CN112577669B - Split type satellite in-orbit two-cabin mass center identification method and system - Google Patents
Split type satellite in-orbit two-cabin mass center identification method and system Download PDFInfo
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Abstract
The invention provides a method and a system for identifying the mass center of a split satellite in two on-orbit cabins, which are used for identifying the mass center position of the two cabins of the separated satellite, wherein the system comprises the following components: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins to move; the control system of the split satellite is kept open-loop and uncontrolled, the information of the three-axis angular velocity of the split satellite in two in-orbit compartments is acquired, an angular velocity curve is fitted, and the three-axis angular acceleration is obtained; calculating to obtain a control moment acting on the mass center of the two cabins by combining the rotational inertia characteristics of the two cabins; and (4) calculating to obtain the position of the three-axis mass center of the two cabins by combining the mounting position of the magnetic suspension actuator. The invention can realize the accurate measurement of the mass center of the two cabins, provides a reference method and a calculation model for the subsequent split type satellite models, and overcomes the technical problem that the accurate identification is difficult due to the influence of gravity and an expansion part on the ground.
Description
Technical Field
The invention relates to a load control technology of a load cabin of a satellite platform with ultrahigh pointing accuracy and ultrahigh stability (double-super), in particular to a method and a system for identifying the mass center of two in-orbit cabins of a split satellite.
Background
The requirements of advanced spacecrafts on attitude pointing accuracy and stability in the future are two orders of magnitude higher than those of the advanced spacecrafts at present. The traditional design of fixedly connecting a load and a platform is adopted, the dynamic characteristics of the two are deeply coupled, so that the load double super indexes are difficult to realize, and although certain effects are achieved by adopting methods such as active and passive micro vibration suppression and the like, the double super indexes are difficult to realize due to the defect of the limited fixedly connected design.
The 'double-super' satellite platform breaks through the traditional fixed connection design, realizes the separation of a load (cabin) only provided with a quiet component and a platform (cabin) provided with a movable component by adopting a non-contact, high-precision and non-delay displacement sensor, and thoroughly eliminates the micro-vibration influence. The traditional control logic mainly based on a satellite platform is changed, and a brand new method of ' load cabin driving, platform cabin driven ' and two-cabin relative position cooperative decoupling control ' is adopted for the first time, so that the double super-precision of the load cabin can be realized.
The accurate identification of the mass center positions of the two cabins is the premise for realizing the high-precision attitude control of the load cabin. The ground is limited by the influence of gravity and unfolding components and is difficult to accurately identify, so that accurate two-cabin mass center position information needs to be acquired by an on-orbit calibration method.
In the document [1] [2] [3] [4], a method for identifying the quality characteristics of the on-orbit spacecraft based on different algorithms is proposed, but all research objects of the method are all integrated satellites, and the method is not related to and is not suitable for identifying the quality characteristics of the split satellites in a separated state.
[1]Bergmann EV,Walker BK,Levy D R.Mass property estimation for control of asymmetrical satellites[J].Journal of Guidance,Control and Dynamics,1987,10(2):483-492.
[2]Bergmann E V,Dzielski J.Spacecraft mass property identification with torque-generating control[J].Journal of Guidance,Control,and Dynamics,1990,13(2):99-103.
[3]Wilson E,Lages C,Mah R.On-line,gyro-based,mass-propertyidentification for thruster-controlled spacecraft using recursive leastsquares[C]//Proceedings of the 45thMidwest Symposium on Circuits and Systems.Moffett Field,California,Ames Research Center，Aug.4-7,2002
[4]Tanygin S,WilliamsT.Mass property estimation using coasting maneuvers[J].Journal of Guidance,Control,and Dynamics,1997,20(4):625-632
Disclosure of Invention
Aiming at the requirement of high-precision attitude control of a load cabin of a two-cabin non-contact type 'double-super' satellite platform, the invention aims to provide a method and a system for identifying the mass center of a split satellite in two cabins in an orbit.
According to one aspect of the invention, an in-orbit two-cabin centroid identification method for a split type satellite is provided, which comprises the following steps:
a driving step: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins to move;
a platform cabin acquisition step: the control system of the split satellite is kept open-loop and uncontrolled, the information of the three-axis angular velocity of the split satellite in two in-orbit compartments is collected, an angular velocity curve is fitted, and the three-axis angular acceleration is obtained;
and a control moment calculating step: according to the three-axis angular acceleration obtained in the acquisition step, and by combining the rotational inertia characteristics of the two cabins, resolving to obtain a control moment acting on the mass center of the two cabins;
three-axis centroid position resolving step: and resolving to obtain the position of the three-axis mass center of the two cabins according to the control moment acting on the mass center of the two cabins obtained in the step of controlling moment settlement and the installation position of the magnetic suspension actuator.
