Two-body attitude simulation method and system for magnetically suspended asymmetric rotation scanning satellite

Abstract

A two-body attitude simulation method for a magnetically suspended asymmetric rotating scanning satellite belongs to the field of aerospace technology. Aiming at a non-ideal rotating scanning rotor (payload cabin) and a satellite platform cabin, the present invention performs attitude dynamics modeling of the two-cabin system. In order to achieve high-precision attitude control of the payload cabin by leveraging the platform cabin through a magnetically suspended rotating joint, attitude control laws are designed for the magnetically suspended rotating joint and the platform cabin respectively. The effectiveness of the model is verified through the joint simulation of the dynamic system and the attitude control system, which provides a model basis for the control law design and ground simulation verification of the high-precision attitude control of subsequent satellites.

Description

Technical Field

[0001] The invention relates to a two-body attitude simulation method and system for a magnetically suspended asymmetric rotating scanning satellite, belonging to the field of aerospace technology. Background Art

[0002] Magnetic bearing is a high-performance bearing that uses magnetic field force to suspend the rotor. Because magnetic bearing has many advantages such as no friction, no wear, no lubrication, low cost, low loss, long life, etc., it can be used in a wide range of applications such as high-speed motion occasions and low-speed clean occasions.

[0003] The rotating scanning satellite realizes the intersection of the scanning trajectory and the flight trajectory through the steady-speed rotation of the payload (such as a camera, etc.) through swing scanning, circular scanning (also known as conical scanning), etc., thereby significantly expanding the scanning range of the payload. In the fast scanning imaging or splicing imaging mode of the camera and other payloads, ultra-wide imaging of thousands of kilometers can be achieved.

[0004] Applying magnetic suspension bearings to rotating scanning satellites constitutes a magnetic suspension rotating scanning imaging remote sensing satellite, which can realize ultra-wide and high-resolution imaging of remote sensing payloads. The satellite mainly consists of a platform cabin that provides energy, attitude and orbit control, thermal control and other system services, and a payload cabin that mainly consists of a rotating scanning camera and a star sensor. The dynamic and static cabins are softly connected by a magnetic suspension rotating joint, which can not only isolate the broadband disturbance of the platform cabin, but also perform secondary fine adjustment of the position and posture of the payload cabin. If the platform cabin uses a control moment gyro (CMG) for attitude control, under the condition of coordinated control of the two cabins, the pointing of payloads such as cameras can have "super" potentials such as ultra-precision, ultra-stable, ultra-quiet, ultra-wide and ultra-agile, which can create a good working environment for payload imaging. At the same time, the relative position between the stator and the rotor can be adjusted to ensure fast and effective data transmission of wireless communication. The magnetic suspension rotating scanning satellite can be used for fast, large-scale and high-resolution imaging of high-resolution payloads. It can be used for detailed ground inspections and rapid search and large-scale tracking of moving targets on the sea, land and air.

[0005] The magnetic levitation rotary joint provides precise support and rotation control for the payload cabin. Through the measurement components such as the angle (rotary transformer) and displacement (eddy current displacement sensor) of the magnetic levitation rotary joint, the platform cabin attitude measurement components, and the payload cabin attitude measurement components, the accuracy of the load cabin rotation axis pointing control is ensured, and high-precision pointing measurement data is provided for the camera optical axis, etc. Therefore, measurement feedback is performed through sensors, signal processing and control signal generation are performed through controllers, and the attitude maneuvering and maintenance of the payload cabin are achieved through the actuation of magnetic bearings.

[0006] In order to transform its "super" potential into "super" capability and ensure the ultra-wide high-resolution imaging of the magnetic levitation rotating scanning satellite, it is necessary to optimize the design of the payload pointing control and other methods, and conduct sufficient system performance test verification. However, a good high-precision control method is basically based on the object model design; and it is impossible to carry out full physical tests on the ground where gravity unloading is difficult, so system simulation will become the only means of system performance verification. It can be seen that their basis is to establish an accurate object dynamics model.

[0007] The rotating scanning satellite is a multi-body structure composed of a payload cabin and a platform cabin, and the dynamics between them are coupled through the magnetic levitation bearing in the middle. The payload cabin rotates in the orbital plane, and its dynamic characteristics are different from those of traditional spin or dual-spin stabilized satellites, traditional fixed-base magnetic levitation rotors, and magnetic levitation separated push-broom satellites. It is a combination of these dynamic characteristics. Its dynamic parameters are time-varying functions related to the attitude, and the dynamic model is a group of multi-degree-of-freedom nonlinear time-varying coupled differential equations.

[0008] For this reason, the present invention is aimed at a more general non-ideal rotating scanning satellite, where the payload cabin is a non-ideal rotor. During the rotating scanning imaging process in the orbit, the radial moment of inertia of the payload cabin in the inertial coordinate system is non-autonomous; the platform cabin is three-axis stable in the orbital system. Therefore, a two-body nonlinear non-autonomous coupling dynamic model is established for the above satellite, and the two-body attitude coordinated control and system simulation of the rotating scanning satellite are carried out. Summary of the invention

[0009] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a two-body attitude simulation method for a magnetically suspended asymmetric rotating scanning satellite, to carry out attitude dynamics modeling of the two-body system consisting of a rotating body mainly composed of a payload cabin and a non-rotating body mainly composed of a platform cabin, to design an attitude control law for the magnetically suspended rotating joint and the satellite platform, to achieve the magnetically suspended rotating joint leveraging force from the platform cabin, to carry out joint simulation of the dynamics system and the attitude control system, to achieve high-precision attitude control of the payload cabin, and to provide a model basis for the control law design and ground simulation verification of high-precision attitude control of subsequent satellites.

[0010] The technical solution of the present invention is: a two-body attitude simulation method of a magnetically suspended asymmetric rotating scanning satellite, comprising the following steps:

[0011] Step 1: Establish the control load model of the magnetic levitation rotary joint, including:

[0012] The upper and lower radial magnetic bearings are magnetic bearing M1 and magnetic bearing M2 respectively; the relationship between the force and torque generated by the rotating motor and the magnetic bearings M1 and M2 and their control current is:

[0013]

[0014] Among them, Δi mbθx Represents the driving current of the x-axis rotary motor; Δi mb1y represents the driving current in the y direction generated by the magnetic bearing M1; Δi mb2y represents the driving current in the y direction generated by the magnetic bearing M2; Δi mb1z represents the driving current in the z direction generated by the magnetic bearing M1; Δi mb2z represents the driving current in the z direction generated by the magnetic bearing M2; T mb (s) is the driving current model of the magnetic bearing and the motor, which is a diagonal matrix; s is a complex variable;

[0015] M mbx The x-axis rotating motor generates the rotating body coordinate system F ub Driving torque inside; F mb1y The magnetic bearing M1 represents the coordinate system F of the rotating body. ub The force in the y direction; F mb2y The magnetic bearing M2 represents the coordinate system F of the rotating body. ub The force in the y direction; F mb1z The magnetic bearing M1 represents the coordinate system F of the rotating body. ub The force in the z direction; F mb2z The magnetic bearing M2 represents the coordinate system F of the rotating body. ub The force in the z direction.

