JPS63125498A - Attitude controller for artificial satellite - Google Patents
Attitude controller for artificial satelliteInfo
- Publication number
- JPS63125498A JPS63125498A JP61271274A JP27127486A JPS63125498A JP S63125498 A JPS63125498 A JP S63125498A JP 61271274 A JP61271274 A JP 61271274A JP 27127486 A JP27127486 A JP 27127486A JP S63125498 A JPS63125498 A JP S63125498A
- Authority
- JP
- Japan
- Prior art keywords
- attitude
- attitude control
- disturbance torque
- torque
- satellite
- 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
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- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 241000255925 Diptera Species 0.000 description 1
- 241000234435 Lilium Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001144 postural effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- 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】
〔産業上の利用分封〕
この発明は2人工衛星の姿勢誤差を制御する装置に関す
るものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application] The present invention relates to a device for controlling the attitude error of two artificial satellites.
第3図は9例えばシステムと制御(vo127. A6
pp368〜375.1983 ) [人工衛星の
三軸姿勢制御」に示された従来の人工衛星の姿勢制御装
置を示す機能ブロック図であり2図において(1)は姿
勢制御装置、(21は姿勢制御用センサ、(3)は制御
装置、(41は姿勢制御用アクチュエータであり、(1
)は+21. +31. +41によって構成されてい
る。(51は衛星ダイナミクス、及びキネマティクス、
(61は姿勢制御用センサ信号、(7)は姿勢制御信号
、(8)は姿vIIJ御トルク、(9;は#J星に加え
られる外乱トルクであり。Figure 3 shows 9 For example, System and Control (vo127. A6
pp368-375.1983) This is a functional block diagram showing the conventional attitude control device for an artificial satellite shown in [3-Axis Attitude Control of an Artificial Satellite]. In Figure 2, (1) is the attitude control device, (21 is the attitude control (3) is a control device, (41 is an attitude control actuator, (1 is
) is +21. +31. +41. (51 is satellite dynamics and kinematics,
(61 is the attitude control sensor signal, (7) is the attitude control signal, (8) is the figure vIIJ control torque, and (9; is the disturbance torque applied to the #J star.
姿勢制御トルク+si;外乱トルク(9)がそれぞれ衛
星ダイナミクス・キネマティクス(5)に加えられる。Attitude control torque +si; disturbance torque (9) are respectively added to the satellite dynamics kinematics (5).
α0は姿勢状悪童である。α0 is a child with bad posture.
次に動作について説明する。Next, the operation will be explained.
地球・太陽・恒星などの天体を基準として姿勢を検出す
る光学センサ又は、慣性受量に対する角速度を検出する
ジャイロ、又は加速度を検出する加速度センサのような
慣性センサなとの姿勢制御用センサ(2)により姿勢制
御用センサ信号(61を生成するO
制御装置(3)は、姿勢制御用センサ信号(6)をもと
にして、姿勢誤差が少なくなるように姿勢制御信号(7
)を生成する。Attitude control sensors such as optical sensors that detect the attitude based on celestial bodies such as the earth, sun, and stars, or inertial sensors such as gyros that detect angular velocity relative to inertial mass, or acceleration sensors that detect acceleration (2) ) to generate the attitude control sensor signal (61). The control device (3) generates the attitude control signal (7) based on the attitude control sensor signal (6) so as to reduce the attitude error.
) is generated.
姿勢制御信号(71?:もとにして、ガスジェットを噴
射するスラスタや地球磁場と作用して制御トルクを発生
する磁気トルクのような外力アクチュエータ、又はホイ
ールの回転の反作用を用いる内力アクチュエータなどの
姿勢制御用アクチュエータ(4)により、姿’lj−m
J御トルク(8)を生成する。Attitude control signal (71?: Based on the attitude control signal (71?), an external force actuator such as a thruster that injects a gas jet, a magnetic torque that generates a control torque by interacting with the earth's magnetic field, or an internal force actuator that uses the reaction of wheel rotation. By the posture control actuator (4), the posture 'lj-m
Generate J control torque (8).
