A high stability control method based on satellite antenna drive mechanism motion

Abstract

A high-stability control method based on the movement of a satellite antenna driving mechanism can improve the execution ability of an antenna control actuator during attitude control, make the antenna movement trajectory smooth, and reduce the interference effect of the antenna movement. The technical problem solved is to use this method to solve the attitude interference problem of the satellite antenna movement on the satellite body. Compared with the simulation results using unsmoothed planning results, it effectively avoids angular velocity oscillations in the control process, reduces the influence of motor movement, and thus improves the attitude control accuracy and the stability of the control process.

Description

Technical Field

[0001] The invention relates to a high-stability control method based on the movement of a satellite antenna driving mechanism, and belongs to the field of satellite antenna driving control. Background Art

[0002] During the in-orbit operation of high-stability imaging satellites, imaging data, satellite telemetry data, etc. are transmitted to ground stations through digital transmission antennas. Usually, the control method of remote sensing satellites for antennas is that the control subsystem calculates the antenna tracking angle and angular velocity, and sends them to the servo controller module in the digital transmission integrated management unit, and then the servo controller module calculates the rotation speed and rotation direction of the antenna drive shaft according to the target angle.

[0003] The communication cycle between the control subsystem and the data transmission integrated management unit is 0.5s. The data transmission antenna receives the antenna command angle data from the control subsystem once per communication cycle. After receiving the command angle, it directly calculates the average tracking angular velocity of this communication cycle according to "a control method for calculating the angular velocity of the tracking ground station based on the angle deviation", and drives the antenna axis to quickly reach the average tracking angular velocity within the first beat of the antenna control cycle. During the control process of the antenna system according to the above method, the tracking angular velocity and angular acceleration of the antenna suddenly change after each command is received, and the interference torque generated causes the satellite stability to decrease. Summary of the invention

[0004] The technical problem solved by the present invention is: in view of the problem in the current prior art that in the traditional antenna control method, the tracking angular velocity and angular acceleration of the antenna suddenly change after each instruction is received, causing the satellite stability to decrease, a high-stability control method based on the movement of the satellite antenna drive mechanism is proposed.

[0005] The present invention solves the above technical problems by the following technical solutions:

[0006] A high stability control method based on the motion of a satellite antenna driving mechanism, the steps are as follows:

[0007] (1) Construct the antenna driving function matrix equation;

[0008] (2) Calculate trajectory planning parameters;

[0009] (3) within a communication cycle, according to the response frequency τ Hz of the satellite antenna controller, the driving motor of the satellite antenna controller is controlled in cycles, and the control cycle of the satellite antenna controller is calculated;

[0010] (4) Calculating the driving angle, angular velocity, and angular acceleration of the control cycle of each satellite antenna controller based on the trajectory planning calculation parameters obtained in step (2);

[0011] (5) Controlling the driving motor according to the driving angle, angular velocity, and angular acceleration data of the satellite antenna controller calculated in step (4).

[0012] The antenna drive function matrix equation is specifically:

[0013]

[0014]

[0015] In the formula, α t is the target angle, α pst is the initial angle, ω αt is the target angular velocity, ω αpst is the initial angular velocity, is the angular acceleration of the previous cycle, Λt is the communication cycle, and the angular acceleration of the current communication cycle is

[0016] The trajectory planning calculation parameter parm α Specifically:

[0017] parm α =A -1 B is a 5x1 column vector.

[0018] The control cycle of the satellite antenna controller is

[0019] Where, t DTA is the control period of the satellite antenna controller.

[0020] The driving angle α of the control cycle of each satellite antenna controller DTA , angular velocity Angular acceleration The calculation method is as follows:

[0021]

[0022]

[0023]

[0024] In the formula, parm α (i), (i = 1 to 5). Calculate the parameters parm for trajectory planning α Parameters for each row.

[0025] The advantages of the present invention compared with the prior art are:

[0026] (1) The present invention provides a high-stability control method based on the movement of a satellite antenna driving mechanism, which can improve the execution capability of the antenna control actuator during the attitude control process, make the antenna movement trajectory smooth, and reduce the interference effect of the antenna movement. The technical problem solved is to use this method to solve the attitude interference problem of the satellite antenna movement on the satellite body. Compared with the simulation results using unsmoothed planning results, the method effectively avoids angular velocity oscillations during the control process, reduces the influence of motor movement, and thus improves the attitude control accuracy and the stability of the control process.

[0027] (2) The control method adopted by the present invention obtains control simulation results that are different from the simulation results of the angular acceleration being suddenly controlled after receiving the instruction in each communication cycle. The Y-axis attitude change caused by the antenna movement converges from 0.5° to 0.005° after a smooth transition within the communication cycle. At the same time, the convergence curve is smoother and the convergence process is more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the satellite antenna structure provided for the invention;

[0029] Figure 2 A schematic diagram of antenna interference torque for the non-smooth control process provided by the invention;

[0030] Figure 3 A schematic diagram of the satellite attitude change process during the antenna control process provided by the invention; DETAILED DESCRIPTION

[0031] A high-stability control method based on the movement of a satellite antenna driving mechanism improves the execution capability of the antenna control actuator during the attitude control process, makes the antenna motion trajectory smooth, reduces the interference effect of the antenna motion, and can solve the attitude interference problem of the satellite antenna motion on the satellite body. The specific process is as follows:

[0032] (1) Construct the antenna driving function matrix equation;