Preferably, the driving step adopts the step of configuring a plurality of magnetic suspension actuators between two on-orbit compartments of the split satellite for completing the three-axis attitude control of the load compartment and the relative centroid position control between the two compartments, one of the actuators is taken out to output two-dimensional magnetic control force, and the magnetic control force acting on the platform compartment is F cfb The magnetic control force acting on the load compartment is F cfp ，F cfb And F cfp The derivation formulas are respectively:
wherein F bx Acting on the platform in the X-direction, F bz Acting on the platform cabin in the Z-direction, F px Acting on the load compartment in the X-direction, F pz In order to act on the load compartment to apply force along the Z direction, the following formula relationship can be known according to Newton's third law:
magnetic levitation motionThe position vector of the component force action point of the coil part of the device in the mechanical coordinate system of the platform cabin is P cfb The position vector of partial force action points of the magnetic steel in a mechanical coordinate system of the load cabin is P cfp The position vector of the platform cabin mass center in the platform cabin mechanical coordinate system is M b The position vector of the mass center of the load cabin in the mechanical coordinate system of the load cabin is M p Then, the moment of action around the center of mass of the two compartments is as follows:
preferably, the method further comprises the following acquisition steps: by setting the angular velocities of the two chambers to be omega respectively b And ω p Setting the two-cabin rotational inertia matrix as J b And J p Then the angular acceleration of the two cabins can be obtained
And
for (subscript b represents platform deck, subscript p represents load deck):
angular velocity information is acquired sensitively through the gyros configured in the two cabins, and angular acceleration is acquired through linear fitting.
Preferably, the method further comprises the step of calculating the control torque: during the period of outputting magnetic control force by the magnetic suspension actuator, the angular velocities of two chambers obtained by the gyro sensing are respectively omega bg And ω pg Obtained by fitting
a b Is the angular acceleration of the platform cabin, b b Is a constant component of angular velocity of the platform cabin, a p Is the angular acceleration of the load compartment, b p Is the angular velocity constant component of the load cabin, and T is the output time of the magnetic control force, thereby obtaining the acting torque T on the two cabins b And T p Is composed of
Preferably, the method further comprises a three-axis centroid position calculating step: combining the formula (3) and the formula (6), the two-cabin mass center position vector M can be obtained b Mp is
According to another aspect of the present invention, there is also provided a split type satellite in-orbit two-capsule centroid identification system, including:
a driving module: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins to move;
platform cabin collection module: the control system of the split satellite is kept open-loop and uncontrolled, the information of the three-axis angular velocity of the split satellite in two in-orbit compartments is acquired, an angular velocity curve is fitted, and the three-axis angular acceleration is obtained;
the control torque resolving module: according to the three-axis angular acceleration obtained by the acquisition module, and by combining the rotational inertia characteristics of the two cabins, the control moment acting on the mass center of the two cabins is obtained through calculation;
module is solved to triaxial barycenter position: and resolving to obtain the position of the three-axis mass center of the two cabins according to the control moment acting on the mass center of the two cabins obtained by the control moment settlement module and the installation position of the magnetic suspension actuator.
Preferably, the driving module adopts a mode that more than one magnetic suspension actuator is arranged between two on-orbit compartments of the split satellite and is used for finishing three-axis attitude control of the load compartment and relative centroid position control between the two compartments, one of the magnetic suspension actuators is taken out and two-dimensional magnetic control force is output, and the magnetic control force acting on the platform compartment is F cfb The magnetic control force acting on the load compartment is F cfp ，F cfb And F cfp The derivation formulas are respectively:
wherein F bx Acting on the platform in the X-direction, F bz Acting on the platform cabin in the Z-direction, F px Acting on the load compartment in the X-direction, F pz In order to act on the load compartment to apply force along the Z direction, the following formula relationship can be known according to Newton's third law:
setting the position vector of the component force action point of the magnetic suspension actuator coil part in the platform cabin mechanical coordinate system as P cfb The position vector of the magnetic steel part force action point in the mechanical coordinate system of the load cabin is P cfp The position vector of the platform cabin mass center in the platform cabin mechanical coordinate system is M b The position vector of the center of mass of the load compartment in a mechanical coordinate system of the load compartment is M p Then, the moment of action around the center of mass of the two compartments is as follows:
preferably, the system further comprises an acquisition module: setting the angular velocities of the two cabins to be omega respectively b And ω p Setting the two-cabin rotational inertia matrix as J b And J p Then there is
Angular velocity information is acquired sensitively through the gyros configured in the two cabins, and angular acceleration is acquired through linear fitting.
