Dual-super-satellite different specification actuator combination distribution method and system

Abstract

The application provides a dual-super-satellite different-specification actuator combination distribution method and system, which comprises the following steps: 1) calculating the required output of the resultant force and the resultant moment of the actuator according to the control mode requirement; 2) calculating the output force of each actuator in different combination conditions according to the distribution matrix of different-specification actuators respectively, and counting the maximum amplitude of the output force of a single actuator in different actuator combinations; and 3) selecting the actuator combination corresponding to the specification as the current shot execution mechanism according to the maximum value of the output force. The application solves the problem of different requirements of the actuator under the conditions of rapid maneuvering and high-precision stable control of the dual-super-satellite.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of satellite attitude control, and in particular, relates to a dual-super-satellite different specification actuator combination distribution method and system. More specifically, it relates to a selection and distribution method and system under the condition of a dual-super-satellite high and low actuator combination. BACKGROUND

[0002] At present, satellites need to have rapid maneuvering and high-precision stable control capabilities, and a single actuator can hardly meet the output torque requirements of both aspects. Dual-super-satellites need to be equipped with different specifications of actuators to achieve the task requirements of maneuvering and stable control due to the precision of the driving current of the actuator. Therefore, it is necessary to study the actuator selection and distribution strategy under the condition of combination of high-precision small-amplitude actuators and low-precision large-amplitude actuators.

[0003] Wu Yunhua et al. in the patent document "Space high dynamic target high precision attitude tracking control method based on hybrid actuator" (CN107992062A) discloses a high-precision attitude tracking for satellite rapid maneuvering based on single-frame control moment gyro and counter-acting flywheel, which realizes rapid maneuvering through zero motion and weighted control, and avoids the saturation of counter-acting flywheel and the singularity of control moment gyro. However, the patent document needs to select appropriate flywheel and torque gyro weight coefficients.

[0004] Zhang Pengfei et al. in the patent document "Multi-actuator aircraft distribution control method and system" (CN108664035A) discloses a flywheel and thruster determination method, which determines the actuator through the defined torque threshold F. However, the patent document needs to consider the problem of large interference of the thruster in application, and needs to consider the flywheel saturation problem.

[0005] Wang Huanjie et al. in the paper document "Agile satellite attitude maneuvering control based on hybrid actuator" (Space Control Technology and Application, 2015, 41(6)) designs a control strategy for the combination of single-frame control moment gyro and counter-acting flywheel based on Lyapunov stability, which realizes rapid maneuvering through single-frame control moment gyro, and compensates the attitude deviation caused by environmental factors during maneuvering by counter-acting flywheel. The paper document simultaneously uses two kinds of actuators, single-frame control moment gyro provides open-loop maneuvering torque, and counter-acting flywheel provides high-precision compensation torque, which can achieve good results, but increases the system cost.

[0006] Zhang Wei et al. in the patent document "Novel magnetic suspension actuator combination layout and high-reliability redundancy design method" (CN109178344A) gives a magnetic suspension actuator layout and distribution method in the form of 8 rods for the same specification of magnetic suspension actuator, and details the redundancy and combination form, but does not involve the use and distribution of different specifications of magnetic suspension actuator combination.

[0007] In their patent document "Method and System for Rapid Attitude Maneuver Control in the Unlocked State of Two-Module Dual-Supersatellite" (CN112644737A), Hong Zhenqiang et al. proposed a method for distributing force and torque to meet the needs of rapid satellite maneuvering, but did not submit a specific actuator combination form.

[0008] Currently, there is no research on the selection method for actuators of different specifications for dual-super satellites. Summary of the Invention

[0009] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method and system for combining and allocating actuators of different specifications for dual supersatellites.

[0010] A method for combining and allocating actuators of different specifications for dual supersatellites according to the present invention includes the following steps:

[0011] Step S1: Calculate the control command force and command torque according to the satellite control mode;

[0012] Step S2: Establish allocation matrices for two types of actuators: high-precision small-amplitude and low-precision large-amplitude, forming two combinations of actuators; calculate the output force of each actuator under the two combinations based on the control command force and command torque, and statistically analyze the maximum amplitude of the actuator output force under different combinations.

[0013] Step S3: Select the appropriate actuator combination as the actuator for the current beat based on the maximum output force.

[0014] Preferably, in step S1, the satellite engineering mission requires the payload to have two working modes: steady-state observation and rapid maneuvering.

