A Closed-loop Compensation Method for Controlling Moment Gyroscope Dynamic Response Delay Characteristics
A technology for controlling moment gyroscopes and time delay characteristics, which is applied in motor vehicles, aerospace vehicles, transportation and packaging, etc., can solve the problems of inability to accurately identify time delay characteristic parameters, spacecraft attitude fluctuations, and difficulty in further improving spacecraft attitude issues of stability
Active Publication Date: 2021-04-13
BEIJING INST OF CONTROL ENG
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Problems solved by technology
[0006] 2. It is impossible to accurately identify the time-delay characteristic parameters of the actuator control torque gyro
It is impossible to identify the spacecraft's actuators and sensor delay characteristic parameters from the spacecraft's on-orbit measurement data
However, the presence of time-delay characteristic parameters often easily causes spacecraft attitude fluctuations, and it is difficult to further improve spacecraft attitude stability.
[0008] 3. It is impossible to realize the closed-loop control of the inner loop of the control torque gyroscope
[0009] In the existing spacecraft attitude closed-loop control, only the large-loop closed-loop control of star attitude is usually carried out, and the position-holding control of the control moment gyroscope is not incorporated into the entire attitude closed-loop control.
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[0056] The present invention adopts figure 1 The flow shown completes a closed-loop compensation method for controlling the dynamic response delay characteristic of the torque gyroscope, including the following steps:
[0057] (1) Establish a spacecraft attitude dynamics model;
[0058]
[0059] Among them, I=diag(I x ,I y ,I z ) are the expressions of the inertia of the spacecraft’s x-axis, y-axis, and z-axis in the system of the load center of mass, ω=diag(ω x ,ω y ,ω z ) is the three-axis angular velocity of the spacecraft, q is the attitude quaternion of the spacecraft; Ω(ω) is the attitude array of the spacecraft, is the derivative of q, is the three-axis angular acceleration of the spacecraft, ω × is the antisymmetric matrix of ω, u b is the desired torque of the three-axis attitude control of the spacecraft, and there are:
[0060]
[0061] In the formula, I b is the three-axis inertia matrix of the spacecraft, k satp 、k sati 、k satd is the control...
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The invention discloses a closed-loop compensation method for the time-delay characteristic of the dynamic response of the control moment gyroscope, which is suitable for the field of ultra-high precision, ultra-high stability, and ultra-agile maneuvering control. During the agile maneuvering acceleration and deceleration of the spacecraft, due to the time delay in the sampling of the CMG frame angle and it remains unchanged within a control cycle, the low-speed frame angle used to calculate the steering law and distribute the control torque lags behind the actual frame angle, and then The error becomes larger during the maneuvering process, and the stabilization time becomes longer after the maneuvering is in place. To solve this problem, a closed-loop compensation method for the time-delay characteristics of the dynamic response of the control moment gyroscope is proposed, which can realize the identification and compensation of the time-delay characteristics of the control moment gyroscope on the basis of the closed-loop attitude control of the spacecraft, thereby improving the accuracy of the attitude control of the spacecraft .
Description
technical field [0001] The invention belongs to the field of spacecraft attitude control, and relates to a closed-loop compensation method for controlling the dynamic response delay characteristic of a moment gyroscope. Background technique [0002] A new generation of agile satellite platform proposed by domestic and foreign users of commercial remote sensing satellites for high-resolution, agile earth observation tasks, with three-axis attitude agile maneuvering and fast and stable control of the spacecraft. The spacecraft attitude actuator not only has the control ability to quickly maneuver at a large angle and quickly enter a stable working state, but also has the ability to maintain high attitude pointing accuracy and high stability during satellite imaging. The time-delay characteristics of the control moment gyro directly affect the agile maneuverability of the spacecraft and the attitude stability control performance after maneuvering. The main performance is: when...
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IPC IPC(8): B64G1/28B64G1/10
CPCB64G1/10B64G1/286
Inventor 关新张科备田科丰
Owner BEIJING INST OF CONTROL ENG