太陽輻射圧トルク、磁気トルク、l力傾度トルク、空力
トルクなどの外乱トルク(9)と姿勢制御トルク(8)
か合わさってhaダイナミクス、及びキネマティクス(
5)に作用する。Disturbance torque (9) such as solar radiation pressure torque, magnetic torque, l-force tilt torque, and aerodynamic torque, and attitude control torque (8)
Combined with ha dynamics and kinematics (
5).
俯星ダイナミクス及びキネマティクス(51より姿勢制
御用センサ(2)を用いて姿勢状懸重αGである姿勢角
、安努角速度などを検出し9以上説明したような閉ルー
プ系を構成する。Dynamics and Kinematics (51) Using the attitude control sensor (2), the attitude angle, which is the attitude-like suspension αG, the angular velocity, etc. are detected, and a closed-loop system as described above is constructed.
従来の姿勢制御装置は2以上のように構成されているの
で、衛星に加えられる外乱トルクが大さく、制御精度の
要求が高い場合には、姿勢制御装−の帯域幅を広くとる
必要があるが、姿勢制御用センサノイズの影響を受は易
くなったり、太陽電池パドルやアンテナの未構造特性と
干渉し易くなったりするといった問題点があった。Conventional attitude control devices are configured with two or more devices, so if the disturbance torque applied to the satellite is large and control accuracy is required, the bandwidth of the attitude control device must be widened. However, there are problems in that it is more susceptible to attitude control sensor noise and more likely to interfere with the unstructured characteristics of the solar array paddle and antenna.
特に太陽方向指向、又は天文観測姿勢をとる衛星には、
大きな外乱トルフカ吻口えられ、上記の問題点が重大と
なる。Especially for satellites pointing towards the sun or taking an astronomical observation attitude,
When a large disturbance occurs, the above problems become more serious.
この発明は上記のような問題点を解消するためになされ
たもので、姿勢制御装置の帯域@tそれ程広くとること
なしに、高い制御M度を実現することができるとともに
、衛星に加えられる外乱トルクの影響を実効的に小さく
することのできる人工衛星の姿勢制御装mを得ることを
目的とする。This invention was made in order to solve the above-mentioned problems, and it is possible to achieve a high degree of control without making the bandwidth of the attitude control device so wide, and also to reduce disturbances applied to the satellite. An object of the present invention is to obtain an attitude control system for an artificial satellite that can effectively reduce the influence of torque.
この発明に係る人工衛星の姿勢制御−&直は9人工′#
星の@迫運動に伴って予め予想される外乱トルクt@迫
上で計算し、姿勢制御信号に加え合わせるようにしたも
のである。Attitude control of artificial satellite according to this invention
This is calculated based on the disturbance torque t which is predicted in advance as the star approaches, and is added to the attitude control signal.
この発明においては9人工?#Jmに加えられる外乱ト
ルクを衛星の軌道情報に基づいて姿勢制御装置内で計具
し、姿勢制御信号に加え合わせることにより、実効上外
乱トルクの影!:#ヲ小さくすることができ、姿勢誤差
を小さく押えることができる。9 artificial in this invention? # By measuring the disturbance torque applied to Jm in the attitude control device based on the satellite's orbit information and adding it to the attitude control signal, it is possible to effectively calculate the shadow of the disturbance torque! :# can be made smaller, and the posture error can be kept small.
以下、この発明の一実施例を図について説明する。 An embodiment of the present invention will be described below with reference to the drawings.
第1図においては、(1)〜σGは第3図の従来の装置
の構成と同一のものである。(111は外乱予測部であ
り、α2は予測された外乱トルクであり、ifi′lJ
御装置If(3a)に入力される。In FIG. 1, (1) to σG are the same as the configuration of the conventional device shown in FIG. (111 is the disturbance prediction unit, α2 is the predicted disturbance torque, ifi′lJ
The signal is input to the control device If (3a).
第2図においては、 (3+、 (6+、 +71*
αD、α2は第1図、第3図のものと同一であり、αJ
は外乱トルクの特性馨表わすパラメータであり、α4は
タイマであり、α9は外乱トルク予測処理部であり、
(13,t141゜αりで外乱予測部[111を構M、
する。αGは制御アルゴリズムであり、aηは加寿都、
α&は外乱トルクパラメータデータ、(19は衛星の軌
道位置に対応する時刻データ、■は制御アルゴリズム信
号である。In Figure 2, (3+, (6+, +71*
αD and α2 are the same as those in Figures 1 and 3, and αJ
is a parameter representing the characteristic value of disturbance torque, α4 is a timer, α9 is a disturbance torque prediction processing unit,
(13, t141°α sets the disturbance prediction unit [111 M,
do. αG is the control algorithm, aη is Kasuto,
α& is disturbance torque parameter data, (19 is time data corresponding to the orbital position of the satellite, and ■ is a control algorithm signal.
