruction broadcasted by a sensor and records the receiving moment;
(22) storing the attitude measurement values in a storage module in each intelligent flywheel system in a partitioning manner;
(23) the synchronous estimation function of the time delay state of each intelligent flywheel processor module is based on the received attitude information y (n +1) and the historical estimation value of the previous n periods
Determining an attitude information estimation value of a synchronous moment in the period;
(24) and (4) storing the spacecraft attitude information estimated value obtained in the step (23) in a storage module attitude estimated value partition mode in each intelligent flywheel system.
Further, the step (3) of resolving the X-axis control torque comprises the following steps:
(31) judging whether the X-axis intelligent flywheel is a failed intelligent flywheel system, if so, ending the work of the controller, not outputting a control command, and if not, entering the step (32);
(32) an X-axis intelligent flywheel controller reads a latest attitude information estimation value and a task instruction in a memory;
(33) judging whether the obliquely-installed intelligent flywheel works, if so, entering a step (34), and if not, entering a step (36);
(34) the oblique intelligent flywheel controller calculates the output torque of the mounting shaft of the failed intelligent flywheel; the mounting structure matrix C of the three-orthogonal one-oblique intelligent flywheel set is expressed as follows:
the torque distribution matrix is then expressed as the pseudo-inverse of the mounting structure matrix D ═ CT(CCT)-1Commanding T three-axis torque by distribution matrixc＝[Tcx,Tcy,Tcz]TDistributing each intelligent flywheel moment instruction T for intelligent flywheel setw＝[Tw1,Tw2,Tw3,Tw4]TI.e. is Tw＝DTcWhen one intelligent flywheel has a fault, the output torque of the other intelligent flywheels is expressed as Hc＝CTwIf the X-axis intelligent flywheel fails and the obliquely-installed intelligent flywheel works instead, the structural matrix C is installed1And an allocation matrix D1Expressed as:
calculating to obtain an output torque instruction of the obliquely-mounted intelligent flywheel;
(35) calculating the coupling term of the oblique intelligent flywheel on the X axis by the X axis intelligent flywheel, and assuming the output torque instruction T of the X axis intelligent flywheel according to the calculation method of the output torque instruction of the oblique intelligent flywheel in the step (34)cWhen the value is 0, the method is used for obtaining the output torque coupling term of the oblique flywheel on the X axis;
(36) x-axis intelligent flywheel calculates X-axis attitude and attitude angular velocity error and attitude error
Wherein
In order to command the attitude angle for the task,
the attitude angle estimated value read in the step (32);
(37) judging whether the X axis and the Y axis are coupled, if so, entering a step (39), and if not, entering a step (38);
judging the coupling condition according to the following spacecraft attitude dynamics equation:
wherein I is expressed as the rotational inertia of the spacecraft,
theta and psi are the roll angle, pitch angle and yaw angle of the star respectively, omegax、Ωy、ΩzThe angular velocity of each axis flywheel relative to the star body, n is the satellite orbit angular velocity, LeIs an external moment, LcIs the control moment of the motor on the flywheel rotating shaft.
(38) Determining whether there is coupling between the X axis and the Z axis, if so, entering step (310), and if not, entering step (311);
(39) calculating the error between the Y-axis attitude and the attitude angular velocity, and entering the step (312);
(310) calculating the error between the Z-axis attitude and the attitude angular velocity, and entering a step (311);
(311) the coupling term is eliminated through weighting operation, the coupling of the obliquely-mounted intelligent flywheel is eliminated, and control output is obtained through control algorithm operation;
(312) and judging whether the intelligent flywheel is saturated, if so, issuing an unloading request, and if not, ending the calculation work of the period controller.
Has the advantages that: compared with the prior art, each intelligent flywheel receives attitude information and task instructions through a wireless network, has independent computing capacity, and realizes the attitude control function of the spacecraft through distributed control and calculation of each intelligent flywheel. The distributed control method does not need a satellite-borne computer to centrally calculate a control instruction, and does not need cables to connect all distributed systems, so that the weight of the whole satellite can be greatly reduced. The sensor system broadcasts and releases spacecraft attitude information with timestamps through the wireless communication module; the intelligent flywheel receives the attitude information and the task instruction in real time, independently resolves the decoupling control instruction, and drives the flywheel to output torque to realize attitude control. The invention has great significance for large-scale manufacture, rapid test and launching of the spacecraft in the future.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a flow chart of the X-axis direction control moment calculation work of the present invention;
FIG. 3 is a flow chart of the Y-axis direction control moment calculation work of the present invention;
FIG. 4 is a Z-axis direction control torque calculation workflow diagram of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
The distributed intelligent flywheel system comprises three groups of orthogonally-installed intelligent flywheels and a group of obliquely-installed intelligent flywheels, wherein each intelligent flywheel comprises a motor, a flywheel module, a processor module, a memory module and a wireless transmission module, and the intelligent flywheels have the capability of independently resolving and controlling output.
