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A Method for Determining Angular Velocity of SGCMG Dynamic Frame Adapted to Attitude Redirection

A method for determining the frame angle, which is applied in attitude control, non-electric variable control, vehicle position/route/altitude control, etc. It can solve the problem that the satellite loses attitude maneuverability, the spacecraft channel attitude is out of control, and the frame angle cannot return to the original status, etc.

Active Publication Date: 2020-11-10
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0004] To overcome the shortcomings of the existing technology, a method for determining the angular velocity of the SGCMG dynamic frame adapted to attitude redirection is proposed. For the attitude control system using the control moment gyroscope SGCMG group, according to the angular momentum change law of the redirection maneuver and the angular momentum and the SGCMG frame Angle mapping relationship, introduces a target dynamic adjustment strategy suitable for attitude redirection maneuvers, solves the problem that the frame angle of the system may not be able to return to the initial state after the end of the attitude maneuver, and then leads to some passages of the spacecraft in the subsequent attitude stabilization control. The attitude is out of control, making the satellite lose its attitude maneuvering ability

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  • A Method for Determining Angular Velocity of SGCMG Dynamic Frame Adapted to Attitude Redirection
  • A Method for Determining Angular Velocity of SGCMG Dynamic Frame Adapted to Attitude Redirection
  • A Method for Determining Angular Velocity of SGCMG Dynamic Frame Adapted to Attitude Redirection

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Embodiment

[0053] For the satellites of the SGCMG group installed with 3 high-precision star sensors, 6 high-precision gyroscopes, and 6 pentagonal pyramids, record the labels of each SGCMG as CMG1, CMG2, CMG3, CMG4, CMG5, and CMG6, of which CMG5 and CMG6 have failed , CMG1, CMG2, CMG3, CMG4 participate in attitude control. Adopt the inventive method to be specifically implemented as follows:

[0054] 1) Design acceleration sinusoidal trajectory planning, the maximum angular acceleration of attitude maneuver is taken as 0.025deg / s 2 , the maximum maneuvering angular velocity is taken as 0.3deg / s, and the attitude control bandwidth is taken as 0.008Hz. When the satellite runs to 5000 seconds, the injection roll axis maneuvers 30 degrees, then the end time t along the acceleration segment can be obtained 1 =5018.6, end time t of constant velocity section 2 =5099.9, the end time of the deceleration section t 3 = 5118.6.

[0055] 2) Design parameter λ δ = 1.0,k α0 = 0.1, λ H = 0.1. ...

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Abstract

The invention provides a method for determining an angular velocity of an SGCMMG dynamic frame adapted to attitude redirection. The method comprises the steps of: determining a composite angular momentum H of n SGCGMGs, a Jacobian matrix Jacob of a frame angular motion equation, and a distance delta delta norm of an SGCMMG frame angle deviating from a nominal distance according to frame angle vectors delta of the n SGCGMGs; and determining the angular velocity of an SGCMMG frame according to a characteristic time parameter of an attitude redirection trajectory, the H, the Jacob and the delta delta norm, using the angular velocity of the SGCMMG frame as a frame angular velocity instruction, and controlling an SGCGMG low-speed frame axis to rotate according to the frame angular velocity instruction to perform the attitude redirection of a satellite attitude. According to the method provided by the invention, based on the attitude redirection movement law, and different target needs of different stages of a maneuvering process for the composite angular momentum of the SGCMMG system, the distance of the frame deviating from the nominal distance and other changes, a corresponding parameter dynamic adjustment mechanism is introduced to optimize CMG maneuvering performance in an attitude redirection mode.

Description

technical field [0001] The invention relates to a method for determining an SGCMG dynamic frame angular velocity adapted to attitude redirection, relates to the field of spacecraft attitude control, and is suitable for attitude maneuvering and high-stability attitude control using control moment gyroscope groups. Background technique [0002] In order to realize the multi-axis rapid attitude maneuvering requirements of the whole satellite, the satellite generally adopts the control moment gyroscope SGCMG group and its corresponding control algorithm. The technical means widely used by satellites are: using control moment gyroscopes to control satellite attitude. The specific steps are firstly to calculate the Jacobian matrix, singularity and singularity avoidance vector according to the frame angle measured in real time by SGCMG, secondly calculate the singularity avoidance parameters according to the singularity, and finally calculate the angular velocity of each SGCMG fram...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0808
Inventor 雷拥军袁利刘洁王淑一刘其睿田科丰朱琦
Owner BEIJING INST OF CONTROL ENG
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