次にこの発明の実施例の動作について説明する。Next, the operation of the embodiment of this invention will be explained.
上記のように構成された人工衛星の姿勢制御装置は、外
乱予測部lIDによって生成される予測外乱トルクC1
zによって姿勢制御信号(7)が補正されるので、実効
的に衛星に加えられる外乱トルク(9)の影響を少な(
することができる。The satellite attitude control device configured as described above has a predicted disturbance torque C1 generated by the disturbance prediction unit lID.
Since the attitude control signal (7) is corrected by z, the influence of the disturbance torque (9) applied to the satellite is effectively reduced (
can do.
太陽方向指向、又は他恒星惑星等天文販測姿勢をとる人
工衛星においては、外乱トルク(9)として。For artificial satellites that are oriented toward the sun or take an astronomical survey attitude toward other stars and planets, this is used as disturbance torque (9).
車力傾度トルク、空力トルクの2つが支配的となり、地
球指向費努の場合と比べると、比較的外乱の特性かはつ
きりしており、外路トルクパラメータ(13を設定する
ことか容易である。Vehicle force tilt torque and aerodynamic torque are dominant, and compared to the case of earth-oriented effort, the characteristics of the disturbance are relatively constant, and it is easy to set the external road torque parameter (13). be.
太陽方向指向、又は他恒星、惑星等天文貌測姿勢をとる
人工衛星の場合、外乱トルクは、衛星の姿勢、李節、昇
父点赤経、縛度引欽(時刻情報)等によって決定される
。第4図は、典型的な場合の人工′#星が受ける外乱ト
ルクの一例である。買Jii3tonの衛星か高度40
0−の軌道tとり、パドルを赤道面方向に展開し、季節
か冬の場合、昇又点赤経、4度引数の2つをパラメータ
として、ビツチ軸(パドル方向)まわりの外乱トルクi
″プロットしたものである。ここで、衛星の姿勢はミッ
ション要求等により衛&固有のものが決まっており、一
方、季節、昇父点赤経、4度引数は、全て時刻情報であ
り、タイマIによって知ることができる。In the case of an artificial satellite that is oriented toward the sun or has an astronomical attitude to observe other stars or planets, the disturbance torque is determined by the satellite's attitude, lily, right ascension, right ascension, and time information. Ru. FIG. 4 is an example of the disturbance torque that an artificial star receives in a typical case. Buy Jii3ton satellite or altitude 40
Take a trajectory t of 0-, deploy the paddle in the equatorial direction, and in the case of the season or winter, set the two parameters, the right ascension and the 4 degree argument, to calculate the disturbance torque i around the bit axis (paddle direction).
Here, the attitude of the satellite is determined by the mission requirements, etc., while the season, right ascension, and fourth argument are all time information, and are determined by the timer. It can be known by I.
次に、第4図のよ5な外乱トルクのプロファイル乞フー
リI級数表示することにより、外乱トルクパラメータf
13′?:用意することができる。外乱トルク予測処理
部αSは以下の処理を行う。Next, by displaying the profile of the disturbance torque in the Fourier I series as shown in Fig. 4, the disturbance torque parameter f
13′? :Can be prepared. The disturbance torque prediction processing unit αS performs the following processing.
ここで、 Tdiは、各軸の予徂1電外乱トルクα2
でありp WOは軌道レートe ai+ biか
外乱トルクパラメータC13である。またnは、ツー9
1級数次畝であり、外乱トルク予測モデルの梢匿賛求と
、安努制@装置のハードウェア存意制限によって決定さ
れる。Here, Tdi is the expected electric disturbance torque α2 of each axis
and p WO is the orbital rate e ai+ bi or the disturbance torque parameter C13. Also, n is two nine
It is a first-series ridge, and is determined by the stability of the disturbance torque prediction model and the hardware limitations of the device.