The invention discloses a spacecraft attitude control method based on distributed intelligent flywheels, which is characterized in that three groups of orthogonally-installed intelligent flywheels and a group of obliquely-installed redundant intelligent flywheels form an attitude control executing mechanism. The fault self-checking function is as follows: and each intelligent flywheel is subjected to fault self-checking by the processor module when each control period begins, whether the intelligent flywheel works normally is judged, different intelligent flywheel combinations are selected for attitude control according to the fault condition of the intelligent flywheel, and only at most one intelligent flywheel can be subjected to fault in the same control period. The wireless network module has the following functions of receiving the sensor system broadcast attitude information: and each intelligent flywheel receives a piece of spacecraft attitude and attitude angular velocity information with a timestamp from the attitude sensor system through a wireless network in each period, records the receiving time and stores the receiving time in a memory module. The time delay state synchronous estimation function is as follows: because the measurement period of the attitude sensor is less than the control period, the time corresponding to the received attitude information of each intelligent flywheel is not completely consistent due to network delay and the like, and the time delay state synchronous estimation function determines the attitude information estimation value of the synchronous time in the period according to the received attitude information and the historical estimation value of the previous N periods. The independent resolving decoupling control output function is as follows: and each intelligent flywheel processor module (control computer) independently solves the control output of the intelligent flywheel according to a control algorithm obtained by decoupling, and a satellite-borne computer is not required to participate in control solution.
As shown in fig. 1, the spacecraft attitude control method based on the distributed intelligent flywheel of the present invention includes the following steps:
firstly, the method only considers the condition that at most only one intelligent flywheel has faults in the same control period.
(1) Starting a single attitude control cycle, and starting fault self-checking of each intelligent flywheel;
(2) judging whether each intelligent flywheel system has no fault, specifically, collecting operation data (such as communication data, flywheel rotating speed data, motor power-on signals and the like) of each intelligent flywheel periodically by each intelligent flywheel processor module, diagnosing a data state, judging whether the data is abnormal according to a fault database and an expert system, if an error state is continuously diagnosed by an intelligent flywheel in a period, judging that the intelligent flywheel has a fault, if the intelligent flywheel has no fault, entering the step (3), and if the intelligent flywheel has the fault, entering the step (4);
(3) selecting intelligent flywheel combinations installed on X, Y and Z axes as working flywheel combinations, and entering the step (6);
(4) judging whether the obliquely installed intelligent flywheel system has a fault, if so, returning to the step (3), and if not, entering the step (5);
(5) selecting a combination of an obliquely-installed intelligent flywheel system and two normal-working intelligent flywheel systems as a working flywheel combination;
(6) each normally working intelligent flywheel system receives attitude information with a timestamp and a task instruction broadcasted by a sensor and records the receiving moment;
(7) storing the attitude measurement values in a storage module in each intelligent flywheel system in a partitioning manner;
(8) the synchronous estimation function of the time delay state of each intelligent flywheel processor module is based on the received attitude information y (n +1) and the historical estimation value of the previous n periods
Determining an attitude information estimation value of the synchronous moment in the period, wherein a state estimation algorithm is not unique;
(9) the attitude estimation value of the memory module in each intelligent flywheel system is stored in a partition mode, and the attitude information estimation value of the spacecraft obtained in the step (8) is stored;
(10) and the X, Y, Z and oblique-axis intelligent flywheel controller independently resolves the decoupling control output to drive the flywheel to output a control torque, and the control cycle is finished.