[0016] Step 2: Establish the attitude control torque model of the CMG of the platform cabin, including:

[0017] In the non-rotating body coordinate system, the gyroscopic torque M generated by the control torque gyro group is dc It is expressed as:

[0018]

[0019] in, is the n-dimensional frame angular velocity vector, C(δ) is the Jacobian matrix, i.e. the torque matrix of the gyro group; h is the rotor angular momentum amplitude of a single control torque gyro.

[0020] Step 3: Analyze and obtain the force exerted on the rotating body by the magnetic levitation joint, including:

[0021] In the rotating body coordinate system F ub The equivalent force and torque of the magnetic levitation revolving joint on the rotating body at the center of mass of the rotating body are as follows:

[0022]

[0023] Among them, M ubx Represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body ub The driving torque of the x-axis; M uby Represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body ub The driving torque of the y-axis; M ubz Represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body ub The driving torque of the z-axis; F uby It represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body. ub The force on the y-axis; F ubz It represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body. ub The force on the z-axis; h u1 h represents the distance from the action section of the radial magnetic bearing M1 to the center of mass of the rotating body; u2 It represents the distance from the effective section of the radial magnetic bearing M2 to the center of mass of the rotating body.

[0024] Step 4: Analyze and obtain the force exerted on the non-rotating body by the magnetic suspension joint, including:

[0025] In the non-rotating body coordinate system F db In the system, the equivalent force and torque output by the magnetically suspended rotating joint on the center of mass of the non-rotating body is:

[0026]

[0027] Among them, h d1 h represents the distance from the action section of the radial magnetic bearing M1 to the center of mass of the non-rotating body; d2 h represents the distance from the action section of the radial magnetic bearing M2 to the center of mass of the non-rotating body; d1 =h dc +h c ,h d2 =h dc ;h dc represents the distance between the radial magnetic bearing M2 and the center of mass of the non-rotating body;

[0028] M dox It represents the equivalent orbital coordinate system F generated by the rotating motor around the non-rotating body at the center of mass of the non-rotating body. do The reaction driving torque of the x-axis; M doy It represents the equivalent orbital coordinate system F around the non-rotating body at the center of mass of the non-rotating body generated by the two magnetic bearings. do The reaction driving torque of the y-axis; M dozIt represents the equivalent orbital coordinate system F around the non-rotating body at the center of mass of the non-rotating body generated by the two magnetic bearings. do The reaction driving torque of the z-axis; F doy It represents the equivalent of the two magnetic bearings to the non-rotating body's center of mass along the non-rotating body's orbital coordinate system F do The reaction force on the y-axis; F doz It represents the equivalent of the two magnetic bearings to the non-rotating body's center of mass along the non-rotating body's orbital coordinate system F do The reaction force on the z-axis;

[0029] Among them, the force and torque of the magnetic suspension joint are from the body coordinate system F ub To orbital coordinate system F uo The coordinates are converted to:

[0030]

[0031] Among them, R uobx (-ω ux t) is the coordinate system F ub To orbital coordinate system F uo The transformation matrix of ux is the orbital coordinate system F of the rotating body uo The angular velocity of the x-axis; t is the time;

[0032] M uox The orbital coordinate system F of the rotating electrical machine is uo The driving torque of the x-axis; F uo1y It represents the coordinate system F along the rotating body orbit generated by the magnetic bearing M1 uo The force in the y direction; F uo2y The magnetic bearing M2 represents the coordinate system F along the rotating body orbit uo The force in the y direction; F uo1z It represents the coordinate system F along the rotating body orbit generated by the magnetic bearing M1 uo The z-direction force; F uo2z The magnetic bearing M2 represents the coordinate system F along the rotating body orbit uo The force in the z direction.

[0033] Step 5: Establish the rotational dynamics model of the rotating body according to the Euler equation, including:

[0034]

[0035] Among them, the rotation body coordinate system F ub Connected to the rotating body;

[0036] Nominal rotating coordinate system F uc The nominal angular velocity ω when the rotating body is working stablyuci0 =[ω ucix0 ω uciy0 ω uciz0 ] T Rotation, where ω ucix0 ,ω uciy0 ,ω uciz0 Respectively represent ω uci0 In the rotating body nominal rotating coordinate system F uc The three-axis components below;

[0037] Rotating body coordinate system F ub Nominal rotation coordinate system F for the rotating body uc The angular displacement θ ubc =[θ ubcx θ ubcy θ ubcz ] T is an infinitesimal quantity, θ ubcx ,θ ubcy ,θ ubcz Respectively represent θ ubc In the rotating body coordinate system F ub The three-axis components below, is the angular velocity error of the rotating body;

[0038] Then the rotating body coordinate system F ub For inertial frame F i The angular velocity vector is: ω ubi ;M ubi represents the external torque applied to the rotating body, t represents time; represents the nominal angular velocity parameter matrix;

[0039] I ub is the rotating body in the rotating body coordinate system F ub The inertia matrix inside;

[0040] Disturbance torque ΔM caused by nominal angular velocity ubq as follows:

[0041]

[0042] Step 6: Establish the posture dynamics model of the non-rotating body according to the Euler equation, including:

[0043]

[0044] Among them, I d0 is the moment of inertia matrix of the non-rotating body; I dwx0 ,I dwy0 are the components of the moment of inertia of the angular momentum compensation flywheel about the corresponding coordinate axis on the x and y axes of the non-rotating body system; ω dwx ,ωdwy are the components of the angular velocity of the angular momentum compensation flywheel in the orbital coordinate system on the x and y axes. dx ,M dy ,M dz They are respectively the components of the attitude control torque output by the platform cabin CMG on the x-axis and y-axis of the non-rotating body system.

[0045] Step 7: Formulate the platform cabin attitude control law, including:

[0046] The rotating body coordinate system F ub Relative to the nominal rotation coordinate system F uc The posture is:

[0047]

[0048] Among them, (θ ubix θ ubiy θ ubiz ) T The attitude measured by the attitude sensor on the rotating body;

[0049] The feedback control law for stabilizing the attitude of the platform cabin using CMG is as follows:

[0050]

[0051] Among them, M dc K is the control torque expected to be output by the CMG of the platform cabin; d (s) is the closed-loop feedback control law; θ dx0 is the reference control quantity of the platform cabin in the x-axis direction.