Preferably, the control torque resolving module is further included: the gyroscope is arranged during the period of magnetic control force output by the magnetic suspension actuatorThe angular velocities of the two sensitive cabins are respectively omega bg And ω pg Obtained by fitting
a b Is the angular acceleration of the platform cabin, b b Is a constant component of angular velocity of the platform cabin, a p Is the angular acceleration of the load compartment, b p Is the angular velocity constant component of the load cabin, and T is the output time of the magnetic control force, thereby obtaining the acting torque T on the two cabins b And T p Is composed of
Preferably, the device further comprises a three-axis centroid position resolving module: combining the formula (10) and the formula (13), the two-cabin mass center position vector M can be obtained b Mp is
Compared with the prior art, the invention has the following beneficial effects:
firstly, the accurate measurement of the mass center of the two cabins is realized;
providing a reference method and a calculation model for the subsequent split satellite models;
and thirdly, the technical problem that accurate identification is difficult due to the influence of gravity and an unfolding component on the ground is solved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a split type satellite in-orbit two-cabin centroid identification principle;
FIG. 2 is a schematic diagram of an in-orbit two-compartment mass center identification method for a split satellite;
FIG. 3 is a schematic view of load compartment angular velocity measurement and fitting;
fig. 4 is a schematic diagram of the measurement and fitting of the pod angular velocity.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that, for those skilled in the art, variations and modifications, such as variations in the method of angular velocity identification and variations in the mounting position of the magnetic levitation actuator, can be made without departing from the spirit of the present invention, and these are within the scope of the present invention.
As shown in fig. 1, the present invention provides a method for identifying the in-orbit two-compartment centroid of a split satellite. More specifically, the implementation content of the method provided by the present invention includes 4 parts, which are respectively: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins to move; the control system keeps open loop and uncontrolled, collects the angular velocity information of the two cabins and the three axes, fits the angular velocity curve, and obtains the angular acceleration of the three axes; calculating to obtain a control moment acting on the mass center of the two cabins by combining the rotational inertia characteristics of the two cabins; and resolving to obtain the position of the three-axis mass center of the two cabins according to the installation position of the magnetic suspension actuator.
The driving step adopts the step that a plurality of magnetic suspension actuators are arranged between two on-orbit compartments of the split satellite and are used for completing the control of the three-axis attitude of the load compartment and the position of the relative mass center between the two compartments, one of the actuators is taken out and the two-dimensional magnetic control force is output, and the magnetic control force acting on the platform compartment is F cfb The magnetic control force acting on the load compartment is F cfp ，F cfb And F cfp The derivation formulas are respectively:
wherein F bx Acting on the platform in the X-direction, F bz Acting on the platform cabin in the Z-direction, F px For acting on load-carrying ledgesForce in the X direction, F pz In order to act on the load compartment to apply force along the Z direction, the following formula relationship can be known according to Newton's third law:
setting the position vector of the component force action point of the magnetic suspension actuator coil part in the platform cabin mechanical coordinate system as P cfb The position vector of the magnetic steel part force action point in the mechanical coordinate system of the load cabin is P cfp The position vector of the platform cabin mass center in the platform cabin mechanical coordinate system is M b The position vector of the center of mass of the load compartment in a mechanical coordinate system of the load compartment is M p Then, the moment of action around the center of mass of the two compartments is as follows:
the method also comprises the following acquisition steps: by setting the angular velocities of the two chambers to be omega respectively b And ω p Setting the two-cabin rotational inertia matrix as J b And J p Then the angular acceleration of the two cabins can be obtained
And
for (subscript b represents platform deck, subscript p represents load deck):
angular velocity information is acquired sensitively through the gyros configured in the two cabins, and angular acceleration is acquired through linear fitting.
