CN107608213A - A kind of Parameters design of the motor-driven path planning of the attitude of satellite - Google Patents
A kind of Parameters design of the motor-driven path planning of the attitude of satellite Download PDFInfo
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- CN107608213A CN107608213A CN201710948125.0A CN201710948125A CN107608213A CN 107608213 A CN107608213 A CN 107608213A CN 201710948125 A CN201710948125 A CN 201710948125A CN 107608213 A CN107608213 A CN 107608213A
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Abstract
The invention discloses a kind of Parameters design of the motor-driven path planning of attitude of satellite, comprising：S1, determine satellite motorized shaft rotary inertia Ig, the executing agency of satellite is in motorized shaft maximum output angular momentum Hmax, described executing agency maximum output torque Tmax, and the motor-driven angle φ of executing agency；S2, preset a changeover portion time upper limit value τaWith changeover portion time lower limit τb, and according to described Ig、Hmax、TmaxAnd φ, ask for maximum angular rate a, maximum angular rate ωmaxWith transit time τ.
Description
Technical field
The present invention relates to satellite gravity anomaly technology, the parameter designing of more particularly to a kind of motor-driven path planning of the attitude of satellite
Method.
Background technology
It is motor-driven motor-driven with closed loop that the motor-driven method of the attitude of satellite is divided into open loop.Open loop it is motor-driven to model really qualitative requirement compared with
Height, it is motor-driven to be normally only used for single shaft；Closed loop is motor-driven to be divided into step instruction mode and path planning pattern, and step instruction mode is past
Toward overshoot is had, path planning pattern can then reduce overshoot, and mobile process is gently reliable.Most conventional motor-driven path is base
In the time optimal path (abbreviation BCB paths) of bang-bang controls, but track BCB paths easily to evoke flexible appendage big
Amplitude vibrations, influence stabilization time.
Therefore, many scholars can suppress the smooth paths Study on Planning Method of flexible vibration, I was in 2014 8
Month in《Shanghai space flight》Publish an article《Spacecraft vibration control method based on path planning and molding》Middle proposition
A kind of cosine transition angular acceleration paths planning method, but its Parameters design is described in detail Wen Zhongwei.
The content of the invention
, can be with autonomous on star it is an object of the invention to provide a kind of Parameters design of the motor-driven path planning of attitude of satellite
Calculate or ground design obtains the parameter needed for path planning, design method is versatile.
In order to realize the above object the present invention is achieved by the following technical solutions：
A kind of Parameters design of the motor-driven path planning of the attitude of satellite, is characterized in, comprising：
S1, determine satellite motorized shaft rotary inertia Ig, the executing agency of satellite is in motorized shaft maximum output angular momentum Hmax,
Described executing agency maximum output torque Tmax, and the motor-driven angle φ of executing agency；
S2, preset a changeover portion time upper limit value τaWith changeover portion time lower limit τb, and according to described Ig、Hmax、Tmax
And φ, ask for maximum angular rate a, maximum angular rate ωmaxWith transit time τ.
Described step S2 is specially：
S2.1, calculate maximum angular rate provisional value a' and maximum angular rate provisional value ωmax'：
A'=Tmax/Ig, ωmax'=Hmax/Ig；
S2.2, judges whether φ is more thanThen perform step S2.3；If it is not, then perform step S2.4；
S2.3, ifThen a=a'=Tmax/Ig, ωmax=ωmax'=Hmax/Ig, τ=τa；
IfThen a=a'=Tmax/Ig, ωmax=ωmax'=Hmax/Ig,
IfThenτ=τb；
S2.4, ifThen a=a'=Tmax/Ig,τ=τa；
IfThen a=a'=Tmax/Ig,
IfThenτ=τb。
The present invention compared with prior art, has advantages below：
The present invention can be to obtain the parameter needed for path planning on star from host computer or ground design, and design method is general
Property is strong.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the Parameters design of the motor-driven path planning of the attitude of satellite of the present invention；
Fig. 2 is cosine transition angular acceleration schematic diagram in the present invention；
Fig. 3 is the schematic diagram that cosine transition angular acceleration path planning is used in the present invention；
Fig. 4 is autonomous calculation flow chart on path planning parameter star.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferable specific embodiment in detail, the present invention is further elaborated.