[0052] Step 8: Formulate the rotation body attitude control law, including:

[0053] Disturbance torque ΔM on the load compartment ub Feedforward control is performed, and feedback control is performed based on the attitude error, and the control law is as follows:

[0054]

[0055] Among them, K ubf (s) is the closed-loop feedback control law; ΔM ubf The feedback control torque that the load compartment expects the magnetic levitation joint to output;

[0056] The relationship between the torque and the attitude angle is obtained as follows:

[0057]

[0058] Step 9: Formulate the control law of the payload cabin actuator, including:

[0059] The force and torque distribution equations of the magnetic bearing and the motor are:

[0060]

[0061] Step 10: Formulate the operating law of the platform cabin actuator, including:

[0062] Control system According to the configuration of SGCMG group, the attitude control torque distribution equation of platform cabin CMG is as follows:

[0063]

[0064] in, is the frame angular velocity vector, Q is the positive definite symmetric weighting matrix;

[0065] Step 11: Performing attitude simulation of a magnetically suspended asymmetric rotating scanning satellite, including:

[0066] Carry out rotational scanning imaging of the payload cabin, use simulation software to build the block diagram of the two-body attitude dynamics and control system of the magnetic levitation asymmetric rotation scanning satellite, and use the models and control laws of steps one to ten to carry out joint simulation of the two-body attitude dynamics and control system of the magnetic levitation asymmetric rotation scanning satellite.

[0067] The simulation system according to the two-body attitude simulation method of the magnetically suspended asymmetric rotating scanning satellite comprises:

[0068] The first module is used to establish the control load model of the magnetic levitation rotary joint and the attitude control torque model of the CMG of the platform cabin;

[0069] The second module is used to analyze and obtain the force exerted by the magnetic levitation joint on the rotating body, and to analyze and obtain the force exerted by the magnetic levitation joint on the non-rotating body;

[0070] The third module is used to establish a rotational dynamics model of a rotating body according to the Euler equation, and to establish a posture dynamics model of a non-rotating body according to the Euler equation;

[0071] The fourth module is used to formulate the platform cabin attitude control law, the rotating body attitude control law, the payload cabin actuator control law, and the platform cabin actuator control law;

[0072] The fifth module is to simulate the attitude of the magnetically suspended asymmetric rotating scanning satellite;

[0073] The method of performing the magnetic suspension asymmetric rotation scanning satellite attitude simulation includes:

[0074] Carry out rotational scanning imaging of the payload cabin, use simulation software to build the two-body attitude dynamics and control system block diagram of the magnetic levitation asymmetric rotation scanning satellite, and use the models, control laws and manipulation laws in the first to fourth modules to carry out joint simulation of the two-body attitude dynamics and control system of the magnetic levitation asymmetric rotation scanning satellite.

[0075] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a two-body attitude simulation method of a magnetically suspended asymmetric rotating scanning satellite are implemented.

[0076] A two-body attitude simulation device for a magnetically suspended asymmetric rotating scanning satellite comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, steps of a two-body attitude simulation method for the magnetically suspended asymmetric rotating scanning satellite are implemented.

[0077] The advantages of the present invention compared with the prior art are:

[0078] (1) Most existing satellites are integrated structures of payload and platform, or separated satellites and other structures where each cabin has no relative rotational motion. They will not generate large interference torque due to rapid rotation. The rotational inertia of mechanically supported rotating scanning payloads is generally small, and they are basically trimmed and dynamically balanced, so the interference torque generated is small. Moreover, in the past, radar-type payloads were mainly used for rotating scanning, which had low requirements for attitude accuracy and stability. Therefore, the small interference torque can be compensated to a certain extent by the on-board attitude actuator, and the reduction in the accuracy and stability of the payload attitude caused by its residual interference is ignored; the two-cabin rotating scanning satellite with a magnetic suspension rotating joint soft connection involved in the present invention is mainly used for rotating scanning and high-resolution imaging of high-resolution optical remote sensing satellites. Any disturbance of attitude will have a great impact on optical imaging. Therefore, the present invention mainly overcomes the large interference torque generated by rapid rotation to achieve precise and stable attitude control of the payload cabin.

[0079] (2) For satellites with integrated payload and platform, the attitude control of the payload is directly performed through the attitude control system of the platform cabin, and the two-cabin rotating scanning satellite with a soft connection of a magnetic levitation rotating joint involved in the present invention is the first. In the process of continuous rotation, the inertia of the rotating body with different rotational inertia of each axis described in the present invention changes with time, which is a nonlinear function of attitude, which does not need to be involved in previous satellites. In addition, the present invention performs two-body system dynamics modeling for the rotating body and the non-rotating body in the magnetic levitation rotating scanning satellite, and realizes the attitude control of the payload cabin by borrowing force from the platform cabin through the magnetic levitation rotating joint, and the torque of the magnetic levitation attitude control will directly act on the platform cabin, affecting the attitude stability of the platform cabin. Therefore, the collaborative attitude control based on the magnetic levitation joint and the platform cabin of the present invention is also the first time, and therefore has certain innovation. The present invention provides a model basis for the design of high-precision attitude control laws, and also provides a model basis for ground system simulation, laying a theoretical and engineering foundation for model development.

[0080] (3) The two-body attitude simulation of a magnetically suspended asymmetric rotating scanning satellite described in the present invention accurately establishes the dynamic model of the magnetically suspended rotating scanning satellite, and carries out the joint simulation of the control system and the dynamic system, which can be directly applied to model development, especially for the design of high-precision satellite attitude control laws. And because the thrust of the magnetic bearings in this type of magnetically suspended rotating scanning satellite is relatively small, it is difficult to suspend under the action of ground gravity, and therefore ground tests cannot be carried out. This model can simulate the attitude of the system with high precision and verify the implementation of the control law, etc. No additional hardware equipment is required, and it can be directly integrated into the controller at almost no cost; it can be seen that the present invention has direct engineering application value. It provides a basis for realizing ultra-precise, ultra-stable, ultra-quiet, and ultra-wide pointing control of the payload cabin, and also provides a model basis for ground simulation and ground tests. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 A simplified model of the magnetic levitation rotating scanning satellite system in the present invention;

[0082] Figure 2 It is the technical roadmap of the two-body system posture simulation method in the present invention;

[0083] Figure 3 The simplified model, coordinate system and parameters of the two-body satellite in the present invention;

[0084] Figure 4 This is an attitude control simulation example of the magnetically levitated rotating scanning satellite in the present invention. DETAILED DESCRIPTION

[0085] In order to better understand the above technical scheme, the technical scheme of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0086] The following is a further description of a two-body attitude simulation method for a magnetically suspended asymmetric rotating scanning satellite provided in an embodiment of the present application in conjunction with the accompanying drawings of the specification.

[0087] The present invention intends to establish a 3-DOF attitude dynamics model for a rotating body and a 3-DOF attitude coupled nonlinear dynamics equation for a non-rotating body. Based on the attitude measured by the payload cabin and the platform cabin and the relative position of the stator and rotor measured by the sensor, the attitude of the magnetic suspension rotating joint and the payload cabin is controlled, and the attitude simulation of the two bodies is performed according to the structural parameters of the satellite. The simplified structural model of the rotating scanning satellite is shown in Figure 1 shown.

