JPS6047799A - Controller for attitude of artificial satellite - Google Patents
Controller for attitude of artificial satelliteInfo
- Publication number
- JPS6047799A JPS6047799A JP58154339A JP15433983A JPS6047799A JP S6047799 A JPS6047799 A JP S6047799A JP 58154339 A JP58154339 A JP 58154339A JP 15433983 A JP15433983 A JP 15433983A JP S6047799 A JPS6047799 A JP S6047799A
- Authority
- JP
- Japan
- Prior art keywords
- satellite
- attitude
- error
- pitch
- roll
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は静止軌道上を飛翔する三軸安定展の人1衛星
の姿勢制御ff4I鼓直に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to attitude control ff4I for a three-axis stable human-1 satellite flying in a geostationary orbit.
fkに人工衛星ヲする所定の方向に向けることを姿勢制
御という。姿G制呻を行うためには、現在の(;す星の
姿勢と目標姿勢との差(以下姿勢誤差と称す)を検出す
る製置(以下姿勢検出製置と称す)、および姿勢誤差が
Oになるように衛星の姿勢を変化させる装置(以下姿勢
誤差装fftと称す)が必要である。衛星の要分誤差を
表わす方法としてはオイラー角法が最も広く使用されて
いる。これは目標方向として互いに直交する3つの軸を
軌道上に設定し、これらの釉の咬わりの回転角で姿勢誤
差を表わすものである。そのため姿勢検出装置は直交3
軸まわりの衛星の回転角が検出できなくてはならず、ま
た姿勢安定装置も同様に各軸まわシの回転角を0に戻す
ことができるものでなくてはならない。Directing the satellite in a predetermined direction at fk is called attitude control. In order to perform posture G control, it is necessary to perform a configuration (hereinafter referred to as posture detection determination) that detects the difference between the current (; star's posture and the target posture (hereinafter referred to as posture error)), and a configuration to detect the posture error. A device (hereinafter referred to as attitude error device fft) is required to change the satellite's attitude so that Three axes that are orthogonal to each other are set on the orbit, and the attitude error is expressed by the rotation angle of these glaze bites.Therefore, the attitude detection device is
It is necessary to be able to detect the rotation angle of the satellite around the axis, and the attitude stabilization device must also be able to return the rotation angle of each axis to zero.
従来の姿砂制岬装置を用いた人工11q星の一例を第1
図に示す。纂1図においてfil、 +21. (31
は軌道上に設定した衛星の目標方向であシ、(1)は衛
星の進行方向を向いた軸(以下ロール軸と称す)、+2
1は他心方向を向いた軸(以下ヨー軸と称す)、(31
は+11と(2)の両方と右手直交系をなす方向を向い
た@(以下ピッチ軸と称す)でろる。(4)はロール軸
(1)およびピッチ4’tj (31tわりの衛星の回
転角(それぞれロール誤差およびピッチ誤差と呼ぶ)を
検出する地球センナ、(5)はヨー軸寸わりの衛星の口
伝角(ヨー誤差)を検出する太陽センサ、(6)は衛星
に電力を供給する太陽電池パドル、(7)は衛星本体。The first example is an example of an artificial 11q star created using a conventional sand-forming cape device.
As shown in the figure. In the first diagram, fil, +21. (31
is the target direction of the satellite set on the orbit, (1) is the axis facing the direction of travel of the satellite (hereinafter referred to as the roll axis), +2
1 is an axis pointing in the other center direction (hereinafter referred to as the yaw axis), (31
is an @ (hereinafter referred to as the pitch axis) pointing in a direction forming a right-handed orthogonal system with both +11 and (2). (4) is an earth sensor that detects the rotation angle of the satellite corresponding to the roll axis (1) and pitch 4'tj (31t (referred to as roll error and pitch error, respectively), and (5) is the oral history of the satellite corresponding to the yaw axis size. A solar sensor that detects the angle (yaw error), (6) a solar array paddle that supplies power to the satellite, and (7) the satellite itself.
(8)は衛星の軌道、(9)は地球、鵠は太陽である。(8) is the orbit of the satellite, (9) is the earth, and the mouse is the sun.