As shown in fig. 2, 3 and 4, the specific working steps of each shaft intelligent flywheel independent calculation decoupling control output are as follows (taking X-axis control torque calculation as an example):
(1) if the X-axis intelligent flywheel is a failed intelligent flywheel system, ending the work of the X-axis intelligent flywheel attitude controller, and not outputting a control instruction, otherwise, entering the step (2);
(2) an X-axis intelligent flywheel controller reads a latest attitude information estimation value and a task instruction in a memory;
(3) judging whether the obliquely-installed intelligent flywheel works, if so, entering a step (4), and if not, entering a step (6);
(4) the oblique intelligent flywheel controller calculates the output torque of the mounting shaft of the failed intelligent flywheel, and the mounting structure matrix C of the three-orthogonal one-oblique intelligent flywheel set can be expressed as follows:
the torque distribution matrix can then be expressed as the pseudo-inverse of the mounting structure matrix D ═ CT(CCT)-1Can be distributed by a distribution matrixWill three-axis moment order Tc＝[Tcx,Tcy,Tcz]TDistributing each intelligent flywheel moment instruction T for intelligent flywheel setw＝[Tw1,Tw2,Tw3,Tw4]TI.e. is Tw＝DTcWhen one intelligent flywheel has a fault, the output torque of the other intelligent flywheels is expressed as Hc＝CTwIf the X-axis intelligent flywheel fails and the obliquely-installed intelligent flywheel works instead, the structural matrix C is installed1And an allocation matrix D1Can be expressed as:
calculating to obtain an output torque instruction of the obliquely-mounted intelligent flywheel;
(5) calculating the coupling term of the obliquely-installed intelligent flywheel on the X axis by the X-axis intelligent flywheel, and assuming that the X-axis intelligent flywheel outputs a torque instruction T according to the calculation method of the output torque instruction of the obliquely-installed intelligent flywheel in the step (4)cWhen the value is 0, the method can obtain the output torque coupling term of the oblique flywheel on the X axis;
(6) x-axis intelligent flywheel calculates X-axis attitude and attitude angular velocity error and attitude error
Wherein
In order to command the attitude angle for the task,
and (3) the attitude angle estimated value read in the step (2).
(7) Judging whether the X axis and the Y axis are coupled, if so, entering a step (9), if not, entering a step (8), and according to a spacecraft attitude dynamics equation:
wherein I is expressed as the rotational inertia of the spacecraft,
theta and psi are the roll angle, pitch angle and yaw angle of the star respectively, omegax、Ωy、ΩzThe angular velocity of each axis flywheel relative to the star body, n is the satellite orbit angular velocity, LeIs an external moment, LcIs the control moment of the motor on the flywheel rotating shaft.
According to the formula (3), the dynamic equation of the pitching channel is decoupled from the other two channels, the dynamic equations of the yawing channel and the rolling channel are coupled, and the three-channel control torque is calculated and output by the three-orthogonal intelligent flywheel mounting shaft respectively, so that the coupling condition can be judged according to the dynamic equation.
(8) Judging whether the X axis and the Z axis are coupled or not, wherein the judging method is the same as that in the step (7), if so, entering the step (10), and if not, entering the step (11);
(9) calculating the error between the Y-axis attitude and the attitude angular speed, wherein the calculation method is the same as the method in the step (6), and entering the step (12);
(10) calculating the error between the Z-axis attitude and the attitude angular speed in the same way as the method in the step (6), and entering the step (11);
(11) the method comprises the following steps of (1) eliminating a coupling term through weighting operation, considering elimination of inclined intelligent flywheel coupling, and obtaining control output (namely a control torque instruction) through a control algorithm, wherein the control algorithm is based on a distributed attitude control algorithm which is not unique;
(12) and judging whether the intelligent flywheel is saturated or not (when the angular speed of the intelligent reaction flywheel is greater than the maximum angular speed of a driving motor of the intelligent reaction flywheel, judging that the intelligent reaction flywheel is saturated), if so, issuing an unloading request, and if not, finishing the calculation work of the period controller.
Claims (3)
1. A spacecraft attitude control method based on a distributed intelligent flywheel is characterized in that the attitude control method aims at spacecraft attitude control of installing the distributed intelligent flywheel, and attitude control resolving is independently completed by each intelligent flywheel system; each intelligent flywheel receives a spacecraft attitude with a timestamp and attitude angular velocity information through a wireless network in each control period, records the receiving time and stores the receiving time into a memory, and performs network transmission delay state synchronous estimation on the attitude information; each intelligent flywheel performs distributed decoupling control to complete the attitude control task of the spacecraft;
assuming that only one group of intelligent flywheels has faults at most, the method specifically comprises the following steps:
(1) starting a single attitude control cycle, self-checking the fault of each intelligent flywheel, and determining a working intelligent flywheel combination;
(2) synchronously estimating the time delay state of the spacecraft, wherein the intelligent flywheel processor module determines an attitude information estimation value of the synchronous moment in the period according to the received attitude information and the historical estimation value of the previous N periods;