制御アルゴリズムueは、従来の制御装置(3)と同僚
に姿勢制御用センサ信号(6)をもとにして、姿勢誤差
か少なくなるように制(2)アルゴリズム信号■を生成
する。The control algorithm ue generates a control (2) algorithm signal (2) based on the conventional control device (3) and the posture control sensor signal (6) for the colleague so as to reduce the posture error.
外乱トルク予測処理部住9の出力である予測外乱トルク
α2と、上記制御アルゴリズム信号■を加算部αDにて
加え合わせることにより、フィードフォワード的に補正
された姿勢制御信号(7)v連続的に生成することかで
きる。By adding the predicted disturbance torque α2, which is the output of the disturbance torque prediction processing unit 9, and the above control algorithm signal ■ in the adding unit αD, the feedforward corrected attitude control signal (7)v is continuously generated. Can be generated.
このとき、外乱トルクt9+か衛星に加えられても。At this time, even if a disturbance torque t9+ is applied to the satellite.
予測外乱トルクα2によって補正されているため。This is because it has been corrected by the predicted disturbance torque α2.
実際の衛里委努角等の姿勢状悪童αGは、小さく押える
ことかでき、その犬ぎさは予測外乱トルクα2の外乱ト
ルク(91に対する予測梢度に依存する。The actual postural bad boy αG such as Eiri Yotsukaku can be suppressed to a small extent, and its strength depends on the predicted degree of disturbance torque (91) of the predicted disturbance torque α2.
向、上記爽り例では、外乱予測部αυど制御装置(3a
) Y独立したものとして説明したか、外乱予測部Uを
制@l装置it <sa>に含めてもよい。In the above example, the disturbance prediction unit αυ etc. control device (3a
) The disturbance prediction unit U may be included in the control unit it <sa>, although it has been described as an independent unit.
また、制御!!直の制御側算を電子回路で行うこともで
さるし、計′J!lL機上で実現することもできる。Also, control! ! It is also possible to perform direct control calculations using electronic circuits, It can also be realized on an LL machine.
計葬憬上で実現する除には、一台で行うこともでさるし
、a叡の計鼻機上で分散処理することもできる。If the process is to be realized on a meter, it can be done on a single machine, or it can be distributed on a meter's machine.
また、外乱予測部を軌道上で処理することなく。Also, the disturbance prediction unit does not need to be processed on-orbit.
地上で行い、テレメトリ/コマンドによってインタフェ
ースをとっても同様の効果を奏する。A similar effect can be achieved even if done on the ground and interfaced with telemetry/commands.
以上のように、この発明によれば、太陽指向。 As described above, according to this invention, solar orientation is achieved.
又は天文観測姿勢乞とる衛星における姿勢制御装置にお
いて、外乱トルクパラメータを設定し、軌道位置に対応
した外乱トルクを予測し、姿勢制御信号を補正すること
により、O#星に加えられる外乱トルクの影響を小さく
することができ、衛星の姿勢n度を烏くすることかでき
るという効果がある。Or, in the attitude control device of an astronomical observation satellite, by setting disturbance torque parameters, predicting the disturbance torque corresponding to the orbital position, and correcting the attitude control signal, the influence of the disturbance torque applied to the O# star can be calculated. This has the effect of making it possible to reduce the attitude of the satellite by n degrees.
第1図は、この発明の一実施例による人工部属の姿勢制
御装置を示す構成図、第2図は、この発明における外乱
予測部と制御装置の評細な構成図。
第3図は従来の人工衛星の姿勢制御装置を示す構成図、
第4図は、太陽指向、又は天文観測姿勢をとる人工伺星
の受ける外乱トルクの一例を示す図である。
図において、(1)は姿勢制御装置、(2)は姿勢制御
用センサ、(3Iは従来の制御装置、 (3a)はこ
の発明の制御装置、(4)は姿勢制御用アクチュエータ
、(51は衛星ダイナミクス及びキネマティクス、(6
1は姿勢制御用センサ信号、(7)は姿勢制御信号、(
8)は姿勢制御トルク、(9)は衛星に加えられる外乱
トルク。
ααは姿勢状悪童、■は外乱予測部、住zは予測外乱ト
ルク、t13は外乱トルクパラメータ、α心はタイマ。
α!9は外乱トルク予測処理部、αeは制御アルゴリズ
ム、αBは加Bet uυは外乱トルクパラメータデー
タ、σ9は時刻データ、Camは制御アルゴリズム信号
。
C!υはμ度引数、■は衛星の昇父点赤経、■はピッチ
軸まわりの外乱トルクである。
なお2図中−−あるいは相当部分には同一符号を付して
示しである。FIG. 1 is a block diagram showing a posture control device for an artificial part according to an embodiment of the present invention, and FIG. 2 is a detailed block diagram of a disturbance prediction unit and a control device in the present invention. Figure 3 is a configuration diagram showing a conventional attitude control device for an artificial satellite.