Because path planning is rotated around relative attitude quaternary number Euler axle, the path rule in the one-dimensional space can be carried out
Draw, define Euler's axlePositive direction for just.
In order to suppress the vibration of motor-driven middle solar battery array, using a kind of cosine transition angular acceleration paths planning method,
Its angular acceleration schematic diagram is as shown in Figure 1.
In Fig. 1, τ is cosine transit time length；T is constant acceleration time span；tyFor at the uniform velocity time span.It is set
There are four cosine changeover portions in the acceleration path of meter, and each changeover portion is using the half period cosine function transition of biasing, cosine
Function cycle is 2 τ, amplitude a/2, and is by biasing a/2 shown in figure, such as first paragraph transition cosine curveBecause the initial time and terminal juncture angular acceleration differential of changeover portion are 0, enhance to flexible appendage
The suppression of vibration.
Fig. 2 is path planning schematic diagram, in figureIt is the SIN function of 4 sections of half periods for the angle acceleration of planningComposition；auFor the angular acceleration of planning, ωuFor the angular speed of planning,It is relative for the preferable celestial body posture of planning
The anglec of rotation of targeted attitude.
Consider that accelerating sections has
Wherein ωmaxFor the angular speed size of angular speed path at the uniform velocity section；A is that angular acceleration path constant angular acceleration is big
It is small.
Consider that at the uniform velocity section has
Wherein φ be relative target posture initial attitude quaternary number Euler's corner, 0 ＜ φ≤180 °.Left and right sides regards machine
It is dynamic：φ=66/57.3；It is other motor-driven：φ=2arccos (qa_old2a_new4)。
Total planning time is
Path planning parameter includes a, ωmax, τ, its parameter designing process is as follows：
A selection needs to consider control-moment gyro group's torque output capability, limits mobile process control-moment gyro group
Maximum output torque is Tmax, a=Tmax/Ig, IgThe rotary inertia of Euler's rotor shaft direction, I when left and right sides regards motor-driveng=Ix。
ωmaxSelection need consider control-moment gyro group's angular momentum fan-out capability, first choose mobile process in maximum angular
Momentum Hmax, ωmax=Hmax/Ig。
To T and tyCalculation formula do following derivation：
So ωmaxThe parameter of selection needs to meetWhenWhen, path planning need not be through
At the uniform velocity section and changeover portion are crossed, is directly accelerated with maximum moment, then is slowed down with maximum moment and completes planning.
τ value needs to meetBecause work asWhen, path planning need not be through
Constant accelerating sections is crossed, changeover portion 2, SIN function of the angle acceleration into a cycle are directly entered after changeover portion 1.WhenWhen, path planning needs not move through at the uniform velocity section.
IfThen resetAnd first vacation does not need Constant Acceleration section (below
Consider not doing this processing assumed), putSo the constant acceleration section time is T=0, and the at the uniform velocity section time isSo, total planning time is
γ's asks for belonging to an optimization problem,It is interior so that τ is maximum, tgIt is minimum.ObviouslyFor
Optimal solution.
Therefore takeSo when motor-driven angleWhen, resetJuxtaposition
Thus without constant acceleration section and at the uniform velocity section, path planning by four sections of set of transitions into.
IfFurther selection τ value is then needed, because τ value needs to meetLimited by Section 2, its value can be smaller, so needing also exist for adjusting ωmaxValue beJuxtaposition
If it is considered that executing agency's torque output capability is smaller, and the angular momentum provided can provide higher satellite rotating speed,
The transit time τ then tried to achieve more than may be excessive, can be to transit time τ maximum duration so as to extend planning time
Limited.
If τ ＞ τa, then τ=τ is puta, according to ty=0, can be in the hope of
IfFurther selection τ value is then needed, can first choose τ=τa(default τa=15), then judge be
No satisfactionBecauseTherefore only need to meetIf
Then resetThe constant acceleration section time isAt the uniform velocity the section time is
Still there is certain changeover portion time when low-angle is motor-driven to realize, τ=τ is put when angle is smallerbIt is (default
τb=7).