(3) the X-axis, Y-axis, Z-axis and oblique-axis intelligent flywheel controller subsystems independently resolve decoupling control output and drive the flywheel to output control torque, and the control cycle is finished;
the X-axis control torque calculation comprises the following steps:
(31) judging whether the X-axis intelligent flywheel is a failed intelligent flywheel system, if so, ending the work of the controller, not outputting a control command, and if not, entering the step (32);
(32) an X-axis intelligent flywheel controller reads a latest attitude information estimation value and a task instruction in a memory;
(33) judging whether the obliquely-installed intelligent flywheel works, if so, entering a step (34), and if not, entering a step (36);
(34) the oblique intelligent flywheel controller calculates the output torque of the mounting shaft of the failed intelligent flywheel; the mounting structure matrix C of the three-orthogonal one-oblique intelligent flywheel set is expressed as follows:
the torque distribution matrix is then expressed as the pseudo-inverse of the mounting structure matrix D ═ CT(CCT)-1Commanding T three-axis torque by distribution matrixc＝[Tcx,Tcy,Tcz]TDistributing each intelligent flywheel moment instruction T for intelligent flywheel setw＝[Tw1,Tw2,Tw3,Tw4]TI.e. is Tw＝DTcWhen one intelligent flywheel has a fault, the output torque of the other intelligent flywheels is expressed as Hc＝CTwIf the X-axis intelligent flywheel fails and the obliquely-installed intelligent flywheel works instead, the structural matrix C is installed1And an allocation matrix D1Expressed as:
calculating to obtain an output torque instruction of the obliquely-mounted intelligent flywheel;
(35) calculating the coupling term of the oblique intelligent flywheel on the X axis by the X axis intelligent flywheel, and assuming the output torque instruction T of the X axis intelligent flywheel according to the calculation method of the output torque instruction of the oblique intelligent flywheel in the step (34)cWhen the value is 0, the method is used for obtaining the output torque coupling term of the oblique flywheel on the X axis;
(36) x-axis intelligent flywheel calculates X-axis attitude and attitude angular velocity error and attitude error
Wherein
In order to command the attitude angle for the task,
the attitude angle estimated value read in the step (32);
(37) judging whether the X axis and the Y axis are coupled, if so, entering a step (39), and if not, entering a step (38);
judging the coupling condition according to the following spacecraft attitude dynamics equation:
wherein I is expressed as the rotational inertia of the spacecraft,
theta and psi are the roll angle, pitch angle and yaw angle of the star respectively, omegax、Ωy、ΩzThe angular velocity of each axis flywheel relative to the star body, n is the satellite orbit angular velocity, LeIs an external moment, LcThe control moment of a motor on a flywheel rotating shaft;
(38) determining whether there is coupling between the X axis and the Z axis, if so, entering step (310), and if not, entering step (311);
(39) calculating the error between the Y-axis attitude and the attitude angular velocity, and entering the step (312);
(310) calculating the error between the Z-axis attitude and the attitude angular velocity, and entering a step (311);
(311) the coupling term is eliminated through weighting operation, the coupling of the obliquely-mounted intelligent flywheel is eliminated, and control output is obtained through control algorithm operation;
(312) and judging whether the intelligent flywheel is saturated, if so, issuing an unloading request, and if not, ending the calculation work of the period controller.
2. The spacecraft attitude control method based on the distributed intelligent flywheel according to claim 1, wherein the step (1) comprises the following steps:
(11) starting a single attitude control cycle, and starting fault self-checking of each intelligent flywheel;
(12) judging whether each intelligent flywheel system has no fault or not, and the specific process is as follows: each intelligent flywheel processor module periodically collects the operation data of each intelligent flywheel, diagnoses the data state, judges whether the data is abnormal according to a fault database and an expert system, judges that the intelligent flywheel has faults if an error state is continuously diagnosed by a certain intelligent flywheel in the period, and enters a step (13) if no faults exist, and enters a step (14) if faults exist;
(13) selecting intelligent flywheel combinations installed on X, Y and Z axes as working flywheel combinations, and entering the step (2);
(14) judging whether the inclined intelligent flywheel system has a fault, if so, returning to the step (13), otherwise, entering the step (15);
(15) the combination of the oblique intelligent flywheel system and the two normal working intelligent flywheel systems is selected as a working flywheel combination.
3. The spacecraft attitude control method based on the distributed intelligent flywheel according to claim 1, wherein the step (2) comprises the following steps:
(21) each normally working intelligent flywheel system receives attitude information with a timestamp and a task instruction broadcasted by a sensor and records the receiving moment;
(22) storing the attitude measurement values in a storage module in each intelligent flywheel system in a partitioning manner;
(23) the synchronous estimation function of the time delay state of each intelligent flywheel processor module is based on the received attitude information y (n +1) and the historical estimation value of the previous n periods
Determining an attitude information estimation value of a synchronous moment in the period;
(24) and (4) storing the spacecraft attitude information estimated value obtained in the step (23) in a storage module attitude estimated value partition mode in each intelligent flywheel system.
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