[0088] The flowchart of the two-body posture simulation method provided by the present invention is as follows: Figure 2 As shown, the steps of the two-body two-body attitude simulation method of the magnetic levitation rotating scanning payload cabin are as follows:

[0089] (1) Establishment of the coordinate system of the two-body system

[0090] If the rotor and payload cabin of the magnetic levitation rotary joint are regarded as rigid bodies, they constitute a rotating body (or collectively referred to as a payload cabin); the stator and platform cabin of the magnetic levitation rotary joint constitute a non-rotating body (or collectively referred to as a platform cabin). The coordinate system and related parameters of the magnetic levitation rotary scanning satellite are as follows: Figure 3 shown.

[0091]

[0092]

[0093] (2) Actuator attitude control torque modeling

[0094] 1) Establish the control load model of the magnetic levitation rotary joint:

[0095] Figure 3 In the figure, the upper radial magnetic bearing is M1 and the lower radial magnetic bearing is M2. The relationship between the force and torque generated by the rotating motor and the magnetic bearings M1 and M2 and their control current is:

[0096]

[0097] Among them, Δi mbθx Represents the driving current of the x-axis rotary motor;

[0098] Δi mb1y represents the driving current in the y direction generated by the magnetic bearing M1;

[0099] Δi mb2y represents the driving current in the y direction generated by the magnetic bearing M2;

[0100] Δi mb1z represents the driving current in the z direction generated by the magnetic bearing M1;

[0101] Δi mb2z represents the driving current in the z direction generated by the magnetic bearing M2;

[0102] T mb (s) is the driving current model of the magnetic bearing and the motor, which is a diagonal matrix. s is a complex variable.

[0103] M mbx The x-axis rotating motor generates the rotating body coordinate system F ub Internal driving torque;

[0104] F mb1y The magnetic bearing M1 represents the coordinate system F of the rotating body. ub The force in the y direction;

[0105] F mb2y The magnetic bearing M2 represents the coordinate system F of the rotating body. ub The force in the y direction;

[0106] F mb1z The magnetic bearing M1 represents the coordinate system F of the rotating body. ub The z-direction force;

[0107] F mb2z The magnetic bearing M2 represents the coordinate system F of the rotating body. ub The force in the z direction.

[0108] 2) Establish the attitude control torque model of the CMG of the platform cabin:

[0109] The payload cabin has no large-scale attitude control capability and can only use the magnetic levitation rotary joint to borrow force from the platform cabin to achieve large-scale rapid attitude maneuvers of payloads such as cameras; the platform cabin can perform attitude control through flywheels or control torque gyroscopes (CMGs for short), but the attitude control torque output by the flywheel group is small, which limits the attitude maneuverability of the satellite platform; and the CMG drives the direction of the rotor's angular momentum vector to change through frame rotation, outputs a large gyroscopic torque, and can achieve rapid attitude maneuvers of the satellite platform. The angular momentum of the single-frame control torque gyro (SGCMG for short) is in the non-rotating body coordinate system F db It can be expressed as:

[0110] h si =(a i sinδ i +b i cosδ i )h bi (2)

[0111] Among them, h bi is the angular momentum amplitude of the i-th SGCMG;

[0112] a i 、b i is the column vector of the installation parameters of the SGCMG, which correspond to the unit vector of the angular momentum of the i-th SGCMG rotor when the frame angle is 90° and 0°, respectively.

[0113] For a group containing n-SGCMGs (number n ≥ 3), the total angular momentum of the SGCMG group is:

[0114]

[0115] Among them, h si is the angular momentum of the i-th SGCMG, i = 1, ..., n, δ i is its frame angle. If the angular momentum of each product in the n-SGCMG group is equal, it is h b , then the total angular momentum of the n-SGCMG group is:

[0116] H s =Asinδh b E+Bcosδh b E (4)

[0117] Among them, the n-dimensional vector E n×1 =[1,1,…,1] T ; Sine diagonal matrix of frame angle: sinδ=diag[sinδ1 …sinδ n ]; Cosine diagonal matrix of frame angle: cosδ=diag[cosδ1 … cosδ n ]. Installation matrix A = [a1 … a n ]; B = [b1 … b n ] depends on the configuration of n-SGCMG.

[0118] In the non-rotating body coordinate system, the gyroscopic torque M generated by the control torque gyro group is dc It is expressed as:

[0119]

[0120] This formula is the torque equation of the control torque gyro group. is the n-dimensional frame angular velocity vector, C(δ) is the Jacobian matrix, that is, the torque matrix of the gyroscope group, and its mathematical form is:

[0121] C(δ)=Acosδ-Bsinδ (6)

[0122] The angular momentum envelope and torque envelope of the n-SGCMG group are designed according to factors such as the characteristics of the interference to the satellite and its agility requirements, and the configuration of the n-SGCMG group is designed, which can refer to the commonly used regular pentagonal pyramid configuration.

[0123] (3) Analyze and obtain the force exerted on the rotating body by the magnetic levitation joint

[0124] h u1 h represents the distance from the action section of the radial magnetic bearing M1 to the center of mass of the rotating body; u2 Represents the distance from the action section of the radial magnetic bearing M2 to the center of mass of the rotating body; they are as follows:

[0125] h u1 =h uc ,h u2 =h uc +h c (7)

[0126] Among them, h c Represents the axial span between the two magnetic bearings M1 and M2.

[0127] h uc Represents the distance between the radial magnetic bearing M1 and the center of mass of the rotating body.

[0128] In the rotating body coordinate system F ub The equivalent force and torque of the magnetic levitation revolving joint on the rotating body at the center of mass of the rotating body are as follows:

[0129] It is expressed as:

[0130] Among them, M ubx Represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body ub The driving torque of the x-axis;

[0131] M uby Represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body ub The driving torque of the y-axis;

[0132] M ubz Represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body ub The driving torque of the z-axis;

[0133] F uby It represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body. ub The force on the y-axis;

[0134] F ubz It represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body. ub (4) The force on the non-rotating body by the magnetic levitation joint is obtained by analysis.

[0135] The force and torque of the magnetic suspension joint are calculated from the body coordinate system F ub To orbital coordinate system F uo The coordinates are converted to:

[0136]

[0137] in, From the body coordinate system F ub To orbital coordinate system F uo The transformation matrix of ux is the orbital coordinate system F of the rotating body uo The angular velocity of rotation along the x-axis; t is the time.

[0138] M uox The orbital coordinate system F of the rotating electrical machine is uo The driving torque of the x-axis;

[0139] F uo1y It represents the coordinate system F along the rotating body orbit generated by the magnetic bearing M1 uo The force in the y direction;

[0140] F uo2y The magnetic bearing M2 represents the coordinate system F along the rotating body orbit uo The force in the y direction;

[0141] F uo1z It represents the coordinate system F along the rotating body orbit generated by the magnetic bearing M1 uo The z-direction force;

[0142] F uo2z The magnetic bearing M2 represents the coordinate system F along the rotating body orbit uo The force in the z direction.