FIG. 4 is a diagram showing an example of the disturbance torque received by an artificial visiting star in a sun-oriented or astronomical observation attitude. In the figure, (1) is an attitude control device, (2) is an attitude control sensor, (3I is a conventional control device, (3a) is a control device of the present invention, (4) is an attitude control actuator, and (51 is an attitude control sensor). Satellite dynamics and kinematics, (6
1 is an attitude control sensor signal, (7) is an attitude control signal, (
8) is the attitude control torque, and (9) is the disturbance torque applied to the satellite. αα is a posture bad boy, ■ is a disturbance prediction unit, z is a predicted disturbance torque, t13 is a disturbance torque parameter, and α center is a timer. α! 9 is a disturbance torque prediction processing unit, αe is a control algorithm, αB is addition Bet uυ is disturbance torque parameter data, σ9 is time data, and Cam is a control algorithm signal. C! υ is the μ degree argument, ■ is the right ascension of the satellite's ascending point, and ■ is the disturbance torque around the pitch axis. In Figure 2, the same reference numerals are given to corresponding parts.
Claims (1)
人工衛星において、姿勢誤差を検出する姿勢制御用セン
サと、この姿勢制御用センサ信号に基づいて姿勢制御信
号を生成する制御装置と、この制御装置の生成する姿勢
制御信号に基づいて姿勢制御トルクを生成する姿勢制御
用アクチュエータと、時刻情報および外乱トルクの特性
を表すパラメータによつて衛星に加えられる外乱トルク
を予測し、姿勢誤差をフイードフオワード補償する手段
とを備えたことを特徴とする人工衛星の姿勢制御装置。In an artificial satellite that is oriented towards the sun or has an astronomical observation attitude for other stars or planets, an attitude control sensor that detects an attitude error, a control device that generates an attitude control signal based on the attitude control sensor signal, and An attitude control actuator generates an attitude control torque based on an attitude control signal generated by a control device, and a parameter representing the time information and disturbance torque characteristics predicts the disturbance torque applied to the satellite and eliminates the attitude error. 1. An attitude control device for an artificial satellite, comprising means for compensating for eid forward.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61271274A JPS63125498A (en) | 1986-11-14 | 1986-11-14 | Attitude controller for artificial satellite |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61271274A JPS63125498A (en) | 1986-11-14 | 1986-11-14 | Attitude controller for artificial satellite |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS63125498A true JPS63125498A (en) | 1988-05-28 |
Family
ID=17497795
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP61271274A Pending JPS63125498A (en) | 1986-11-14 | 1986-11-14 | Attitude controller for artificial satellite |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS63125498A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004196290A (en) * | 2002-12-13 | 2004-07-15 | Boeing Co:The | Method and device for dynamic compensation of reaction wheel in spreading of large-sized reflector for long duration |
JP2004196289A (en) * | 2002-12-13 | 2004-07-15 | Boeing Co:The | Method and device for solar tacking momentum maintenance in spreading of large-sized reflector for long duration |
-
1986
- 1986-11-14 JP JP61271274A patent/JPS63125498A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004196290A (en) * | 2002-12-13 | 2004-07-15 | Boeing Co:The | Method and device for dynamic compensation of reaction wheel in spreading of large-sized reflector for long duration |
JP2004196289A (en) * | 2002-12-13 | 2004-07-15 | Boeing Co:The | Method and device for solar tacking momentum maintenance in spreading of large-sized reflector for long duration |
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