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Attitude control method, device and system for satellite platform with rotating load

A satellite platform and attitude control technology, applied in the satellite field, can solve the problems of satellite platform attitude interference, difficulty in attitude control of satellite platform, large amount of calculation and difficulty in control, etc. Effect

Active Publication Date: 2021-04-13
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the satellite load needs to rotate, the rotating satellite load will interfere with the attitude of the satellite platform. At this time, the attitude control of the satellite platform is extremely difficult. In the prior art, there is no good method to accurately rotate the satellite platform of the load. Attitude control, or, the calculation amount and control difficulty in the attitude control process are large

Method used

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  • Attitude control method, device and system for satellite platform with rotating load
  • Attitude control method, device and system for satellite platform with rotating load
  • Attitude control method, device and system for satellite platform with rotating load

Examples

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example 1

[0109]This example provides an attitude control method of a satellite platform, including two parts:

[0110]One part, using the PID controller to obtain an initial control command; the initial control instruction here is the first control instruction above;

[0111]Step 1: Use the satellite platform-loaded sensitive to measure the actual attitude angle θ and the actual angular velocity ω of the satellite platform;

[0112]Step 2: Put the actual attitude angle θ and the actual angular velocity ω with known target attitude angles θh, Target angular velocity ΩhCompare, get angle deviation Eθ , Angular velocity deviation EΩ ;

[0113]Step 3: The resulting deviation value is used as the input amount of the PID controller, and the design parameter k of the PID controller.pKiKdCombine results from the PID controller output control torque U1= Kpeθ + Ki∫Eθ DT + KdeΩ KpProportional parameters for PID controllers; kiIntegral parameters for the PID controller; kdDifferential parameters for PID.

[0114]Step ...

example 2

[0136]The control system of this example includes: a PID controller and a repeating controller independent of the PID controller.

[0137]The satellite platform control system is designed according to the PID controller, and its parameters are:

[0138]kd= DIAG ([157.62 157.62 157.62]);

[0139]kp= DIAG ([12.42 12.42 12.42]); Ki= DIAG ([0.02 0.02 0.02]);

[0140]kr= 1, n = 3600.

[0141]The motion cycle of the rotating load is 36s, the simulation step is 0.01s, so N = 36 / 0.01 = 3600.

[0142]The initial posture parameter of the satellite attitude is Ωb0= [0 0 0]; θb0= [0 0 0];

[0143]Target posture parameter is ΩBT= [0 0 0]; θBT= [0 0 0];

[0144]Satellite platform quality: 1200kg;

[0145]Rotating load quality: 800kg;

[0146]Satellite platform rotation inertia:

[0147]Rotating load inertia:

[0148]Maximum speed: 6000R / min;

[0149]Maximum angular momentum: 50n · m · s;

[0150]Maximum control torque: 1N · m.

[0151]Figure 5 As shown, the gesture of the satellite platform is simultaneously controlled by the PID contro...

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Abstract

The embodiment of the invention discloses an attitude control method, device and system of a satellite platform with a rotating load. The attitude control method of the satellite platform includes: measuring the actual attitude parameters of the satellite platform; comparing the actual attitude parameters with the target attitude parameters to determine the attitude deviation; generating a first control command based on the attitude deviation; Law parameter, to determine the learning cycle parameters of the repeat controller of the satellite platform; the repeat controller combines the learning cycle parameters and the first control command to generate a second control command; use the second control command to control the Describe the attitude of the satellite platform.

Description

Technical field[0001]The present invention relates to the field of satellite technology, and more particularly to a posture control method, apparatus, and system of satellite platforms with a rotating load.Background technique[0002]Satellite can be composed of satellite platforms and satellite loads. Satellite load work, the satellite platform must have certain attitude control stability and precision. The higher the load work accuracy, the higher the satellite platform attitude control. When the quality of the satellite load is large, the exercise of the satellite load is also large. If the satellite load needs to rotate, the rotating satellite load causes interference to the gesture of the satellite platform. At this time, the attitude control difficulty of the satellite platform is extremely difficult, and there is no well-known method in the prior art. Attitude control, or the amount of calculation and control during the posture control.Inventive content[0003]In view of this, an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 王峰柴利鹏谢一菲曹喜滨陈雪芹原超叶东
Owner HARBIN INST OF TECH