A method for attitude maneuver control using a flywheel and three control moment gyroscopes

Abstract

This invention discloses a method for joint attitude maneuver control of a flywheel and three control moment gyroscopes, comprising: acquiring and drawing a singular surface distribution diagram based on the control moment gyroscope installation matrix; using the vertex of the flywheel's angular momentum vector as the maneuver starting point, finding the maximum usable angular momentum motion space within the momentum body of the control moment gyroscope group; calculating the bias speed required for flywheel compensation and the corresponding initial frame angle of the control moment gyroscope group based on the selected angular momentum motion starting point; establishing the initial state of attitude control by completing flywheel spin-up and adjusting the initial frame angle of the control moment gyroscope group through ground-based data entry under jet control protection; keeping the flywheel speed constant, and after ground-based data entry completes the setting of control torque and maneuver angular velocity limits based on the angular momentum motion space and torque output capability of the control moment gyroscope group, connecting the control moment gyroscope group into a closed loop for attitude control. This invention maintains satellite attitude maneuvering when only three control moment gyroscopes remain on the satellite.

Description

Technical Field

[0001] This invention relates to the field of satellite attitude control technology, and in particular to a method for attitude maneuver control using a flywheel and three control moment gyroscopes. Background Technology

[0002] Single-frame control moment gyroscope swarms are a widely used high-torque actuator. With appropriate redundancy configuration, they can achieve rapid attitude maneuvering control in any spatial direction. The control moment gyroscope outputs torque by changing the direction of its momentum wheel's angular momentum, achieving a very large output torque. A single control moment gyroscope cannot continuously output torque in a specified direction; at least two gyroscopes are required to output stable control torque in a particular direction. To achieve arbitrary axial attitude control in space, at least four gyroscopes typically need to operate simultaneously. In engineering applications, pentagonal pyramid and pyramidal configurations are commonly used for control moment gyroscope swarm configurations.

[0003] A flywheel outputs control torque along its mounting axis by changing its rotational speed. Because the flywheel's rotational speed is difficult to change quickly, its output torque is typically small, generally not exceeding 1 Nm. Using a flywheel for attitude maneuver control can achieve a large attitude angular velocity, but acceleration and deceleration are very slow.

[0004] For agile maneuvering platforms, control moment gyroscopes are ideal actuators. However, with frequent attitude maneuvers, components such as high-speed bearings of the control moment gyroscopes will gradually wear out or degrade in performance. At the end of the satellite's lifespan, only 3 control moment gyroscopes may be available. At this point, because the singular surface inside the momentum body tightly wraps around the origin of angular momentum, the available angular momentum space is severely limited, and the satellite almost loses its attitude maneuvering capability.

[0005] To meet the practical needs of satellites to perform attitude maneuvering missions with high reliability in orbit, it is necessary to design a feasible attitude maneuvering control method for the operating condition where only 3 control moment gyroscopes remain. Within the constraints of limited cost, a joint use scheme with mature products such as flywheels should be considered to maintain the satellite's attitude maneuvering function and extend the satellite's service life. Summary of the Invention

[0006] The purpose of this invention is to provide a method for attitude maneuver control combining a flywheel and three control moment gyroscopes, in order to solve the above-mentioned technical problems, and to design a feasible attitude maneuver control method for the working condition where only three control moment gyroscopes remain. Within the constraints of limited cost, this invention considers a combination with mature products such as flywheels to maintain the satellite's attitude maneuver function and extend the satellite's service life.

[0007] To solve the above problems, the present invention is achieved through the following technical solution:

[0008] A method for attitude maneuver control using a flywheel and three control moment gyroscopes, comprising:

[0009] Step S1: Obtain and draw the singular surface distribution diagram inside the momentum body of the control moment gyroscope group based on the actual remaining available control moment gyroscope installation matrix.

[0010] Step S2: Based on the magnitude and direction of the angular momentum compensation provided by the flywheel, take the vertex of the flywheel's angular momentum vector as the starting point of the maneuver, and find the maximum usable angular momentum motion space inside the momentum body of the control torque gyroscope group.

[0011] Step S3: Based on the selected angular momentum motion starting point, back-calculate the bias speed required for flywheel compensation and the corresponding control torque gyroscope group initial frame angle.