[0143] according to Figure 3 The distance h from the effective cross section of the radial magnetic bearing M1 to the center of mass of the non-rotating body is d1 The distance h from the action section of the radial magnetic bearing M2 to the center of mass of the non-rotating body d2 They are as follows:

[0144] h d1 =h dc +h c ,h d2 =h dc (10)

[0145] Among them, h dc It represents the distance between the radial magnetic bearing M2 and the center of mass of the non-rotating body.

[0146] In addition to the attitude control torque of the SGCMG as shown in equation (5), the non-rotating body will also be affected by the reaction of the magnetic suspension rotating joint. db In the system, the equivalent force and torque output by the magnetically suspended rotating joint on the center of mass of the non-rotating body is:

[0147] It is expressed as:

[0148] Among them, M dox It represents the equivalent orbital coordinate system F generated by the rotating motor around the non-rotating body at the center of mass of the non-rotating body. do The reaction driving torque of the x-axis;

[0149] M doy It represents the equivalent orbital coordinate system F around the non-rotating body at the center of mass of the non-rotating body generated by the two magnetic bearings. do The reaction driving torque of the y-axis;

[0150] M doz It represents the equivalent orbital coordinate system F around the non-rotating body at the center of mass of the non-rotating body generated by the two magnetic bearings. do The reaction driving torque of the z-axis;

[0151] F doy It represents the equivalent of the two magnetic bearings to the non-rotating body's center of mass along the non-rotating body's orbital coordinate system F do The reaction force on the y-axis;

[0152] F doz It represents the equivalent of the two magnetic bearings to the non-rotating body's center of mass along the non-rotating body's orbital coordinate system F do The reaction force on the z-axis.

[0153] (5) Establish the rotational dynamics model of the rotating body based on the Euler equation

[0154] The rotating body is in the rotating body coordinate system F ub The inertia matrix inside is:

[0155]

[0156] Among them, the main diagonal element Iubxx ,I ubyy ,I ubzz is the moment of inertia of the rotating body about the corresponding coordinate axis; the non-main diagonal element I ubxy ,I ubyx ,I ubxz ,I ubzx ,I ubyz ,I ubzy is the moment of inertia of the rotating body about the corresponding coordinate axis.

[0157] Rotating body coordinate system F ub The rotating body is fixedly connected to the rotating body; and the rotating body is nominally rotated in the coordinate system F uc The nominal angular velocity ω when the rotating body is working stably uci0 =[ω ucix0 ω uciy0 ω uciz0 ] T Rotation (ω ucix0 ,ω uciy0 ,ω uciz0 Respectively represent ω uci0 The three-axis components of F uc Relative to the inertial coordinate system F i With constant angular velocity ω uci0 If F ub F uc The angular displacement is the small rotation angle θ ubc =[θ ubcx θ ubcy θ ubcz ] T ,θ ubcx ,θ ubcy ,θ ubcz Respectively represent θ ubc The three-axis components of is the angular velocity error of the rotating body. By first-order approximation: Among them, E is the third-order unit matrix, then F ub F i The angular velocity vector is:

[0158]

[0159] Among them, the angular deviation matrix: Transformation matrix: Then the angular velocity vector can be expanded into matrix form:

[0160]

[0161] Among them, the nominal angular velocity parameter matrix Then the angular velocity ω ubi The derivative of is:

[0162]

[0163] The angular momentum of the rotating body is:

[0164]

[0165] If the external torque applied to the rotating body is assumed to be M ubi (including interference torque and attitude control torque of magnetic bearings and motors), write the rotational dynamics model of the rotating body according to the Euler equation:

[0166]

[0167] Among them, M ubi represents the external torque applied to the rotating body; t represents time; represents the angular velocity parameter matrix, and Transform the above formula into:

[0168]

[0169] Combining equation (14) and equation (15), equation (18) can be expanded as follows:

[0170]

[0171] Obviously, The angle θ is included in ubc =[θ ubcx θ ubcy θ ubcz ] T Information, so the above formula is a matrix function of the attitude angle, which is a nonlinear differential equation, so it can be solved numerically. Obviously, if the nominal angular velocity in equation (19) is separated, it can be used as the interference torque caused by the nominal angular velocity:

[0172]

[0173] These nominal angular velocities are the working angular velocities designed for satellite attitude control and are known quantities, so the disturbance torque of the rotating body can be estimated from them. During attitude control, these disturbance torques are feedforward compensated and the residual small disturbance is controlled, thereby improving the control accuracy and response speed.

[0174] (6) Establish the posture dynamics model of non-rotating body based on Euler equation

[0175] For non-rotating bodies, since the orbital angular velocity is low, the moment of inertia matrix I of the non-rotating body is d0 In the short time of attitude control, in the non-rotating body coordinate system F db , non-rotating orbital coordinate system F doand the inertial coordinate system F i are almost the same, i.e. Among them, the main diagonal element I dxx0 ,I dyy0 ,I dzz0 is the moment of inertia of the non-rotating body about the corresponding coordinate axis; rather than the main diagonal element I dxy0 ,I dyx0 ,I dxz0 ,I dzx0 ,I dyz0 ,I dzy0 is the moment of inertia of the non-rotating body about the corresponding coordinate axis.

[0176] From this we can see that And write the dynamic model of non-rotating body according to Euler equation:

[0177]

[0178] Among them, ω d is the angular velocity of the platform cabin, M d Represents the external torque applied to the non-rotating body. Since the rotor of the angular momentum compensation flywheel in the non-rotating body is to compensate the angular momentum of the rotating body; for the convenience of analysis, it is assumed that it is arranged at the center of mass of the non-rotating body, and its x-axis is parallel to the axis of rotation of the rotating body, then the radial speed of the rotor is equal to the angular velocity of the non-rotating body. Assume that the rotor moment of inertia of the angular momentum compensation flywheel in the non-rotating body is (I dwx0 ,I dwy0 ,I dwz0 ), the angular momentum compensates the rotor's moment of inertia of the flywheel and will participate in the flywheel rotation and orbital angular velocity rotation; the remaining moment of inertia is (I dxx0 -I dwx0 ,I dyy0 -I dwy0 ,I dzz0 -I dwz0 ).

[0179] Assume that the angular velocity of the part that only participates in the rotation of the orbital angular velocity is Then its parameter matrix is Its angular momentum is Then ω d0 ×H d0 =0.

[0180] If the angular velocity of the angular momentum compensation flywheel in the non-rotating body is: dwx , then its angular velocity is: The parameter matrix is Angular momentum compensation Rotor angular momentum but From this we can get:

[0181]

[0182] The attitude dynamics equation of the system can be established as:

[0183]

[0184] θ dx ,θ dy ,θ dz are the three-axis attitude angles of the platform cabin respectively;

[0185] Further arrangement can be approximated to:

[0186]

[0187] (7) Formulate the platform cabin attitude control law

[0188] According to (13), we can get the rotation of the body from the nominal rotating coordinate system F uc To the inertial coordinate system F i The posture is:

[0189]

[0190] Then the rotation body coordinate system F ub Relative to the nominal rotation coordinate system F uc The posture is:

[0191]

[0192] Among them, (θ ubix θ ubiy θ ubiz ) T The attitude measured by attitude sensors such as star sensors on the rotating body.