姿勢安定政行に使用されるホイールは衛星内部に取り付
けであるため第1図にtよ示していない。ホイールも含
めた従来の姿勢制mll 装置をブロック図で第2図に
示す。地球センサイ4)で検出されたロール誤差信号α
υとピッチ・誤差信号α汎および太19センサで検出さ
れたヨールス差イn号いは、コントローラ041によシ
それぞれロールホイール駆動トルク信号0四、ピッチホ
イールJyX動トルク信号(LL ヨーホィール1駆動
トルク信号αηに変換される。これらの信号(1!9〜
α7)にもとづきロールホイールaの、ピッチホイール
α@、ヨーホイール(至)が回転することによシ術星に
はホイールの回転と逆方向にトルクが働き。The wheels used for attitude stabilization are not shown at t in Figure 1 because they are installed inside the satellite. A block diagram of a conventional posture control MLL device including wheels is shown in FIG. Roll error signal α detected by earth sensor 4)
υ and the pitch/error signal α and the yaw wheel difference in detected by the 19 sensors are sent to the controller 041 as the roll wheel drive torque signal 04 and the pitch wheel JyX dynamic torque signal (LL yaw wheel 1 drive torque These signals (1!9~
Based on α7), by rotating the roll wheel a, the pitch wheel α@, and the yaw wheel (to), torque acts on the star in the opposite direction to the rotation of the wheel.
姿う゛)誤差が除去される。この例に示されるように。Errors are removed. As shown in this example.
従来の姿勢制御装置では姿の誤差の検出のために2杜類
以上の検出機器を必要とするため1重量やコストの増加
につながったシ、信号処理の方法もが復雅になる1等の
欠点がおった。Conventional attitude control devices require more than two types of detection equipment to detect posture errors, which has led to an increase in weight and cost. There was a drawback.
この発明は上記の欠点を除去するために、RFセンサと
いう1種類の姿勢検出器のみで衛星のロール、ピッチ及
びヨー誤差を検出し三11″′111制0111を行う
ようにした人工衛星の姿’rD ’Hill l+t4
1装置1父を提供するものである。In order to eliminate the above-mentioned drawbacks, this invention is an artificial satellite that detects roll, pitch, and yaw errors of the satellite using only one type of attitude detector called an RF sensor, and performs 311'''111 control 0111. 'rD 'Hill l+t4
One device provides one device.
第3図及び第4図はこの発明の一実施例を示す図面であ
り、(1)〜(7)は上記従来の装置と全く同一のもの
である。(21)は地上局A、12.H−J:地上ノω
B、(ハ)とQ優はそれぞれ地上局AG!υと地上局り
椿より発信される電波、(ハ)と(ハ)は軌道誤差と姿
勢誤差が0の時にそれぞれ地上局A 011と地上局J
307J ’fr 4”+3向するように衛星に取付け
られたRFセンサ(V9をRFセンザ1.(ホ)ftR
Fセンサ2とU′!・ぶ)、Q力はRFセンサ(ハ)、
C6)からの信号を処理してホイール駆動信号を出力す
るデータ処理器である。第5図は第4図に示した措成要
素間の信号の流れを示すものでらる。FIGS. 3 and 4 are drawings showing an embodiment of the present invention, and (1) to (7) are completely the same as the conventional apparatus described above. (21) is ground station A, 12. H-J: Ground ω
B, (c) and Q Yu are ground stations AG! υ and radio waves transmitted from ground station Tsubaki, (c) and (c) are ground station A 011 and ground station J, respectively, when orbit error and attitude error are 0.
307J 'fr 4''+3
F sensor 2 and U'!・B), Q force is an RF sensor (c),
This is a data processor that processes the signal from C6) and outputs a wheel drive signal. FIG. 5 shows the flow of signals between the components shown in FIG.
1個のRFセンザからはロール信号(φ6 と表わす)
とピッチ信号(θ8 と表わす)の2種類の(i1f号
が出力でれる。これらの信号と’l’t’I星の姿ひ誤
差との間には次の関係の成り立つことが知られている。A roll signal (denoted as φ6) from one RF sensor
Two types of (i1f) signals are output: and pitch signal (denoted as θ8). It is known that the following relationship holds between these signals and the error in the appearance of 'l't'I star. There is.
