CN110712767B - Method for automatically reconstructing control moment gyro group in pentagonal pyramid configuration - Google Patents
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Abstract
The invention discloses an autonomous reconstruction method of a control moment gyro group in a pentagonal pyramid configuration, which comprises the following steps: in the control mode of the control moment gyro, when one control moment gyro (CMGi, i is 1,2, …,6) cuts off the system due to fault, the angular momentum of the control moment gyro returns to zero; and setting and processing the angular momentum calculation synthesized by the control moment gyro group, and setting and processing the control law of the control moment gyro to realize the reconstruction control of the control moment gyro group. The method adopts the method of autonomous reconstruction of the control moment gyro group, and sets and processes the angular momentum calculation synthesized by the control moment gyro group and the control law of the control moment gyro, thereby solving the problem of attitude control continuity caused by switching of the control moment gyro in the attitude control process of the control moment gyro and obtaining the beneficial effect of keeping stable control of the satellite attitude in the reconstruction process of the control moment gyro.
Description
Technical Field
The invention relates to the technical field of satellite attitude control, in particular to an autonomous reconstruction method of a pentagonal pyramid configuration control moment gyro group.
Background
When the control moment gyro group with the pentagonal pyramid structure is used as a main on-satellite attitude control executing mechanism, the control system not only needs to have a fault diagnosis function on the control moment gyro, but also needs to complete reconstruction of the control moment gyro group through on-satellite autonomous processing when judging that a certain control moment gyro has a fault, and on the premise that the executing capacity of the control moment gyro group is enough, the three-axis stable control of the satellite is realized. Therefore, the autonomous reconstruction of the control moment gyro group is an important measure for ensuring the stable control of the satellite attitude.
Disclosure of Invention
The invention aims to realize the autonomous reconfiguration control of a control moment gyro group and keep the stable attitude control of the three axes of the satellite on the premise that a certain control moment gyro has a fault or is not connected to the system to work and the execution capacity of the control moment gyro group is enough.
In order to achieve the above purpose, the present invention provides an autonomous reconstruction method for a control moment gyro group with a pentagonal pyramid configuration, which comprises the following steps:
s1: when a certain control moment gyro is in fault or does not work, returning the angular momentum of the control moment gyro to zero;
s2: calculating three-axis angular momentum synthesized by the control moment gyro group according to the configuration of the pentagonal pyramid control moment gyro group to obtain first angular momentum;
s3: setting the ith columns of the matrix to be 0 according to the serial number i of the control moment gyro which is in fault or does not work, and obtaining the reconstructed triaxial angular momentum according to the angular momentum calculation method of S2 to obtain a second angular momentum, wherein the reconstruction refers to reducing one control moment gyro;
s4: according to the second angular momentum, a final control law is obtained according to the sum of a robust pseudo-inverse control law and a zero motion control law;
s5: setting a reconstructed manipulation law coefficient value according to the number i of the control moment gyro with the fault or the non-work in the step S1;
s6: the control moment gyro group carries out autonomous reconstruction control.
Preferably, the return of the angular momentum of the control moment gyro to zero is realized by powering off the control moment gyro and/or returning the inner frame rotation speed of the control moment gyro to zero.
Preferably, the algorithm of the first angular amount in step S2 is:
H＝(A*Sδ+B*Cδ)*hcmg (1)
wherein H ═ Hx, Hy, Hz]And delta is the outer frame corner of the control moment gyroscope, namely delta is [ delta ]1，δ2，δ3，δ4，δ5，δ6]，hcmgTo control the momentAngular momentum of gyros, i.e. hcmg＝[h1，h2，h3，h4，h5，h6]，
Cbt＝cos(63.43/180*pi)；
Sbt＝sin(63.43/180*pi)；
Cq＝cos(72/180*pi)；
Sq＝sin(72/180*pi)；
Cw＝cos(54/180*pi)；
Sw＝sin(54/180*pi)；
Sδ＝Diag(sin(δ1) sin(δ2) sin(δ3) sin(δ4) sin(δ5) sin(δ6))
Cδ＝Diag(cos(δ1) cos(δ2) cos(δ3) cos(δ4) cos(δ5) cos(δ6))。
Preferably, the method for acquiring the second angular momentum includes:
when the ith control moment gyro switching-out system stops working, the ith column elements corresponding to the matrix A and the matrix B are set to be zero, the ith diagonal elements corresponding to the matrix S delta and the matrix C delta are set to be zero, the ith column elements corresponding to the matrix A, the matrix S delta and the matrix B, the matrix C delta and the matrix C delta are enabled to be zero, and then the first angular momentum is substituted into the algorithm to obtain the second angular momentum.