[0193] Since the orbital angular velocity of the two cabins is the same, CMG can be used to stably control the attitude of the platform cabin.

[0194]

[0195] Among them, K d (s) is the closed-loop feedback control law; M dc M is the control torque expected to be output by the platform cabin CMG; dx ,M dy ,M dz They are the components of the attitude control torque output by the platform cabin CMG on the x and y axes of the non-rotating body system. dx0is the reference control quantity of the platform cabin in its x-axis direction. The radial attitude deviation between the two cabins is used to realize the coordinated attitude control of the two cabins with the payload cabin as the main one, that is, the payload cabin uses the absolute attitude measured by the star sensor and gyroscope on it to perform active control, while the platform cabin performs follow-up control according to the measured radial relative attitude relative to the payload cabin, so as to realize the absolute pointing control of the payload cabin and the pointing control of the platform cabin tracking the payload cabin. The control law can select PID control, adaptive control, optimal control, intelligent control and other methods according to the model requirements, and design the corresponding control law.

[0196] (8) Formulate the attitude control law of the rotating body

[0197] Disturbance torque ΔM on the load compartment ub Perform feedforward control. And perform feedback control based on the attitude error:

[0198]

[0199] Among them, K ubf (s) is the closed-loop feedback control law. From this, the relationship between torque and attitude angle can be obtained as follows:

[0200]

[0201] The control torque generated by the magnetic bearings and motors in the magnetic levitation joint can realize the attitude control of the payload cabin. (9) Formulate the control law of the rotating body actuator

[0202] Since the present invention does not control the translation of the rotating body but only controls the posture, the radial force of the radial magnetic bearing on the center of mass of the rotating body is set to zero, that is, And order but

[0203]

[0204] Then the attitude control torque on the rotating body can be expressed in the rotating body system as follows:

[0205]

[0206] Written in matrix form: Among them, the installation matrix of radial magnetic bearings From this we can solve: Right now,

[0207]

[0208] From this we can solve: So the moment distribution matrix:

[0209]

[0210] Equation (32) can be used to realize the mutual conversion between the force and torque equivalent to the center of mass in the orbital system and the output of the magnetic bearing in this system. Combining the force and torque equations (1) of the rotating body, we can obtain:

[0211]

[0212] The above formula is the force and torque distribution equation of the magnetic bearing and motor in the payload cabin.

[0213] (10) Formulate the operating rules of the platform cabin actuator

[0214] The control system distributes the required control momentum to each SGCMG according to the configuration of the SGCMG group to realize a given control law. This is the problem of selecting the distribution matrix. Different constraints and index requirements lead to different torque distribution methods for the SGCMG group. This embodiment will not be described one by one. Only the most basic control law method: Penrose-Moore (MP) pseudo-inverse control law is briefly described.

[0215] The MP pseudo-inverse control law is the basis of most local control laws. Compared with various local control laws developed based on it, it does not consider the problem of singularity, is easy to enter a singular state, and cannot escape. However, thanks to its advantages of simplest calculation and least control energy consumption, the pseudo-inverse control law can be used in conjunction with some global methods that can better solve singular problems. The performance indicators are defined as follows:

[0216]

[0217] In the formula, is the frame angular velocity vector, and Q is a positive definite symmetric weighted matrix. This performance index indicates that the energy consumed by the control moment gyro group during the frame angle change is minimized. Considering the frame motion constraint, using the Lagrange multiplier λ, The optimal problem under constraints is transformed into the extreme value problem of the following indicator function:

[0218]

[0219] Where C is the moment matrix, M dc is also the desired output torque vector. And λ to obtain partial derivatives:

[0220]

[0221] Rearranging formula (36) yields:

[0222] λ=(h 2 C(δ)Q -1 C T (δ)-1 M dc (37)

[0223] Substituting λ into (36) again, we can obtain the following MP inverse control law:

[0224]

[0225] Further combining formula (26) can obtain the attitude control torque distribution equation of the platform cabin CMG:

[0226]

[0227] Realize the use of relative attitude deviation to follow. From the design process of the above control law, the design of CMG control law is essentially to The inverse process, based on the knowledge of the formula and matrix, shows that the non-homogeneous solution of the equation consists of a special solution and a set of homogeneous solutions, namely:

[0228]

[0229] In the formula is a special solution of the torque equation, which can effectively output the torque. is the homogeneous solution of the torque equation. This solution is the idling command generated by zero motion that cannot output torque, and k is the idling coefficient.

[0230] (11) Conducting attitude simulation of magnetically suspended asymmetric rotating scanning satellite

[0231] Carry out rotational scanning imaging of the payload cabin, use simulation software to build a block diagram of the two-body attitude dynamics and control system of the magnetic levitation asymmetric rotation scanning satellite, and use the model, control law and manipulation law in steps (2) to (10) to perform a joint simulation of the two-body attitude dynamics and control system of the magnetic levitation asymmetric rotation scanning satellite.

[0232] The payload cabin rotation scanning imaging mainly includes vertical track scanning, circular scanning (or cone scanning) and along-track scanning (spinning satellite scanning mode). The present invention takes the first vertical track scanning as an example for simulation analysis. The payload cabin rotates around the x-axis in the flight direction. Given that the payload cabin is relative to the nominal rotating coordinate system F of the rotating body uc The attitude control of the platform cabin is carried out in the orbital system, and the attitude tracking of the payload cabin is performed. For the payload in any rotation scanning cycle (with the zero phase in one cycle as the timing starting point, i.e., zero time), the change of the attitude caused by orbital rotation in the inertial system is very small (rotation scanning cycle < 1% orbital cycle).

[0233] When the payload cabin is subjected to various interference torques and dynamic unbalance, the attitude coordination control strategy based on the payload cabin is adopted. The magnetic levitation rotary joint controller K u (s) PID control is initially adopted, and the initial value of the control parameter is: k P =500; k D =10. At the same time, the platform cabin attitude controller also uses PID control, and Simulink is used to simulate the dynamics and control system of the two cabin systems. The simulation results are as follows Figure 4 shown.

[0234] The dynamic model established by the present invention is a reference for the satellite, including the payload cabin pointing control based on the magnetic levitation rotary joint and the platform cabin attitude follow-up control, and is also the basis for the ground system dynamics simulation; through the coordinated control of the magnetic levitation rotary joint and the platform cabin attitude, high-precision attitude control of the two cabins is achieved, and the payload cabin pointing control is achieved, providing a basis for the ultra-precise, ultra-stable, ultra-quiet, ultra-wide and ultra-agile pointing control of the payload cabin.