[0012] Step S4: Under jet control protection, the flywheel starts spinning and the initial frame angle of the control torque gyroscope group is adjusted by ground injection to establish the initial state of attitude control.

[0013] Step S5: Keep the flywheel speed constant. Based on the angular momentum motion space and torque output capability of the control torque gyroscope group, after the ground-based data acquisition completes the control torque and maneuver angular velocity limit settings, connect the control torque gyroscope group to the closed loop for attitude control.

[0014] Optionally, step S1 includes: extracting the corresponding columns from the complete installation matrix based on the actual remaining available control moment gyroscope installation numbers, and forming installation matrices A3 and B3 for the remaining 3 control moment gyroscopes. Calculating the spatial singularities based on the installation matrices A3 and B3, and drawing a three-dimensional distribution map of the singularities.

[0015] Optionally, step S2 includes: drawing an angular momentum bias region that the flywheel can provide within the momentum body of the control moment gyroscope group based on the magnitude and direction of the angular momentum compensation that the flywheel can provide; finding a suitable flywheel angular momentum vector vertex within the angular momentum bias region as the starting point of the control moment gyroscope group angular momentum, so that the usable angular momentum motion space within the momentum body of the control moment gyroscope group is maximized.

[0016] Optionally, step S3 further includes: the resultant angular momentum of the flywheel and the control torque gyroscope group is zero.

[0017] Optionally, step S4 includes: switching the working mode to jet control mode; under jet control protection, based on the calculated bias speed of the flywheel and the frame angle of the control torque gyroscope group, completing the flywheel spin-up and the initial frame angle adjustment of the control torque gyroscope group through ground-based data counting, and establishing the initial state of attitude control.

[0018] Optionally, step S5 includes: based on the angular momentum motion space and torque output capability of the control moment gyroscope group, after the ground-based gyroscope completes the control torque and maneuver angular velocity limit setting, the gyroscope cuts off the jet and switches to the control moment gyroscope control mode, connecting the control moment gyroscope group to the closed loop for attitude control, and no new commands are sent to the flywheel during the control process to ensure that the flywheel speed remains constant.

[0019] On the other hand, the present invention also provides an electronic device including a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, it implements the method described above.

[0020] In another aspect, the present invention also provides a readable storage medium storing a computer program, which, when executed by a processor, implements the method described above.

[0021] This invention has at least one of the following technical effects:

[0022] This invention provides a method for joint attitude maneuver control of a flywheel and three control moment gyroscopes, solving the problem that three control moment gyroscopes cannot perform attitude maneuvers. By introducing the angular momentum of the flywheel, the angular momentum of the control moment gyroscope group is biased, enabling the control moment gyroscope group to move within the available space outside the origin of angular momentum. This maintains a certain attitude maneuverability of the control moment gyroscope group, making full use of the flywheel's advantage of providing a large angular momentum while obtaining the control moment gyroscope group's high torque output capability, thus avoiding the flywheel's disadvantage of low output torque. In engineering applications, this method can effectively extend the service life of satellites. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating a method for joint attitude maneuver control of a flywheel and three control moment gyroscopes according to an embodiment of the present invention.

[0024] Figure 2 This is a distribution diagram of the remaining 3 singular surfaces under a certain configuration provided in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the compensable region of the flywheel within the momentum body of a control torque gyroscope according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of a selected angular momentum motion starting point provided in an embodiment of the present invention. Detailed Implementation

[0027] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation of the attitude maneuver control method for a flywheel and three control moment gyroscopes proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clearly illustrate the embodiments of this invention. Please refer to the accompanying drawings to make the objectives, features, and advantages of this invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation conditions of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by this invention, should still fall within the scope of the technical content disclosed in this invention.

[0028] like Figure 1 As shown, this embodiment provides a method for joint attitude maneuver control of a flywheel and three control moment gyroscopes, including:

[0029] Step S1: Obtain and draw the singular surface distribution diagram inside the momentum body of the control moment gyroscope group based on the actual remaining available control moment gyroscope installation matrix.