Preferably, the algorithm of the final manipulation law in step S4 is:
wherein,
controlling the rotating speed of the outer frame of the moment gyroscope;
the above-mentioned
The algorithm is as follows:
the above-mentioned
The algorithm is as follows:
wherein C ═ a ═ C δ -B ═ S δ;
singular degree metric D ═ det (CC)T)；
det (·) denotes determinant of the matrix in parentheses;
e is a 3 × 3 unit array,/represents a dot division of the vector;
tc is control moment;
r is a robust pseudo-inverse manipulation law coefficient;
Enis a 6 × 6 unit array;
k0＝[kback2ini kback2ini kback2ini kback2ini kback2ini kback2ini]
knullzero motion manipulation law coefficient;
k0a control moment gyroscope outer frame corner target coefficient diagonal matrix is obtained;
kback2inithe target coefficient of the outer frame corner of the control moment gyro is obtained.
Preferably, the step of controlling the moment gyro group to perform the autonomous reconfiguration control by the S6 includes the steps of:
step one, when the ith control moment gyro switching-out system stops working, setting the ith row elements corresponding to the matrix A and the matrix B as zero, and setting the ith diagonal elements corresponding to the matrix S delta and the matrix C delta as zero, so that the ith row elements of the matrix C are all zero, and further, the ith row elements of the matrix C are all zero, thereby ensuring that the ith row elements of the matrix C are all zero
The ith element is zero, namely the rotating speed of the robust pseudo-inverse manipulation law outer frame corresponding to the ith control moment gyro is zero;
step two, when the ith control moment gyro is in fault and/or is not connected to the system to work, the k0Element k in the matrixback2iniSet to zero;
step three, performing a first step of cleaning the substrate,
and the corresponding ith element is zero, and the rotating speed of the outer frame of the zero motion manipulation law of the ith control moment gyroscope is zero.
Preferably, after the control moment gyro group in step S6 is subjected to autonomous reconfiguration control, a resultant angular momentum of H ═ H (a × S δ + B × C δ) when the i-th control moment gyro fails and/or does not access the system for operation is obtainedcmg，
Wherein, the ith row element corresponding to A S delta + B C delta is zero;
and obtaining a synthetic angular momentum control law when the ith control moment gyro has faults and/or is not connected to the system to work as follows:
wherein, corresponding elements of ith column of the C matrix are all zero, k0Element k in the matrixback2iniThe setting is made to be zero and,
the corresponding ith element is zero.
The invention has the following beneficial effects:
the autonomous reconstruction method of the control moment gyro group with the pentagonal pyramid structure provided by the invention realizes autonomous reconstruction control of the control moment gyro group and keeps stable attitude control of the three axes of the satellite on the premise that a certain control moment gyro is in fault or is not connected to a system to work and the execution capacity of the control moment gyro group is enough. The method can be applied to the satellite control moment gyro group attitude control autonomous fault diagnosis and reconstruction system, and is flexible to control.
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Fig. 1 is a flowchart of an autonomous reconstruction method of a pentagonal pyramid configuration control moment gyro group according to the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an autonomous reconstruction method of a control moment gyro group in a pentagonal pyramid configuration, which can be applied to an attitude control autonomous fault diagnosis and reconstruction system of a satellite control moment gyro group.