[0235] The simulation system according to the two-body attitude simulation method of the magnetically suspended asymmetric rotating scanning satellite comprises:

[0236] The first module is used to establish the control load model of the magnetic levitation rotary joint and the attitude control torque model of the CMG of the platform cabin;

[0237] The second module is used to analyze and obtain the force exerted by the magnetic levitation joint on the rotating body, and to analyze and obtain the force exerted by the magnetic levitation joint on the non-rotating body;

[0238] The third module is used to establish a rotational dynamics model of a rotating body according to the Euler equation, and to establish a posture dynamics model of a non-rotating body according to the Euler equation;

[0239] The fourth module is used to formulate the platform cabin attitude control law, the rotating body attitude control law, the payload cabin actuator control law, and the platform cabin actuator control law;

[0240] The fifth module is to simulate the attitude of the magnetically suspended asymmetric rotating scanning satellite;

[0241] The method of performing the magnetic suspension asymmetric rotation scanning satellite attitude simulation includes:

[0242] Carry out rotational scanning imaging of the payload cabin, use simulation software to build the two-body attitude dynamics and control system block diagram of the magnetic levitation asymmetric rotation scanning satellite, and use the models, control laws and manipulation laws in the first to fourth modules to carry out joint simulation of the two-body attitude dynamics and control system of the magnetic levitation asymmetric rotation scanning satellite.

[0243] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a two-body attitude simulation method of a magnetically suspended asymmetric rotating scanning satellite are implemented.

[0244] A magnetically suspended two-body attitude simulation device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a two-body attitude simulation method of a magnetically suspended asymmetric rotating scanning satellite are implemented.

[0245] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0246] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0247] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0248] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1The steps for the functions specified in one or more boxes.

[0249] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0250] 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 two-body attitude simulation method for a magnetically suspended asymmetric rotating scanning satellite, characterized in that: include: S1. Establish a control load model for the magnetic levitation rotary joint; S2. Establish the attitude control torque model of the CMG of the platform cabin; S3. Analyze and obtain the force exerted on the rotating body by the magnetic suspension joint; S4. Analyze and obtain the force exerted on the non-rotating body by the magnetic suspension joint; S5. Establish the rotational dynamics model of the rotating body according to the Euler equation; S6. Establish the posture dynamics model of non-rotating body according to Euler equation; S7. Formulate the platform cabin attitude control law; S8. Formulate the control law for the attitude of the rotating body; S9. Formulate the control law of the actuator of the payload compartment; S10. Formulate the operating law of the platform cabin actuator; S11, performing attitude simulation of a magnetically suspended asymmetric rotating scanning satellite; Wherein: the establishment of a control load model for a magnetically suspended rotary joint includes: The upper and lower radial magnetic bearings are magnetic bearing M1 and magnetic bearing M2 respectively; the relationship between the force and torque generated by the rotating motor and the magnetic bearings M1 and M2 and their control current is: Among them, Δi mbθx Represents the driving current of the x-axis rotary motor; Δi mb1y represents the driving current in the y direction generated by the magnetic bearing M1; Δi mb2y represents the driving current in the y direction generated by the magnetic bearing M2; Δi mb1z represents the driving current in the z direction generated by the magnetic bearing M1; Δi mb2z represents the driving current in the z direction generated by the magnetic bearing M2; T mb (s) is the driving current model of the magnetic bearing and the motor, which is a diagonal matrix; s is a complex variable; M mbx The x-axis rotating motor generates the rotating body coordinate system F ub Driving torque inside; F mb1y The magnetic bearing M1 represents the coordinate system F of the rotating body. ub The force in the y direction; F mb2y The magnetic bearing M2 represents the coordinate system F of the rotating body. ub The force in the y direction; F mb1z The magnetic bearing M1 represents the coordinate system F of the rotating body. ub The force in the z direction; F mb2z The magnetic bearing M2 represents the coordinate system F of the rotating body. ub The force in the z direction; The method of establishing the attitude control torque model of the control torque gyro of the platform cabin comprises: In the non-rotating body coordinate system, the gyroscopic torque M generated by the control torque gyro group is dc It is expressed as: in, is the n-dimensional frame angular velocity vector, C(δ) is the Jacobian matrix, i.e., the torque matrix of the gyro group; h is the rotor angular momentum amplitude of a single control torque gyro; The analysis obtains the force exerted on the rotating body by the magnetic levitation joint, including: In the rotating body coordinate system F ub The equivalent force and torque of the magnetic levitation revolving joint on the rotating body at the center of mass of the rotating body are as follows: Among them, M ubx Represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body ub The driving torque of the x-axis; M uby Represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body ub The driving torque of the y-axis; M ubz Represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body ub The driving torque of the z-axis; F uby It represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body. ub The force on the y-axis; F ubz It represents the coordinate system F of the rotating body equivalent to the center of mass of the rotating body. ub The force on the z-axis; h u1 h represents the distance from the action section of the radial magnetic bearing M1 to the center of mass of the rotating body; u2 It represents the distance from the action section of the radial magnetic bearing M2 to the center of mass of the rotating body; The analysis shows that the forces acting on the non-rotating body by the magnetic suspension joint include: In the non-rotating body coordinate system F db In the system, the equivalent force and torque output by the magnetically suspended rotating joint on the center of mass of the non-rotating body is: Among them, h d1 h represents the distance from the action section of the radial magnetic bearing M1 to the center of mass of the non-rotating body; d2 It represents the distance from the action section of the radial magnetic bearing M2 to the center of mass of the non-rotating body; h d1 =h dc +h c ,h d2 =h dc ;h dc h represents the distance between the radial magnetic bearing M2 and the center of mass of the non-rotating body; c represents the axial span between the two magnetic bearings M1 and M2; M dox It represents the equivalent orbital coordinate system F generated by the rotating motor around the non-rotating body at the center of mass of the non-rotating body. do The reaction driving torque of the x-axis; M doy It represents the equivalent orbital coordinate system F around the non-rotating body at the center of mass of the non-rotating body generated by the two magnetic bearings. do The reaction driving torque of the y-axis; M doz It represents the equivalent orbital coordinate system F around the non-rotating body at the center of mass of the non-rotating body generated by the two magnetic bearings. do The reaction driving torque of the z-axis; F doy It represents the equivalent of the two magnetic bearings to the non-rotating body's center of mass along the non-rotating body's orbital coordinate system F do The reaction force on the y-axis; F doz It represents the equivalent of the two magnetic bearings to the non-rotating body's center of mass along the non-rotating body's orbital coordinate system F do The reaction force on the z-axis; Among them, the force and torque of the magnetic suspension joint are from the body coordinate system F ub To orbital coordinate system F uo The coordinates are converted to: Among them, R uobx (-ω ux t) is the coordinate system F of the body ub To orbital coordinate system F uo The transformation matrix of ux is the orbital coordinate system F of the rotating body uo The angular velocity of the x-axis; t is the time; M uox The orbital coordinate system F of the rotating electrical machine is uo The driving torque of the x-axis; F uo1y It represents the coordinate system F along the rotating body orbit generated by the magnetic bearing M1 uo The force in the y direction; F uo2y The magnetic bearing M2 represents the coordinate system F along the rotating body orbit uo The force in the y direction; F uo1z It represents the coordinate system F along the rotating body orbit generated by the magnetic bearing M1 uo The z-direction force; F uo2z The magnetic bearing M2 represents the coordinate system F along the rotating body orbit uo The z-direction force; The method of establishing a rotational dynamics model of a rotating body according to the Euler equation comprises: Among them, the rotation body coordinate system F ub Connected to the rotating body; Nominal rotating coordinate system F uc The nominal angular velocity ω when the rotating body is working stably uci0 =[ω ucix0 ω uciy0 ω uciz0 ] T Rotation, where ω ucix0 ,ω uciy0 ,ω uciz0 Respectively represent ω uci0 In the rotating body nominal rotating coordinate system F uc The three-axis components below; Rotating body coordinate system F ub Nominal rotation coordinate system F for the rotating body uc The angular displacement θ ubc =[θ ubcx θ ubcy θ ubcz ] T is an infinitesimal quantity, θ ubcx ,θ ubcy ,θ ubcz Respectively represent θ ubc In the rotating body coordinate system F ub The three-axis components below, is the angular velocity error of the rotating body; Rotating body coordinate system F ub For inertial frame F i The angular velocity vector is: ω ubi ;M ubi represents the external torque applied to the rotating body; t represents time; represents the nominal angular velocity parameter matrix; represents the angular velocity parameter matrix; I ub is the rotating body in the rotating body coordinate system F ub The inertia matrix inside; Disturbance torque ΔM caused by nominal angular velocity ubq as follows: The method of establishing a posture dynamics model of a non-rotating body according to the Euler equation comprises: Among them, I d0 is the moment of inertia matrix of the non-rotating body; I dwx0 ,I dwy0 are the components of the moment of inertia of the angular momentum compensation flywheel about the corresponding coordinate axis on the x and y axes of the non-rotating body system; ω dwx ,ω dwy are the components of the angular velocity of the angular momentum compensation flywheel in the orbital coordinate system on the x and y axes respectively; dx ,M dy are the components of the attitude control torque output by the platform cabin CMG on the x-axis and y-axis of the non-rotating body system; θ dx ,θ dy ,θ dz are the three-axis attitude angles of the platform cabin respectively; The formulation of the platform cabin attitude control law comprises: The feedback control law for stabilizing the attitude of the platform cabin using CMG is as follows: Among them, M dc K is the control torque expected to be output by the platform cabin CMG; d (s) is the closed-loop feedback control law; θ dx0 is the reference control quantity of the platform cabin in the x-axis direction; M dx ,M dy are the components of the attitude control torque output by the platform cabin CMG on the x and y axes of the non-rotating body system, θ dx ,θ dy ,θ dz are the three-axis attitude angles of the platform cabin, θ dx0 represents the reference control quantity of the platform cabin in the x-axis direction, θ ubcy ,θ ubcz Respectively represent θ ubc In the rotating body coordinate system F ub The y-axis and z-axis components below; Among them, the rotating body coordinate system F ub Relative to the nominal rotation coordinate system F uc The posture is: Among them, (θ ubix θ ubiy θ ubiz ) T The attitude measured by the attitude sensor on the rotating body; The formulating of the rotating body attitude control law comprises: Disturbance torque ΔM on the load compartment ub Feedforward control is performed, and feedback control is performed based on the attitude error, and the control law is as follows: Among them, K ubf (s) is the closed-loop feedback control law; ΔMubf is the feedback control torque that the load compartment expects the magnetic levitation joint to output; The relationship between the torque and the attitude angle is obtained as follows: The formulation of the payload cabin actuator control law comprises: The force and torque distribution equations of the magnetic bearing and the motor are: Wherein, hc represents the axial span between the two magnetic bearings M1 and M2; T mb (s) is the driving current model of the magnetic bearing and the motor, which is a diagonal matrix, and s is a complex variable; The formulation of the platform cabin actuator control law includes: Control system According to the configuration of SGCMG group, the attitude control torque distribution equation of platform cabin CMG is as follows: in, is the frame angular velocity vector, Q is the positive definite symmetric weighted matrix; C(δ) is the Jacobian matrix, i.e. the torque matrix of the gyro group, K d (s) is the closed-loop feedback control law, and θdx0 represents the reference control quantity of the platform cabin in the direction of its x-axis.