[0030] Step S2: Based on the magnitude and direction of the angular momentum compensation provided by the flywheel, take the vertex of the flywheel's angular momentum vector as the starting point of the maneuver, and find the maximum usable angular momentum motion space inside the momentum body of the control torque gyroscope group.

[0031] Step S3: Based on the selected angular momentum motion starting point, back-calculate the bias speed required for flywheel compensation and the corresponding control torque gyroscope group initial frame angle.

[0032] Step S4: Under jet control protection, the flywheel starts spinning and the initial frame angle of the control torque gyroscope group is adjusted by ground injection to establish the initial state of attitude control.

[0033] Step S5: Keep the flywheel speed constant. Based on the angular momentum motion space and torque output capability of the control torque gyroscope group, after the ground-based data acquisition completes the control torque and maneuver angular velocity limit settings, connect the control torque gyroscope group to the closed loop for attitude control.

[0034] This embodiment provides a method for attitude maneuver control using a flywheel and three control moment gyroscopes. It addresses the problem that three control moment gyroscopes cannot perform attitude maneuvers independently. By introducing the angular momentum of the flywheel, the angular momentum of the control moment gyroscope group is biased, enabling the group to move within the available space outside the origin of angular momentum. This maintains a certain level of attitude maneuverability for the control moment gyroscope group, fully utilizing the flywheel's advantage of providing a large angular momentum while also obtaining the control moment gyroscope group's high torque output capability. It avoids the flywheel's disadvantage of low output torque, effectively extending the satellite's service life in engineering applications.

[0035] Taking the remaining 3 effective control moment gyroscopes under a certain installation configuration as typical research objects, m (m≥1) reaction flywheels are configured.

[0036] Step S1 includes: extracting the corresponding columns from the complete installation matrix according to the actual remaining available control moment gyroscope installation numbers, and forming installation matrices A3 and B3 for the remaining 3 control moment gyroscopes. At this time, A3 and B3 are both degenerated into 3×3 matrices.

[0037] For a control moment gyroscope group consisting of n control moment gyroscopes, the complete installation matrix A n B n Represented as

[0038]

[0039] In the formula, matrix A n The l-th column (l∈[1,n]) represents the unit vector of the torque direction when the l-th control torque gyroscope is in position 0 of the frame. Matrix B n The l-th column represents the unit vector of the angular momentum direction of the l-th control moment gyroscope when it is in position 0 of the frame.

[0040] If the remaining 3 control torque gyroscopes are numbered i, j, k (i, j, k ∈ [1, n]), then the corresponding A3 and B3 matrices are:

[0041]

[0042] The spatial singularities are calculated based on the installation matrices A3 and B3, and a three-dimensional distribution map of the singularities is drawn.

[0043] Specifically, based on the installation matrices A3 and B3, when the command torque direction traverses the entire spatial sphere, the coordinates of the singular points are calculated and all singular points are drawn as surfaces using engineering drawing tools, thus obtaining a three-dimensional singular surface distribution map inside the momentum body of the control torque gyroscope group.

[0044] like Figure 2As shown, taking the pentagonal pyramid configuration as an example, when the remaining 3 control moment gyroscopes are working, their singular surfaces tightly wrap around the origin of angular momentum. At this time, if attitude control is performed starting from the origin, the available angular momentum space is very small, and attitude maneuvering is impossible.

[0045] In the region surrounding the origin of angular momentum, there are several large non-singular spaces. By offsetting the initial angular momentum of the control moment gyroscope group into these spaces through flywheel angular momentum compensation, a certain attitude maneuver control capability of the control moment gyroscope group can be obtained while ensuring zero momentum of the entire star.

[0046] Step S2 includes: according to the magnitude and direction of the angular momentum compensation that the flywheel can provide, drawing the angular momentum bias region that the flywheel can provide within the momentum body of the control torque gyroscope group, finding a suitable flywheel angular momentum vector vertex within the angular momentum bias region as the starting point of the angular momentum of the control torque gyroscope group, so that the usable angular momentum motion space inside the momentum body of the control torque gyroscope group is maximized.

[0047] That is, based on the flywheel product specifications and installation matrix, the region where the flywheel angular momentum can be compensated is plotted on the singular surface distribution diagram of the control torque gyroscope group. Within the flywheel angular momentum compensation region, a suitable starting point H0 for the angular momentum of the control torque gyroscope group is found, maximizing the available angular momentum space around this starting point.