Therefore, as shown in Fig. 1,4, a kind of Parameters design of the motor-driven path planning of the attitude of satellite includes：
Comprising：
S1, determine satellite motorized shaft rotary inertia Ig, the executing agency of satellite is in motorized shaft maximum output angular momentum Hmax,
Described executing agency maximum output torque Tmax, and the motor-driven angle φ of executing agency；
S2, preset a changeover portion time upper limit value τaWith changeover portion time lower limit τb, and according to described Ig、Hmax、Tmax
And φ, ask for maximum angular rate a, maximum angular rate ωmaxWith transit time τ.
Above-mentioned step S2 is specially：
S2.1, calculate maximum angular rate provisional value a' and maximum angular rate provisional value ωmax'：
A'=Tmax/Ig, ωmax'=Hmax/Ig；
S2.2, judges whether φ is more thanThen perform step S2.3；If it is not, then perform step S2.4；
S2.3, ifThen a=a'=Tmax/Ig, ωmax=ωmax'=Hmax/Ig, τ
=τa；
IfThen a=a'=Tmax/Ig, ωmax=ωmax'=Hmax/Ig,
IfThenτ=τb；
S2.4, ifThen a=a'=Tmax/Ig,
τ=τa；
IfThen a=a'=Tmax/Ig,
IfThenτ=τb。
In summary, a kind of Parameters design of the motor-driven path planning of the attitude of satellite of the present invention, can with star from analytic accounting
Calculate or ground design obtains the parameter needed for path planning, design method is versatile.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (2)
1. a kind of Parameters design of the motor-driven path planning of the attitude of satellite, it is characterised in that include：
S1, determine satellite motorized shaft rotary inertia Ig, the executing agency of satellite is in motorized shaft maximum output angular momentum Hmax, it is described
Executing agency maximum output torque Tmax, and the motor-driven angle φ of executing agency；
S2, preset a changeover portion time upper limit value τaWith changeover portion time lower limit τb, and according to described Ig、Hmax、TmaxWith
φ, ask for maximum angular rate a, maximum angular rate ωmaxWith transit time τ.
2. the Parameters design of the motor-driven path planning of the attitude of satellite as claimed in claim 1, it is characterised in that described step
Suddenly S2 is specially：
S2.1, calculate maximum angular rate provisional value a' and maximum angular rate provisional value ωmax'：
A'=Tmax/Ig, ωmax'=Hmax/Ig；
S2.2, judges whether φ is more thanThen perform step S2.3；If it is not, then perform step S2.4；
S2.3, ifThen a=a'=Tmax/Ig, ωmax=ωmax'=Hmax/Ig, τ=τa；
IfThen a=a'=Tmax/Ig, ωmax=ωmax'=Hmax/Ig,
IfThenτ=τb；
S2.4, ifThen a=a'=Tmax/Ig,τ=τa；
IfThen a=a'=Tmax/Ig,
IfThenτ=τb。
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| CN109269504A (en) * | 2018-10-24 | 2019-01-25 | 北京控制工程研究所 | A kind of attitude maneuver paths planning method with end-fixity |
| CN113091732A (en) * | 2021-03-12 | 2021-07-09 | 上海卫星工程研究所 | Fixed star capturing method and system for satellite performance index on-orbit evaluation |
| CN113465581A (en) * | 2021-05-21 | 2021-10-01 | 北京控制工程研究所 | Area scanning observation method for satellite |
| CN114527653A (en) * | 2022-01-25 | 2022-05-24 | 上海卫星工程研究所 | Two-cabin continuous maneuvering path planning optimization method based on double-super platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113091732A (en) * | 2021-03-12 | 2021-07-09 | 上海卫星工程研究所 | Fixed star capturing method and system for satellite performance index on-orbit evaluation |
| CN113465581A (en) * | 2021-05-21 | 2021-10-01 | 北京控制工程研究所 | Area scanning observation method for satellite |
| CN114527653A (en) * | 2022-01-25 | 2022-05-24 | 上海卫星工程研究所 | Two-cabin continuous maneuvering path planning optimization method based on double-super platform |
| CN114527653B (en) * | 2022-01-25 | 2024-09-24 | 上海卫星工程研究所 | Double-cabin continuous maneuvering path planning optimization method based on double super platforms |
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