[0033] Among them, the antenna driving function matrix equation is specifically:

[0034]

[0035]

[0036] In the formula, α t is the target angle, α pst is the initial angle, ω αt is the target angular velocity, ω αpst is the initial angular velocity, The angular acceleration of the previous cycle, Λt is the communication cycle, and the angular acceleration of the current communication cycle is

[0037] (2) Calculate trajectory planning parameters;

[0038] Among them, trajectory planning calculation parameter parm α Specifically:

[0039] parm α =A -1 B;

[0040] (3) within a communication cycle, according to the response frequency τ Hz of the satellite antenna controller, the driving motor of the satellite antenna controller is controlled in cycles, and the control cycle of the satellite antenna controller is calculated;

[0041] Among them, the control cycle of the satellite antenna controller is

[0042] Where, t DTA is the control cycle of the satellite antenna controller;

[0043] (4) Calculating the driving angle, angular velocity, and angular acceleration of the control cycle of each satellite antenna controller based on the trajectory planning calculation parameters obtained in step (2);

[0044] Among them, the driving angle α of the control cycle of each satellite antenna controller is DTA , angular velocity Angular acceleration The calculation method is as follows:

[0045]

[0046]

[0047]

[0048] In the formula, parm α (i), (i = 1 to 5). Calculate the parameters parm for trajectory planning α Parameters of each row;

[0049] (5) Controlling the driving motor according to the driving angle, angular velocity, and angular acceleration data of the satellite antenna controller calculated in step (4).

[0050] The following is further described in conjunction with specific embodiments:

[0051] In this embodiment, the schematic diagram of the satellite antenna structure is as follows: Figure 1 As shown, the antenna interference torque of the non-smooth control process is shown as Figure 2As shown, the focus of this embodiment is to improve the control method of the satellite antenna actuator from control according to the communication cycle to: within the communication cycle, according to the response frequency of the antenna controller, smooth planning of the control quantity is performed according to the antenna control cycle, the antenna motion function matrix is ​​established and the trajectory planning motion equation is calculated. Other control methods belong to conventional motor control methods.

[0052] The specific steps are as follows:

[0053] The first step is to construct the antenna drive function matrix equation

[0054]

[0055]

[0056] α t represents the target angle, α pst represents the initial angle, ω αt represents the target angular velocity, ω αpst represents the initial angular velocity, represents the angular acceleration of the previous cycle, and Λt represents the communication cycle. The angular acceleration of this communication cycle is

[0057] The second step is to calculate the trajectory planning parameters parm α =A -1 B;

[0058] The third step is to calculate the control cycle of the satellite antenna controller. In one communication cycle, according to the response frequency τHz of the data transmission integrated management unit, the drive motor is controlled in cycles. The antenna control cycle

[0059] The fourth step is to calculate the driving angle, angular velocity and angular acceleration of each antenna control cycle, and obtain the trajectory planning calculation parameters parm according to the second step. α , get the driving angle α DTA , angular velocity Angular acceleration

[0060]

[0061]

[0062]

[0063] The fifth step is to control the antenna motor according to the angular acceleration of the antenna tracking calculated by the trajectory planning algorithm, so that the angular acceleration changes smoothly, which stabilizes the output of the antenna control torque during the antenna drive control process and improves the control performance of the system.

[0064] like Figure 3 As shown in the figure, the satellite attitude change process diagram during the antenna control process before and after using the control method of the present invention; wherein the green curve represents the change curve of the spacecraft X-axis angle, the pink curve represents the change curve of the spacecraft Y-axis angle, and the blue curve represents the change curve of the spacecraft Z-axis angle. By using the actuator of the present invention, the spacecraft attitude angular velocity parameter change curve is smoother, and the Y-axis attitude change caused by the antenna movement converges from 0.5° to 0.005°; at the same time, the convergence curve is smoother and the convergence process is more stable, thereby improving the stability of the high-precision and high-stability control process.

[0065] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0066] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A high stability control method based on the motion of a satellite antenna driving mechanism, characterized in that Here are the steps: (1) Construct the antenna driving function matrix equation; (2) Calculate trajectory planning parameters; (3) within a communication cycle, according to the response frequency τ Hz of the satellite antenna controller, the driving motor of the satellite antenna controller is controlled in cycles, and the control cycle of the satellite antenna controller is calculated; The control cycle of the satellite antenna controller is In the formula, t DTA is the control cycle of the satellite antenna controller; (4) Calculating the driving angle, angular velocity, and angular acceleration of the control cycle of each satellite antenna controller based on the trajectory planning calculation parameters obtained in step (2); (5) controlling the driving motor according to the driving angle, angular velocity, and angular acceleration data of the satellite antenna controller calculated in step (4); The antenna drive function matrix equation is specifically: In the formula, α t is the target angle, α pst is the initial angle, ω α is the target angular velocity, ω αpst is the initial angular velocity, is the angular acceleration of the previous cycle, Δt is the communication cycle, and the angular acceleration of the current communication cycle is The trajectory planning calculation parameters parm α Specifically: parm α =A -1 B is a 5x1 column vector.

2. A high stability control method based on the motion of a satellite antenna driving mechanism according to claim 1, characterized in that: The driving angle α of the control cycle of each satellite antenna controller DTA , angular velocity Angular acceleration The calculation method is as follows: In the formula, parm α (i), (i = 1 ~ 5); for trajectory planning calculation parameters parm α Parameters for each row.

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