[0048] like Figure 3 As shown, based on the actual installation orientation and angular momentum range of the flywheel, the angular momentum region (angular momentum offset region provided by the flywheel)1 that the flywheel can compensate for can be drawn within the momentum body of the control torque gyroscope group. If the installation axes of m flywheels are not parallel, then when m=1, the region that the flywheel can compensate for is a line segment; when m=2, the flywheel can compensate for a parallelogram region; and when m=3, the flywheel can compensate for a three-dimensional region. Any point within the angular momentum region (angular momentum offset region provided by the flywheel)1 can be selected as the target point for flywheel angular momentum compensation.

[0049] like Figure 4 As shown, the spatial location of angular momentum that maximizes the radius of the sphere can be located through trial and error. The coordinates of the center 2 and the radius 3 of the sphere are recorded. The center 2 is the starting point H0 of the angular momentum of the control torque gyroscope group that satisfies the conditions, and the radius 3 is the range of available angular momentum h near this starting point. max .

[0050] The angular momentum H0 at starting point 2 is the initial angular momentum of the control moment gyroscope. Combining this with the control moment gyroscope group mounting matrices A3 and B3, the initial frame angle δ corresponding to the three control moment gyroscopes is calculated. 3_1 δ 3_2 δ 3_3To conserve the angular momentum of the entire star, the flywheel needs to compensate for an angular momentum of -H0. Since the flywheel mounting matrix D is known beforehand, the offset speeds Ω1, ..., Ω1 corresponding to each flywheel can be calculated. m .

[0051] In this embodiment, step S3 includes: calculating the corresponding bias speed of the flywheel and the initial frame angle of the control moment gyroscope group based on the H0 coordinate; so that the resultant angular momentum of the flywheel and the control moment gyroscope group is zero.

[0052] Step S4 includes: switching the working mode to jet control mode; under jet control protection, based on the calculated bias speed of the flywheel and the frame angle of the control torque gyroscope group, completing the flywheel spin-up and the initial frame angle adjustment of the control torque gyroscope group through ground-based data counting, and establishing the initial state of attitude control.

[0053] Please continue to refer to this. Figure 1 As shown, the satellite is switched to jet control mode via ground-based data injection. In this mode, jet protection counteracts the interference from flywheel spin-up and control moment gyroscope frame adjustments on attitude. The ground sequentially adjusts the bias speeds Ω1, ..., Ω of m flywheels. m The initial frame angle δ of the three flywheels 3_1 δ 3_2 δ 3_3 As indicated above, once the flywheel and control torque gyroscope both reach the predetermined speed and position, the initial state of the attitude closed-loop control is established.

[0054] Step S5 includes: based on the angular momentum motion space and torque output capability of the control moment gyroscope group, after the ground-based gyroscope completes the control torque and maneuver angular velocity limit setting, the gyroscope cuts off the jet and switches to the control moment gyroscope control mode, and connects the control moment gyroscope group to the closed loop for attitude control. During the control process, no new commands are sent to the flywheel to ensure that the flywheel speed remains constant.

[0055] Based on the maximum rotational speed of the control torque gyroscope frame and the magnitude of the inner rotor angular momentum, the command torque limit value T for closed-loop control is set. sat Simultaneously, the available angular momentum space radius h max Using the entire satellite's rotational inertia parameters, the maximum angular velocity limit ω during the maneuver is calculated. sat The two limiting values ​​T are transmitted from the ground. sat and ω sat The upper bet is used to correct the control algorithm, and the final bet switches the working mode to the control torque gyroscope control mode, completing the closed loop of the control torque gyroscope group.

[0056] On the other hand, this embodiment also provides an electronic device, including a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, it implements the method described above.

[0057] In another aspect, this embodiment also provides a readable storage medium storing a computer program, which, when executed by a processor, implements the method described above.