2. The two-body attitude simulation method of a magnetically suspended asymmetric rotating scanning satellite according to claim 1 is characterized in that: The method of performing the magnetic suspension asymmetric rotation scanning satellite attitude simulation includes: Carry out rotational scanning imaging of the payload cabin, use simulation software to build the block diagram of the two-body attitude dynamics and control system of the magnetic levitation asymmetric rotation scanning satellite, and use the models, control laws and manipulation laws in S1~S10 to carry out joint simulation of the two-body attitude dynamics and control system of the magnetic levitation asymmetric rotation scanning satellite.

3. A simulation system for a two-body attitude simulation method for a magnetically suspended asymmetric rotating scanning satellite according to any one of claims 1 to 2, characterized in that: include: The first module is used to establish the control load model of the magnetic levitation rotary joint and the attitude control torque model of the CMG of the platform cabin; The second module is used to analyze and obtain the force exerted by the magnetic levitation joint on the rotating body, and to analyze and obtain the force exerted by the magnetic levitation joint on the non-rotating body; The third module is used to establish a rotational dynamics model of a rotating body according to the Euler equation, and to establish a posture dynamics model of a non-rotating body according to the Euler equation; The fourth module is used to formulate the platform cabin attitude control law, the rotating body attitude control law, the payload cabin actuator control law, and the platform cabin actuator control law; The fifth module is to simulate the attitude of the magnetically suspended asymmetric rotating scanning satellite; The method of performing the magnetic suspension asymmetric rotation scanning satellite attitude simulation includes: Carry out rotational scanning imaging of the payload cabin, use simulation software to build the two-body attitude dynamics and control system block diagram of the magnetic levitation asymmetric rotation scanning satellite, and use the models, control laws and manipulation laws in the first to fourth modules to carry out joint simulation of the two-body attitude dynamics and control system of the magnetic levitation asymmetric rotation scanning satellite.

4. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the two-body attitude simulation method of the magnetically suspended asymmetric rotating scanning satellite as described in any one of claims 1 to 2 are implemented.

5. A two-body attitude simulation device for a magnetically suspended asymmetric rotating scanning satellite, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the two-body attitude simulation method of the magnetically suspended asymmetric rotating scanning satellite as claimed in any one of claims 1 to 2 are implemented.

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