The invention provides an autonomous reconstruction method of a pentagonal pyramid configuration control moment gyro group, which comprises the following steps:
s1: when a certain control moment gyro is in fault or does not work, returning the angular momentum of the control moment gyro to zero;
s2: calculating three-axis angular momentum synthesized by the control moment gyro group according to the configuration of the pentagonal pyramid control moment gyro group to obtain first angular momentum;
s3: setting the ith columns of the matrix to be 0 according to the serial number (i is a certain value between 1 and 6) of the control moment gyro which is in fault and/or does not work, and obtaining the three-axis angular momentum after reconstruction (one control moment gyro is reduced) according to the angular momentum calculation method of S2 to obtain a second angular momentum;
s4: according to the second angular momentum obtained by calculation of S3, a final manipulation law is obtained according to the sum of the robust pseudo-inverse manipulation law and the zero motion manipulation law;
s5: and setting the reconstructed manipulation law coefficient value according to the control moment gyro number i of the fault or the non-work in the S1.
S6: and the pentagonal pyramid configuration control moment gyro group carries out autonomous reconstruction control.
The autonomous reconstruction method of the pentagonal pyramid configuration control moment gyro group can realize the autonomous reconstruction of the pentagonal pyramid configuration control moment gyro group.
Further, when a certain control moment gyro is in fault or is not connected to the system to work, the return of the angular momentum of the control moment gyro to zero means that the angular momentum generated by the control moment gyro is zero by powering off the control moment gyro and/or enabling the rotating speed of the inner frame of the control moment gyro to return to zero.
Further, the algorithm of the first angular momentum in step S2 is:
H＝(A*Sδ+B*Cδ)*hcmg (1)
wherein H ═ Hx, Hy, Hz]Gyro with delta control momentOuter frame corner (delta ═ delta-1，δ2，δ3，δ4，δ5，δ6])，hcmgGyroscopic angular momentum h for controlling momentcmg＝[h1，h2，h3，h4，h5，h6]。
Cbt＝cos(63.43/180*pi)；
Sbt＝sin(63.43/180*pi)；
Cq＝cos(72/180*pi)；
Sq＝sin(72/180*pi)；
Cw＝cos(54/180*pi)；
Sw＝sin(54/180*pi)；
Sδ＝Diag(sin(δ1) sin(δ2) sin(δ3) sin(δ4) sin(δ5) sin(δ6))
Cδ＝Diag(cos(δ1) cos(δ2) cos(δ3) cos(δ4) cos(δ5) cos(δ6))。
H＝(A*Sδ+B*Cδ)*hcmg (1)
Further, the reconstructed triaxial angular momentum is set according to the serial number of the control moment gyro which is in fault or does not work, so as to obtain a second angular momentum, and the method for obtaining the second angular momentum comprises the following steps: when the ith control moment gyro switching-out system does not work, the ith column elements corresponding to the matrix A and the matrix B are set to be zero, the ith diagonal elements corresponding to the matrix S delta and the matrix C delta are set to be zero, so that the ith column elements corresponding to the matrix A, the matrix S delta and the matrix B, the matrix C delta and the matrix C delta are zero, and then the ith column elements are substituted into the algorithm of the first angular momentum, namely the formula (1) to obtain the second angular momentum. The method can avoid setting the angular momentum of the ith platform to be zero so as to facilitate the next step of control moment gyro group control law calculation and avoid zero-removing calculation.
Further, the algorithm of the final manipulation law in step S4 is:
wherein,
controlling the rotating speed of the outer frame of the moment gyroscope;
specifically, the
The algorithm is as follows:
the above-mentioned
The algorithm is as follows:
wherein C ═ a ═ C δ -B ═ S δ;
singular measurement D ═ det (CC)T)；
det (·) denotes determinant of the matrix in parentheses;
e is a 3 × 3 unit array,/represents a dot division of the vector;
tc is control moment;
r is a robust pseudo-inverse manipulation law coefficient;
Enis a 6 × 6 unit array;
k0＝[kback2ini kback2ini kback2ini kback2ini kback2ini kback2ini]
knullzero motion manipulation law coefficient;
k0a control moment gyroscope outer frame corner target coefficient diagonal matrix is obtained;
kback2inithe target coefficient of the outer frame corner of the control moment gyro is obtained.