ここに、φ、0.ψはそれぞれ衛星のロール誤差、ピッ
チ誤差、ヨー誤差でお9.α、βは衛星の静止重度と地
上局の綿度、経度で決まる定数である。第(1)式f
Hpセンサ1(ハ)と地上局AC2υ、及びRFセンザ
2輛と地上局BC1’、Oに適用すると次の関係が得ら
れる。Here, φ, 0. ψ is the roll error, pitch error, and yaw error of the satellite, respectively.9. α and β are constants determined by the satellite's geostationary gravity and the ground station's degree and longitude. Formula (1) f
When applied to the Hp sensor 1 (c) and the ground station AC2υ, and to the two RF sensors and the ground stations BC1' and BC0, the following relationship is obtained.
ここに、下添字1はRFセンサI C11と地上局A(
21(に、下添字2はRFセンサ2(ハ)と地上局B(
22にそれぞれ対応した値を意味している。εα(21
式、第(3)式のうち適当に第(3)式全追び、それら
を連立させてj’17j <ことにより、イ11星のロ
ール誤差φ2、ピッチ誤差θ、ヨー誤差ψをめることが
できる。Here, the subscript 1 indicates the RF sensor IC11 and the ground station A (
21 (, subscript 2 indicates RF sensor 2 (c) and ground station B (
22 respectively. εα(21
Formula (3) is fully tracked as appropriate from formula (3), and by combining them j'17j <, we calculate the roll error φ2, pitch error θ, and yaw error ψ of star A11 be able to.
1例として第(2)式、第(3)式よシ初めの第(3)
式を選び、それらをφ、θ、ψに1」シてカγくと次の
結果を得る。As an example, equation (2), equation (3), and the first equation (3)
If we choose the formula and subtract it by 1' for φ, θ, and ψ, we get the following result.
データ処理器u71ではRFセンサの出力(f−F ”
iに対して上記の処理を行ない、コントローラ04ンに
姿勢誤差信号αυ〜03ftr:出力する。第6図にC
よデータ処理器の一実施例を示す。C+QとU!])は
それぞれI(Fセンサ1(ハ)のロール信号φs1とピ
ッチ信号or31. C3[)はRFセンサ2(2Qの
ロール信号φG2+”’〜(3漕はるる定数である。デ
ータ処理器(20の実現に当たっては、アナログ回路を
用いても、ム1゛算(六を使ったディジタル回路を用い
ても、どちらでも41′ケわない。In the data processor u71, the output of the RF sensor (f-F"
The above processing is performed on i, and the attitude error signal αυ~03ftr: is output to the controller 04. C in Figure 6
An example of a data processor is shown below. C+Q and U! ]) are the roll signal φs1 and pitch signal or31 of the F sensor 1 (c), respectively. In realizing this, 41' does not change whether an analog circuit is used or a digital circuit using multiplication (6) is used.
データ処理器(27)から出力される姿?3誤差信号(
Iυ〜11はコントローラαOによってホイール駆動ト
ルク信号α最〜Q7)に変僕されたのち、ホイール翰〜
@Jを回転させ、y、1星の各軸廿わ9にトルクfs−
発生させて衛星の姿ω誤差を除去する。The figure output from the data processor (27)? 3 error signal (
After Iυ~11 is changed to the wheel drive torque signal α~Q7) by the controller αO, the wheel drive torque signal α~
@ Rotate J and apply torque fs- to each axis of y and 1 star.
The satellite's appearance ω error is removed by generating the error.
なお、上記の説明においてはrtj星にトルク分与える
ための装置として直交した3個のホイールを考えたが、
これeよ3個以上の直交しないホイールを用いた場合で
も、祉たホイールの代シにガスジェットスラスタ等を使
用する場合でも同様の説明が可能である。In addition, in the above explanation, three orthogonal wheels were considered as a device for applying torque to the rtj star, but
The same explanation can be made even if three or more non-orthogonal wheels are used, or if a gas jet thruster or the like is used in place of the wheel.
