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Attitude control and attitude measurement time-shared multiplexed spacecraft attitude control method

An attitude controller and attitude control technology, which is applied in attitude control, non-electric variable control, control/adjustment system, etc., can solve the problems of spacecraft attitude control accuracy reduction, improve attitude measurement and control accuracy, and reduce energy loss , to eliminate the effect of mutual coupling

Active Publication Date: 2018-11-27
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the coupling effect between the existing actuator and the sensor causes the spacecraft attitude control accuracy to decrease, the invention provides a spacecraft attitude control method with time-division multiplexing of attitude control and attitude measurement

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  • Attitude control and attitude measurement time-shared multiplexed spacecraft attitude control method
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  • Attitude control and attitude measurement time-shared multiplexed spacecraft attitude control method

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specific Embodiment approach 1

[0041] Specific implementation mode one: combine figure 1 , figure 2 The present embodiment is described. A spacecraft attitude control method for time-division multiplexing of attitude control and attitude measurement given in this embodiment specifically includes the following steps:

[0042] Step 1. Set the sampling period of the spacecraft attitude closed-loop control, and divide the sampling period of the unit spacecraft attitude closed-loop control into the attitude measurement time-sharing time interval and the attitude control time-sharing time interval; figure 1 shown.

[0043] Step 2: Carry out actuator torque command planning in the attitude control time-sharing time interval; the torque command planning method here can adopt trapezoidal command planning, rectangular command planning, triangular command planning, "s" type command planning, etc.;

[0044] Step 3, using the impulse equivalent principle to determine the torque command after the torque command planni...

specific Embodiment approach 2

[0047] Specific implementation mode 2: The difference between this implementation mode and specific implementation mode 1 is that the actuator torque command planning described in step 2 specifically includes:

[0048] This embodiment adopts trapezoidal instruction planning in the attitude control time-sharing time interval, and the attitude control time-sharing time interval (t s ,tk ] is divided into the moment rising section in turn moment plateau and moment drop section The duration of the moment rising period, moment stable period and moment falling period is 1 / 3 of the attitude control time-sharing time interval, and the planned torque command is shown in the following formula (1):

[0049]

[0050] Among them, T(t) represents the actuator torque command at time t; t k-1 and t k Respectively, the k-th spacecraft attitude closed-loop control sampling period (t k-1 ,t k ] start time and end time (t k-1 It is also the end moment of the k-1 spacecraft attitude c...

specific Embodiment approach 3

[0053] Specific implementation mode three: the difference between this implementation mode and specific implementation mode two is that the determination of the torque command after the torque command planning described in step three specifically includes:

[0054] In the unit spacecraft attitude closed-loop control sampling period, in order to ensure the equivalent impulse before and after the torque command planning, the following equation (2) can be established by using the equivalent impulse principle:

[0055]

[0056] Among them, T′ b is the control torque provided by the attitude controller in the unit sampling period before time-division multiplexing;

[0057] Combining formula (1) and formula (2), we get:

[0058]

[0059] Among them, T b The torque command in the post-torque plateau segment is planned for the command.

[0060] Other steps and parameters are the same as in the second embodiment.

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Abstract

The invention provides an attitude control and attitude measurement time-shared multiplexed spacecraft attitude control method and belongs to the technical field of spacecraft control. The method comprises the steps: firstly, setting a spacecraft attitude closed-loop control sampling cycle, and dividing a unit spacecraft attitude closed-loop control sampling cycle into an attitude measurement time-shared time interval and an attitude control time-shared time interval; then, carrying out executor moment instruction planning in attitude control time-shared time intervals; determining a moment instruction planned moment instruction by using an impulse equivalence principle; and finally, designing spacecraft attitude closed-loop control of an attitude controller after time-sharing is achieved.According to the method, the problem that the accuracy of spacecraft attitude control is lowered due to coupled influence between the existing executor and a sensor is solved. The method can be applied to spacecraft attitude control.

Description

technical field [0001] The invention relates to a time-division multiplexing spacecraft attitude control method, which belongs to the technical field of spacecraft control. Background technique [0002] The spacecraft attitude control and measurement system is an indispensable part in the field of spacecraft navigation, guidance and control. The attitude control of the spacecraft is mainly realized by the control torque provided by the corresponding actuator, and the attitude measurement of the spacecraft is realized by the corresponding sensor; at present, the magnetic torque device is one of the typical representatives of the spacecraft actuator, and the The magnetometer is a commonly used attitude measurement device in the field of spacecraft; however, in the application of spacecraft, if the magnetic torque device and the magnetometer are installed on the spacecraft as actuators and sensors at the same time, it will result in: both When turned on at the same time, the m...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0808G05D1/0816
Inventor 赵辉刘晓坤陈松林姚郁
Owner HARBIN INST OF TECH
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