Further, the step of controlling the moment gyro group to perform the autonomous reconfiguration control in S6 includes the steps of:
step one, when the ith control moment gyro switching-out system stops working, setting the ith row elements corresponding to the matrix A and the matrix B as zero, and setting the ith diagonal elements corresponding to the matrix S delta and the matrix C delta as zero, so that the ith row elements of the matrix C are all zero, and further, the ith row elements of the matrix C are all zero, thereby ensuring that the ith row elements of the matrix C are all zero
The ith element is zero, namely the rotating speed of the robust pseudo-inverse manipulation law outer frame corresponding to the ith control moment gyro is zero;
step two, when the ith control moment gyro is in fault or is not connected to the system to work, the k0Element k in the matrixback2iniSet to zero;
step three, performing a first step of cleaning the substrate,
the corresponding ith element is zero, and the zero motion control law of the ith control moment gyro is obtainedThe frame rotation speed is zero.
The angular momentum and the control law of the ith control moment gyro when the ith control moment gyro is not connected with the system to work can be obtained through the steps as follows:
synthetic angular momentum H ═ (A S delta + B C delta) HcmgWherein, the ith column element corresponding to A S delta + B C delta is zero;
wherein, corresponding elements of ith column of the C matrix are all zero, k0Element k in the matrixback2iniThe setting is made to be zero and,
the corresponding ith element is zero.
Furthermore, the control moment gyro manipulation law reconstruction method has no influence on the calculation of the outer frame rotating speed instructions of the other control moment gyros except the ith control moment gyro.
In conclusion, the autonomous reconstruction method of the pentagonal pyramid configuration control moment gyro group provided by the invention is flexible in control, can be applied to an attitude control autonomous fault diagnosis and reconstruction system of a satellite control moment gyro group, and can autonomously realize reconstruction control and keep stable attitude control of the three axes of a satellite on the premise that a certain control moment gyro has a fault or is not connected to the system to work and the execution capacity of the control moment gyro group is sufficient.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (6)
1. An autonomous reconstruction method of a pentagonal pyramid configuration control moment gyro group is characterized by comprising the following steps of:
s1: when a certain control moment gyro is in fault or does not work, returning the angular momentum of the control moment gyro to zero;
s2: calculating three-axis angular momentum synthesized by the control moment gyro group according to the control moment gyro group with the pentagonal pyramid configuration to obtain first angular momentum; the algorithm of the first angular momentum is as follows:
H＝(A*Sδ+B*Cδ)*hcmg (1)
wherein H ═ Hx, Hy, Hz]And delta is the outer frame corner of the control moment gyroscope, namely delta is [ delta ]1，δ2，δ3，δ4，δ5，δ6]，hcmgFor controlling moment gyro angular momentum, i.e. hcmg＝[h1，h2，h3，h4，h5，h6]，
Cbt＝cos(63.43/180*pi)；
Sbt＝sin(63.43/180*pi)；
Cq＝cos(72/180*pi)；
Sq＝sin(72/180*pi)；
Cw＝cos(54/180*pi)；
Sw＝sin(54/180*pi)；
Sδ＝Diag(sin(δ1) sin(δ2) sin(δ3) sin(δ4) sin(δ5) sin(δ6))
Cδ＝Diag(cos(δ1) cos(δ2) cos(δ3) cos(δ4) cos(δ5) cos(δ6))
S3: setting the ith columns of the matrix to be 0 according to the serial number i of the control moment gyro which is in fault or does not work, and obtaining the reconstructed triaxial angular momentum according to the angular momentum calculation method of S2 to obtain a second angular momentum, wherein the reconstruction refers to reducing one control moment gyro;
s4: according to the second angular momentum, a final control law is obtained according to the sum of a robust pseudo-inverse control law and a zero motion control law;
s5: setting a reconstructed manipulation law coefficient value according to the number i of the control moment gyro with the fault or the non-work in the step S1;
s6: the control moment gyro group carries out autonomous reconstruction control.