以上述べたように、この発り]によれば111・i星の
ロール、ピッチ、ヨー誤差′kRFセンサだけで検出す
ることができるため、従来の要り・制岬装匠に比べて姿
勢検出装置の4型部が減少し、姿ら)制岬装値がよシ軽
址〃)つIiN r(tになるという効果がある。As mentioned above, according to this origin, it is possible to detect the roll, pitch, and yaw errors of star 111·i only with the RF sensor, so compared to the conventional Kakarari/Misaki system, the attitude detection device This has the effect that the 4-type part of the figure decreases, and the cape value becomes lighter and IiNr(t).
第1図は従来の擬勢flilj岬装苑を(ふ載した人工
??i星の一例を示す図、沈2図は従来の姿勢制御装置
の措成を示す図、第3図はこの発明による人工衛星と地
上局との関係を示す図、第4図tよこの発明による姿勢
制御装置の措成例を示す図、第5図はこの発明を侶成す
る各要素間の信号の流れを示す図、第6図はこの発明で
使用さiするプトタ処理器を示すブロック図である。
図にオイ?l+)Id ロー+IJI、 f2’lハE
−ill、 f3) i’j ヒツチ”;J +a)
は静止軌道、00〜(イ)はアクチュエータ。
txt+と(イ)は地上局、(2)とC10はRFセン
・す“、@はデータ処理器である。
なお因中同−るるいは相当部分には同一符号を付して示
しである。
代理人大岩増雄
′、デ゛3 1 +’A+
’75 2 1M
;83 し1
第4[7」
第 5r!1
7Figure 1 is a diagram showing an example of an artificial ??i star on which a conventional simulated flilj misaki mount is mounted. Figure 4 is a diagram showing the relationship between an artificial satellite and a ground station, Figure 4 is a diagram showing an example of the configuration of an attitude control device according to this invention, and Figure 5 is a diagram showing the flow of signals between each element making up this invention. Figure 6 is a block diagram showing the puta processor used in this invention.
-ill, f3) i'j hit";J +a)
is a geostationary orbit, and 00~(a) is an actuator. txt+ and (a) are the ground stations, (2) and C10 are the RF sensor, and @ is the data processor. Note that equivalent parts are indicated with the same symbols. . Agent Masuo Oiwa', D3 1 +'A+ '75 2 1M;83 Shi1 4th [7] 5th r! 1 7
Claims (1)
ル軸、ピッチ軸およびヨー軸まわシの姿勢角誤差信号を
出力するデータ処理器、このデータ処理器の出力に応じ
て人工衛星にトルクを与えるアクチュエータとを備えた
ことを特徴とする人工衛星の姿勢安定装置。Claims: Two or more RF sensors pointing at multiple ground stations. A data processor that processes the output signals of these RF sensors and outputs attitude angle error signals for the satellite's roll, pitch, and yaw axes, and applies torque to the satellite in accordance with the output of this data processor. An attitude stabilizing device for an artificial satellite, characterized by comprising an actuator.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58154339A JPS6047799A (en) | 1983-08-24 | 1983-08-24 | Controller for attitude of artificial satellite |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58154339A JPS6047799A (en) | 1983-08-24 | 1983-08-24 | Controller for attitude of artificial satellite |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6047799A true JPS6047799A (en) | 1985-03-15 |
Family
ID=15581986
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP58154339A Pending JPS6047799A (en) | 1983-08-24 | 1983-08-24 | Controller for attitude of artificial satellite |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6047799A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01301498A (en) * | 1988-02-29 | 1989-12-05 | Ford Aerospace Corp | Spacecraft attitude controller using coupling thruster |
US11926514B1 (en) | 2022-08-16 | 2024-03-12 | Palfinger Ag | Forklift |
-
1983
- 1983-08-24 JP JP58154339A patent/JPS6047799A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01301498A (en) * | 1988-02-29 | 1989-12-05 | Ford Aerospace Corp | Spacecraft attitude controller using coupling thruster |
US11926514B1 (en) | 2022-08-16 | 2024-03-12 | Palfinger Ag | Forklift |
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