[0015] During steady-state observation, output high-precision control command force F. s and command torque T s ;

[0016] In rapid maneuver mode, the control command force F outputs a large value. d and command torque T d ;

[0017]

[0018] Where: r and v are the relative positions and relative velocities of the two modules, respectively; θ and ω are the error attitude angle and angular velocity of the payload, respectively; I is the inertia of the payload module relative to the center of mass of the entire satellite; and α is the angular acceleration obtained by path planning under attitude maneuvering conditions. The PD parameters represent position and attitude control.

[0019] In step S2, the installation matrices C of the large and small combined actuators are calculated based on their installation positions in the satellite's centroid coordinate system. s and C b The allocation matrix C is obtained by calculating the pseudo-inverse of the matrix. s i and C b i Further calculations were performed to obtain the output force F of each magnetic levitation actuator in both the large and small combined actuators. b i F s i ;

[0020] By comparing the maximum value F of the command force required by each actuator for different combinations max i and allow output F max The maximum value is used to determine the actuator combination for the current beat as the actuator.

[0021] Preferably, in step S1, the control command force F is calculated based on the position and attitude errors. cmd and command torque T cmd :

[0022]

[0023] in For the PD parameters of position and attitude control, F fwd ,T fwd These are compensating force and torque, respectively.

[0024] Δr represents the change in the relative position of the two compartments;

[0025] Δv represents the relative velocity between the two compartments;

[0026] Δθ represents the error attitude angle of the load;

[0027] Δω represents the error angular velocity of the load.

[0028] Preferably, in step S2, two sets of installation matrices are determined based on the installation positions of the high-precision small-amplitude and low-precision large-amplitude actuators on the entire satellite, respectively, and are defined as follows: Calculate the output force of each actuator under both combination conditions:

[0029]

[0030] This represents the output force of the nth actuator, which has high precision and small amplitude specifications.

[0031] Output force of the nth actuator representing the low-precision large-amplitude specification

[0032] Maximum value of the output force in the combination according to the calculated value:

[0033]

[0034] Maximum value of the output force of each actuator representing the high-precision small-amplitude specification

[0035] Maximum value of the output force of each actuator representing the low-precision large-amplitude specification

[0036] Preferably, in the step S3, if the maximum command force of the high-precision small-amplitude actuator combination is less than the allowed maximum value, the combination is selected, otherwise the low-precision large-amplitude actuator combination is selected.

[0037] According to the present application, a dual-super-satellite different-specification actuator combination distribution system is provided, comprising the following steps:

[0038] Module M1: according to the satellite control mode, calculate the control command force and command torque;

[0039] Module M2: establish the distribution matrix of the high-precision small-amplitude and low-precision large-amplitude actuators, form two kinds of actuator combinations; according to the control command force and command torque, calculate the output force of each actuator in the two combinations, and count the maximum amplitude of the actuator output force in different combinations;

[0040] Module M3: according to the maximum value of the output force, select the corresponding actuator combination as the current shot execution mechanism.

[0041] Preferably, in the module M1, the satellite engineering task requires the load to have two working modes of stable observation and rapid maneuvering;

[0042] In the stable observation process, output high-precision control command force F s and command torque T s ;

[0043] In the rapid maneuvering mode, output large-amplitude control command force F d and command torque T d ;

[0044]

[0045] ​Wherein: r, v are the relative position, relative velocity of two cabins respectively; θ, ω are the error attitude angle, angular velocity of the load respectively; I is the inertia of the load cabin relative to the center of mass of the whole satellite; α is the angular acceleration obtained by path planning in the attitude maneuvering working condition; PD parameters of position and attitude control;

[0046] In the module M2, the mounting matrices C s and C b of the large and small combined actuators are calculated according to the mounting positions of different combined actuators in the satellite center of mass coordinate system s i and C b i ; further, the output forces F b i , F s i of each magnetic levitation actuator in the large and small combined actuators are calculated respectively;

[0047] By comparing the maximum value F max i of the output instruction force required by each actuator in different combinations and the maximum value of the allowed output F max , the actuator combination currently serving as the execution mechanism is determined.

[0048] Preferably, in the module M1, the control instruction force F cmd and the instruction torque T cmd are calculated according to the position and attitude errors:

[0049]

[0050] Wherein K is the PD parameter of position and attitude control, F fwd , T fwd are the compensation force and torque respectively;

[0051] Δr represents the change of the relative position of two cabins;

[0052] Δv represents the relative velocity of two cabins;

[0053] Δθ represents the error attitude angle of the load;

[0054] Δω represents the error angular velocity of the load.