2. The method for autonomously reconstructing a group of control moment gyros in a pentagonal pyramid configuration as claimed in claim 1, wherein the return of the angular momentum of the control moment gyro to zero is achieved by powering off the control moment gyro and/or by returning the inner frame rotation speed of the control moment gyro to zero.
3. The method for autonomously reconstructing a control moment gyro group in a pentagonal pyramid configuration as claimed in claim 1, wherein the method for acquiring the second angular momentum comprises:
when the ith control moment gyro switching-out system stops working, the ith column elements corresponding to the matrix A and the matrix B are set to be zero, the ith diagonal elements corresponding to the matrix S delta and the matrix C delta are set to be zero, the ith column elements corresponding to the matrix A, the matrix S delta and the matrix B, the matrix C delta and the matrix C delta are enabled to be zero, and then the first angular momentum is substituted into the algorithm to obtain the second angular momentum.
4. The method for autonomously reconstructing a control moment gyro group in a pentagonal pyramid configuration as claimed in claim 3, wherein the algorithm of the final steering law in the step S4 is as follows:
wherein,
controlling the rotating speed of the outer frame of the moment gyroscope;
the above-mentioned
The algorithm is as follows:
the above-mentioned
The algorithm is as follows:
wherein C ═ a ═ C δ -B ═ S δ;
singular degree metric D ═ det (CC)T)；
det (·) denotes determinant of the matrix in parentheses;
e is a 3 × 3 unit array,/represents a dot division of the vector;
tc is control moment;
r is a robust pseudo-inverse manipulation law coefficient;
Enis a 6 × 6 unit array;
k0＝[kback2ini kback2ini kback2ini kback2ini kback2ini kback2ini]
knullzero motion manipulation law coefficient;
k0a control moment gyroscope outer frame corner target coefficient diagonal matrix is obtained;
kback2inia target coefficient of the outer frame corner of the control moment gyro is obtained;
δ0the initial outer frame corner of the moment gyro.
5. The method for autonomously reconstructing a control moment gyro cluster in a pentagonal pyramid configuration as claimed in claim 4, wherein the step of performing autonomous reconstruction control on the control moment gyro cluster by S6 comprises the steps of:
step one, when the ith control moment gyro switching-out system stops working, setting the ith row elements corresponding to the matrix A and the matrix B as zero, and setting the ith diagonal elements corresponding to the matrix S delta and the matrix C delta as zero, so that the ith row elements of the matrix C are all zero, and further, the ith row elements of the matrix C are all zero, thereby ensuring that the ith row elements of the matrix C are all zero
The ith element is zero, namely the rotating speed of the robust pseudo-inverse manipulation law outer frame corresponding to the ith control moment gyro is zero;
step two, when the ith control moment gyro is in fault and/or is not connected to the system to work, the k0Element k in the matrixback2iniSet to zero;
step three, performing a first step of cleaning the substrate,
and the corresponding ith element is zero, and the rotating speed of the outer frame of the zero motion manipulation law of the ith control moment gyroscope is zero.
6. The method for autonomously reconstructing a control moment gyro cluster in a pentagonal pyramid configuration as claimed in claim 5, wherein after the control moment gyro cluster in step S6 is autonomously reconstructed and controlled, a resultant angular momentum H ═ H (a × S δ + B × C δ) when the ith control moment gyro is failed and/or the system is not connected to operate is obtainedcmgWherein, the ith column element corresponding to A S delta + B C delta is zero;
and obtaining the control law when the ith control moment gyro has faults and/or is not connected with the system to work as follows:
wherein, corresponding elements of ith column of the C matrix are all zero, k0Element k in the matrixback2iniThe setting is made to be zero and,
the corresponding ith element is zero.
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