Space vehicle control moment computing system based on proportional derivative (PD) control law

A technology for controlling torque and calculating systems, applied in attitude control and other directions, can solve problems such as slow speed and low precision, and achieve the effect of increased calculation speed, high precision and high calculation accuracy

Inactive Publication Date: 2012-09-19
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a spacecraft control torque calculation system based on PD control law in order to solve the prob

Method used

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  • Space vehicle control moment computing system based on proportional derivative (PD) control law
  • Space vehicle control moment computing system based on proportional derivative (PD) control law
  • Space vehicle control moment computing system based on proportional derivative (PD) control law

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specific Embodiment approach 1

[0007] Specific implementation mode one: combine figure 1 Illustrate this embodiment, a kind of space vehicle control torque calculation system based on PD control law described in this embodiment, it comprises Microblaze processor, it also comprises Reset global control signal input register, Kp input register, Kd input register, angle input Register, standard angle input register, angular velocity input register, input conversion unit, output conversion unit, No. 1 subtractor, No. 2 subtractor, No. 1 multiplier, No. 2 multiplier, torque Tk output register and flag signal Flag output register, The control torque calculation system uses the FPGA external input clock as the calculation clock; the output end of the output data of the Microblaze processor is connected to the input end of the input conversion unit, and the output end of the input conversion unit is simultaneously connected to the input end of the Kp input register and the Kd input The input end of the register, th...

specific Embodiment approach 2

[0015] Specific implementation mode two: combination figure 1 Describe this embodiment. This embodiment is a further limitation of the PD control law-based spacecraft control torque calculation system described in Embodiment 1. The Reset global control signal stored in the Reset global control signal input register is used to solve the control torque calculation. The timing of the system, only when the Microblaze processor sets Reset to 1, the No. 1 subtractor, No. 2 subtractor, No. 1 multiplier and No. 2 multiplier in the system are allowed to calculate by the Microblaze processor, and the calculation ends , the flag signal Flag output register sends the global flag signal Flag, which is used to notify the Microblaze processor that the entire calculation process is completed, and the Microblaze processor takes away the torque Tk.

[0016] Set the control signal to solve the timing problem. The external input signal includes the global control signal Reset, which is used to gl...

specific Embodiment approach 3

[0017] Specific Embodiment Three: This embodiment is a further limitation of the PD control law-based spacecraft control torque calculation system described in Embodiment One. The internal calculation adopts a self-defined 32-bit floating-point number data form, and the basic The format is: S E[30:23] F[22:0],

[0018] S represents the sign bit, 0 represents a positive number, and 1 represents a negative number; E[30:23] represents an order code, which is represented by a shift code and is an exponent item; F[22:0] represents a tail code, and the tail code is unsigned Binary number original code representation;

[0019] Representation of the number '0': as long as the tail code F[22:0] is all 0, it means that the size of the floating point number is '0';

[0020] The actual value it represents is: Val=(-1) S ×0.F×2 E .

[0021] The number system has a large range of representation and high calculation accuracy, and is more suitable for large-volume and heavy spacecraft attit...

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Abstract

The invention discloses a space vehicle control moment computing system based on a proportional derivative (PD) control law. The problems that existing space vehicle attitude control moment computing systems based on software design are slow in speed and low in accuracy are solved. The system comprises a Microblaze processor, a Reset global control signal input register, a Kp input register, a Kd input register, an angle input register, a standard angle input register, an angular velocity input register, an input switching unit, an output switching unit, a first subtracter, a second subtracter, a first multiplying unit, a second multiplying unit, a moment Tk output register and a marking signal Flag output register. When Reset=1, the processor allows the computing system to perform calculation, once the calculation ends, a global signal Flag is sent out, the processor is informed that the calculation is finished, and the moment Tk is withdrawn. The system is applicable to space vehicle control moment computing.

Description

technical field [0001] The invention relates to a space vehicle control torque calculation system. Background technique [0002] The spacecraft completes specific tasks on the orbit. Due to the action of internal and external torque, its attitude is always changing, so it must be controlled in motion. The control law generally adopts the PD law to control the torque, and its mathematical form is: One of the most important issues in spacecraft technology is spacecraft attitude determination and attitude control. In space, a spacecraft is flying in a weightless environment, and if it is not controlled by attitude, it will turn somersaults. Spacecraft have their own specific tasks, for example: the antenna of a communication satellite needs to be always aimed at the ground target area. Therefore, the flight attitude of the spacecraft has certain requirements. In the design of the traditional attitude determination and control system, the attitude control is realized by usin...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 丁玉叶徐国栋徐磊兰盛昌潘瑞
Owner HARBIN INST OF TECH
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