[0055] Preferably, in the module M2, two mounting matrices are determined according to the mounting positions of the high-precision small-amplitude and low-precision large-amplitude actuators in the whole satellite respectively, and are defined as and the output forces of each actuator in the two combined cases are calculated respectively:

[0056]

[0057] output force of the n-th actuator representing the high-precision small-amplitude specification;

[0058] output force of the n-th actuator representing the low-precision large-amplitude specification;

[0059] According to the calculated value, the maximum value of the output force in the combination is counted:

[0060]

[0061] maximum value of the output force of each actuator representing the high-precision small-amplitude specification;

[0062] maximum value of the output force of each actuator representing the low-precision large-amplitude specification.

[0063] Preferably, in the module M3, if the maximum command force of the actuator combination of the high-precision small-amplitude specification is less than the maximum value allowed, the combination is selected, otherwise the actuator combination of the low-precision large-amplitude specification is selected.

[0064] Compared with the prior art, the present application has the following beneficial effects:

[0065] 1. According to the comparison between the maximum value of the actuator output command force and the allowed capacity, the present application switches different actuator combinations as the actuating mechanism. The problem of different requirements of the actuator under the conditions of double super-satellite rapid maneuvering and high-precision stable control is solved.

[0066] 2. The present application is particularly aimed at the double super-satellite configured with the high-precision small-amplitude actuator and the low-precision large-amplitude actuator. According to the control command requirement, the appropriate actuator is autonomously selected to realize the purpose of stable high-precision and maneuvering large torque, and the engineering is easy to realize. BRIEF DESCRIPTION OF DRAWINGS

[0067] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, read in conjunction with the accompanying drawings:

[0068] Figure 1 Flowchart of the method for assigning different specifications of actuator combinations of double super-satellite. DETAILED DESCRIPTION

[0069] ​The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0070] This invention discloses a method for allocating actuators of different specifications in a dual-supersatellite configuration, comprising the following steps: 1) Calculating the resultant force and resultant torque required to be output by the actuators according to the control mode requirements; 2) Calculating the output force of each actuator under different combination conditions according to the allocation matrix of actuators of different specifications, and statistically analyzing the maximum amplitude of the output force of a single actuator in different actuator combinations; 3) Selecting the actuator combination of the corresponding specifications as the actuator for the current frame according to the maximum value of the output force.

[0071] Specifically, such as Figure 1 As shown, a method for combining and allocating actuators of different specifications for dual supersatellites according to the present invention includes the following steps:

[0072] Step 1: Calculate the control command force F based on the position and attitude errors. cmd and command torque T cmd , can be represented as:

[0073]

[0074] in These are the PD parameters for position and attitude control, F. fwd ,T fwd These are compensating force and torque, respectively.

[0075] Δr represents the change in the relative position of the two compartments;

[0076] Δv represents the relative velocity between the two compartments;

[0077] Δθ represents the error attitude angle of the load;

[0078] Δω represents the error angular velocity of the load.

[0079] Step 2: Based on the installation positions of the high-precision small-amplitude and low-precision large-amplitude actuators on the entire satellite, determine two sets of installation matrices, defined as follows: The output force of each actuator under the two combination conditions is calculated separately, as shown below:

[0080]

[0081] F n 1 This represents the output force of the nth actuator, which has high precision and small amplitude specifications.

[0082] F n 2 output force of the nth actuator of the low-precision large-amplitude specification;

[0083] According to the calculated value, the maximum value of the output force in the combination is calculated:

[0084]

[0085] The maximum value of the output force of each actuator of the high-precision small-amplitude specification;

[0086] The maximum value of the output force of each actuator of the low-precision large-amplitude specification;

[0087] Step 3: According to the maximum value of the output force, the corresponding actuator combination is selected as the current shot execution mechanism. If the maximum command force of the high-precision small-amplitude combination is less than the allowed maximum value, the combination is selected, otherwise the low-precision large-amplitude combination is selected.