The method also comprises a control torque resolving step: during the period of outputting magnetic control force by the magnetic suspension actuator, the angular velocities of two chambers obtained by the gyro sensing are respectively omega bg And ω pg Obtained by fitting
a b Is the angular acceleration of the platform cabin, b b Is a constant component of angular velocity of the platform cabin, a p Is the angular acceleration of the load compartment, b p Is the angular velocity constant component of the load cabin, and T is the output time of the magnetic control force, thereby obtaining the acting torque T on the two cabins b And T p Is composed of
The method further comprises a three-axis centroid position resolving step: combining the formula (3) and the formula (6), the two-cabin mass center position vector M can be obtained b Mp is
In this embodiment, the parameter setting rule is as shown in fig. 2, and it is assumed that the two-dimensional output forces of the magnetic levitation actuators between two bays are all 0.02N, that is, the two-dimensional output forces are all set to be 0.02N
The system is in an open-loop uncontrolled state, under the action of the output force of the magnetic suspension actuator, the angular velocities of the two cabins and the three axes of the two cabins and the fitting result thereof are shown in figures 3 and 4, and the angular accelerations of the two cabins around the mass center are obtained according to the slope of the fitting curve
Combined three-axis moment of inertia
Can obtain a three-axis magnetic control moment around the mass center of the two cabins as
Position vector P of force action point in platform cabin mechanical coordinate system combined with magnetic suspension actuator coil part cfb And the position vector P of the magnetic steel part force action point in the mechanical coordinate system of the load compartment cfp And resolving the control force to obtain a control force with two axes and three axes respectively having a mass center of
The theoretical value set in the simulation is
It can be seen that the maximum deviation from the set theoretical value is 7.8%, and the accuracy depends on the measurement accuracy of the triaxial angular velocity.
The invention provides a split type satellite in-orbit two-cabin mass center identification system, which comprises:
a driving module: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins to move;
an acquisition module: the control system of the split satellite is kept open-loop and uncontrolled, the information of the three-axis angular velocity of the split satellite in two in-orbit compartments is collected, an angular velocity curve is fitted, and the three-axis angular acceleration is obtained;
the control torque resolving module is used for: according to the three-axis angular acceleration obtained by the acquisition module, and by combining the rotational inertia characteristics of the two cabins, the control moment acting on the mass center of the two cabins is obtained through calculation;
module is solved to triaxial barycenter position: and resolving to obtain the position of the three-axis mass center of the two cabins according to the control moment acting on the mass center of the two cabins obtained by the control moment settlement module and the installation position of the magnetic suspension actuator.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method for identifying the mass center of a split satellite in two in-orbit cabins is characterized by comprising the following steps:
a driving step: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins to move;
the collection step comprises: the control system of the split satellite is kept open-loop and uncontrolled, the information of the three-axis angular velocity of the split satellite in two in-orbit compartments is collected, an angular velocity curve is fitted, and the three-axis angular acceleration is obtained;
and a control moment calculating step: according to the three-axis angular acceleration obtained in the acquisition step, and by combining the rotational inertia characteristics of the two cabins, resolving to obtain a control moment acting on the mass center of the two cabins;
three-axis centroid position resolving step: and resolving the control moment acting on the mass center of the two cabins according to the control moment obtained in the step of resolving the control moment, and then resolving to obtain the position of the mass center of the three shafts of the two cabins by combining the mounting position of the magnetic suspension actuator.
2. The method for identifying the mass center of the split satellite in the two on-orbit compartments as claimed in claim 1, wherein a plurality of magnetic levitation actuators are arranged between the two on-orbit compartments of the split satellite for completing the three-axis attitude control of the load compartment and the relative mass center position control between the two compartments, one of the magnetic levitation actuators is selected to output two-dimensional magnetic control force, and the magnetic control force acting on the platform compartment is F cfb The magnetic control force acting on the load compartment is F cfp ，F cfb And F cfp The calculation formulas are respectively as follows:
wherein, F bx Acting on the platform in the X-direction, F bz Acting on the platform cabin in the Z-direction, F px Acting on the load compartment in the X-direction, F pz In order to act on the load compartment to apply force along the Z direction, the following formula relationship can be known according to Newton's third law:
setting the position vector of the component force action point of the magnetic suspension actuator coil part in the platform cabin mechanical coordinate system as P cfb The position vector of the magnetic steel part force action point in the mechanical coordinate system of the load cabin is P cfp The position vector of the platform cabin mass center in the platform cabin mechanical coordinate system is M b The position vector of the center of mass of the load compartment in a mechanical coordinate system of the load compartment is M p Moment T of action around the center of mass of the platform cabin cfb And the moment of action T around the centre of mass of the load compartment cfb Is the following formula:
3. the method for identifying the mass center of two in-orbit compartments of a split-type satellite according to claim 2, wherein the angular velocities of the two compartments are respectively ω b And ω p Setting the two-cabin rotational inertia matrix as J b And J p Then the angular acceleration of the two cabins can be obtained
And
comprises the following steps:
angular velocity information is acquired sensitively through the gyros configured in the two cabins, and angular acceleration is acquired through linear fitting.