[0058] In summary, this embodiment discloses a method for attitude maneuver control using a flywheel and three control moment gyroscopes. Addressing the problem of lost attitude maneuverability caused by the angular momentum origin being tightly enveloped by a singularity when only three control moment gyroscopes remain operational after consecutive failures, this method introduces a flywheel to offset and compensate for the combined angular momentum of the three control moment gyroscopes. This allows the initial angular momentum of the control moment gyroscopes, which have lost the ability to avoid singularities through zero motion, to move away from the origin and escape the singularity. Within a suitable range in the outer space, the satellite can still achieve a certain level of attitude maneuverability using the three control moment gyroscopes. Compared to existing technologies, its advantages are: firstly, by using a flywheel in conjunction with three control moment gyroscopes, the high torque output capability of the control moment gyroscopes is maintained, resulting in better attitude maneuverability; secondly, there is no need to design a separate joint control law for the two actuators, as existing control and manipulation law algorithms can be directly called, reducing software development costs and improving software code efficiency.

[0059] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0060] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0061] In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0062] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A method for attitude maneuver control using a flywheel and three control moment gyroscopes, characterized in that, include: Step S1: Obtain and draw the singular surface distribution diagram inside the momentum body of the control moment gyroscope group based on the actual remaining available control moment gyroscope installation matrix; Step S2: Based on the magnitude and direction of the angular momentum compensation provided by the flywheel, take the vertex of the flywheel's angular momentum vector as the starting point of the maneuver, and find the maximum usable angular momentum motion space inside the momentum body of the control torque gyroscope group. Step S3: Based on the selected angular momentum motion starting point, back-calculate the bias speed required for flywheel compensation and the corresponding control torque gyroscope group initial frame angle; Step S4: Under jet control protection, the flywheel starts spinning and the initial frame angle of the control torque gyroscope group is adjusted by ground injection to establish the initial state of attitude control. Step S5: Keep the flywheel speed constant. Based on the angular momentum motion space and torque output capability of the control torque gyroscope group, after the ground-based data acquisition completes the control torque and maneuver angular velocity limit settings, connect the control torque gyroscope group to the closed loop for attitude control.

2. The attitude maneuver control method of the flywheel and three control moment gyroscopes as described in claim 1, characterized in that, Step S1 includes: Based on the actual remaining available control moment gyroscope installation numbers, extract the corresponding columns from the complete installation matrix to form the installation matrix for the remaining 3 control moment gyroscopes. A 3 and B 3; According to the installation matrix A 3 and B 3. Calculate the spatial singularities and plot them as a three-dimensional distribution map of the singularities.

3. The attitude maneuver control method of the flywheel and three control moment gyroscopes as described in claim 2, characterized in that, Step S2 includes: Based on the magnitude and direction of the angular momentum compensation provided by the flywheel, an angular momentum bias region that the flywheel can provide is drawn within the momentum body of the control torque gyroscope group. Within the angular momentum bias region, a suitable vertex of the flywheel angular momentum vector is found as the starting point of the angular momentum of the control torque gyroscope group, so that the usable angular momentum motion space inside the momentum body of the control torque gyroscope group is maximized.

4. The attitude maneuver control method of the flywheel and three control moment gyroscopes as described in claim 3, characterized in that, Step S3 further includes: the combined angular momentum of the flywheel and the control torque gyroscope group is zero.

5. The attitude maneuver control method of the flywheel and three control moment gyroscopes as described in claim 4, characterized in that, Step S4 includes: switching the working mode to jet control mode; under jet control protection, based on the calculated bias speed of the flywheel and the initial frame angle of the control torque gyroscope group, completing the flywheel spin-up and adjustment of the initial frame angle of the control torque gyroscope group through ground-based data counting, and establishing the initial state of attitude control.

6. The attitude maneuver control method of the flywheel and three control moment gyroscopes as described in claim 5, characterized in that, Step S5 includes: based on the angular momentum motion space and torque output capability of the control moment gyroscope group, after the ground-based gyroscope completes the control torque and maneuver angular velocity limit setting, the gyroscope cuts off the jet and switches to the control moment gyroscope control mode, and connects the control moment gyroscope group to the closed loop for attitude control. During the control process, no new commands are sent to the flywheel to ensure that the flywheel speed remains constant.

7. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, which, when executed by the processor, implements the method of any one of claims 1 to 6.

8. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by a processor, implements the method of any one of claims 1 to 6.

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