4. The method for identifying the mass center of two on-orbit compartments of a split satellite according to claim 3, wherein the angular velocities of the two compartments sensed by the gyroscope during the period of outputting the magnetic control force by the magnetic suspension actuator are ω and ω, respectively bg And ω pg Obtained by fitting
a b Is the angular acceleration of the platform cabin, b b Is a constant component of angular velocity of the platform cabin, a p Is the angular acceleration of the load compartment, b p Is the angular velocity constant component of the load cabin, and T is the output time of the magnetic control force, thereby obtaining the acting torque T on the two cabins b And T p Is composed of
5. The method for identifying the in-orbit two-compartment mass center of a split satellite according to claim 4, wherein the formula (3) and the formula (6) are combined to obtain the two-compartment mass center position vector M b 、M p Is composed of
6. The utility model provides a two cabin barycenter identification systems of split type satellite in orbit which characterized in that includes:
a driving module: powering off a repeated locking mechanism between two cabins of the split satellite, electrifying a magnetic floating actuator between the two cabins, generating magnetic control force with known magnitude, and driving the two cabins to move;
an acquisition module: the control system of the split satellite is kept open-loop and uncontrolled, the information of the three-axis angular velocity of the split satellite in two in-orbit compartments is collected, an angular velocity curve is fitted, and the three-axis angular acceleration is obtained;
the control torque resolving module: according to the three-axis angular acceleration obtained by the acquisition module, and by combining the rotational inertia characteristics of the two cabins, the control moment acting on the mass center of the two cabins is obtained through calculation;
module is solved to triaxial barycenter position: and resolving to obtain the position of the three-axis mass center of the two cabins according to the control moment acting on the mass center of the two cabins obtained by the control moment resolving module and the installation position of the magnetic suspension actuator.
7. The system for identifying the mass center of the split satellite in the two on-orbit chambers as claimed in claim 6, wherein a plurality of magnetic levitation actuators are arranged between the two on-orbit chambers of the split satellite for controlling the three-axis attitude of the load chamber and the relative mass center position between the two chambers, one of the magnetic levitation actuators is selected to output two-dimensional magnetic control force, and the magnetic control force acting on the platform chamber is F cfb The magnetic control force acting on the load compartment is F cfp ，F cfb And F cfp The derivation formulas are respectively:
wherein F bx Acting on the platform in the X-direction, F bz Acting on the platform cabin in the Z-direction, F px Acting on the load compartment in the X-direction, F pz In order to act on the load compartment to apply force along the Z direction, the following formula relationship can be known according to Newton's third law:
setting the position vector of the component force action point of the magnetic suspension actuator coil part in the platform cabin mechanical coordinate system as P cfb The position vector of partial force action points of the magnetic steel in a mechanical coordinate system of the load cabin is P cfp The position vector of the platform cabin mass center in the platform cabin mechanical coordinate system is M b The position vector of the center of mass of the load compartment in a mechanical coordinate system of the load compartment is M p Moment T of action around the center of mass of the platform cabin cfb And the moment of action T around the centre of mass of the load compartment cfb The following equation:
8. the in-orbit two-compartment centroid identification system for split-type satellite according to claim 7, wherein the angular velocities of the two compartments are respectively ω b And ω p Setting the two-cabin rotational inertia matrix as J b And J p Then the angular acceleration of the two cabins can be obtained
And
comprises the following steps:
angular velocity information is acquired sensitively through the gyros configured in the two cabins, and angular acceleration is acquired through linear fitting.
9. The system of claim 8, wherein the gyroscope is sensitive to obtain two on-orbit two-compartment centroid identification system, wherein the two compartments have angular velocities of ω and ω, respectively, during the period of magnetically controlling force output from the magnetic levitation actuator bg And ω pg Obtained by fitting
a b Is the angular acceleration of the platform cabin, b b Is a constant component of angular velocity of the platform cabin, a p Is angular acceleration of the load compartment, b p Is the angular velocity constant component of the load cabin, and T is the output time of the magnetic control force, thereby obtaining the acting torque T on the two cabins b And T p Is composed of
10. The split-type satellite in-orbit two-compartment centroid identification system according to claim 9, wherein the two-compartment centroid position vector M can be obtained by combining formula (3) and formula (6) b 、M p Is composed of
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