[0088] For example, an example of using the actuator distribution method of different specifications of the present application: a satellite uses 8 0.1N actuators and 8 3N actuators as execution, and the distribution matrices are respectively:

[0089]

[0090] When the output force is [0.05; 0; 0]N and the output torque is [0; 0.1; 0]Nm, the force calculated by the first group of actuator combinations is respectively: F 1 =[-0.0120; -0.0253; 0.0242; -0.0002; -0.0074; 0.0248; 0.0288; -0.0002], the maximum value of the absolute value is 0.0288N, which is less than 0.1N, so the 0.1N actuator combination is selected as the execution mechanism;

[0091] When the output force is [0.2; 0; 0]N and the output torque is [0; 0.5; 0]Nm, the force calculated by the first group of actuator combinations is respectively: F 1 =[-0.2056; -0.1011; 0.4154; -0.0008; -0.1263; 0.0988; 0.4948; -0.0008], the maximum value of the absolute value is 0.448N, which is greater than 0.1N; the force calculated by the second group of actuator combinations is respectively: F 2 ​= [0.2880; -0.0895; 0.3008; 0.0080; 0.2894; 0.1104; 0.3022; 0.0080], the maximum absolute value is 0.3022N, so the 3N actuator combination is selected as the actuator.

[0092] In summary, when two supersonic satellites are equipped with two different types of actuator combinations, the present invention can calculate the maximum output force under different actuator combinations based on the command force and torque required under different control modes, and select the actuator combination currently used as the actuator.

[0093] This invention also provides a system for combining and allocating actuators of different specifications for dual hypersonic satellites. This system can be implemented by executing the steps of the method for combining and allocating actuators of different specifications for dual hypersonic satellites. That is, those skilled in the art can understand the method for combining and allocating actuators of different specifications for dual hypersonic satellites as a preferred embodiment of the system for combining and allocating actuators of different specifications for dual hypersonic satellites. Those skilled in the art know that, besides implementing the system and its various devices, modules, and units provided by this invention in purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the system and its various devices, modules, and units of this invention function as logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0094] Specifically, according to the present invention, a system for combining and distributing actuators of different specifications for dual hypersonic satellites includes the following steps:

[0095] Module M1: Calculates control command force and command torque based on the satellite control mode;

[0096] Module M2: Establishes an allocation matrix for actuators of two specifications: high precision small amplitude and low precision large amplitude, forming two combinations of actuators; calculates the output force of each actuator under the two combinations based on the control command force and command torque, and counts the maximum amplitude of the actuator output force under different combinations;

[0097] Module M3: Select the appropriate actuator combination as the execution mechanism for the current cycle based on the maximum output force.

[0098] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other at will without conflict.

Claims

1. A method for combining and allocating actuators of different specifications in a dual-supersatellite configuration, characterized in that, Includes the following steps: Step S1: Calculate the control command force and command torque according to the satellite control mode; Step S2: Establish allocation matrices for two types of actuators: high-precision small-amplitude and low-precision large-amplitude, forming two combinations of actuators; calculate the output force of each actuator under the two combinations based on the control command force and command torque, and count the maximum value of the actuator output force under different combinations. Step S3: Select the appropriate actuator combination as the execution mechanism for the current beat based on the maximum output force; In step S2, two sets of installation matrices are determined based on the installation positions of the high-precision small-amplitude and low-precision large-amplitude actuators on the entire satellite, respectively, and are defined as follows: Calculate the output force of each actuator under both combination conditions: This represents the output force of the nth actuator, which has high precision and small amplitude specifications. This represents the output force of the nth actuator with low-precision large amplitude specifications. Based on the calculated values, the maximum output force in the combination is: This indicates the maximum output force of each actuator with high precision and small amplitude specifications; This indicates the maximum output force of each actuator with low-precision large amplitude specification; In step S3, if the maximum output force of each actuator with high precision and small amplitude specifications is... If the value is less than the maximum allowed value, select that combination; otherwise, select the combination of actuators with low precision amplitude.

2. The method for combining and allocating actuators of different specifications for dual supersatellites according to claim 1, characterized in that, In step S1, the satellite engineering mission requires the payload to have two working modes: steady-state observation and rapid maneuvering. During steady-state observation, output high-precision control command force F. s and command torque T s ; In rapid maneuver mode, the control command force F outputs a large value. d and command torque T d ; Where: r and v are the relative positions and relative velocities of the two modules, respectively; θ and ω are the error attitude angle and angular velocity of the payload, respectively; I is the inertia of the payload module relative to the center of mass of the entire satellite; and α is the angular acceleration obtained by path planning under attitude maneuvering conditions. The PD parameters represent position and attitude control. In step S2, the installation matrix C of the two types of actuators is calculated based on their installation positions in the satellite's centroid coordinate system. s and C b The allocation matrix C is obtained by calculating the pseudo-inverse of the matrix. s i and C b i Further calculations were performed to obtain the output force F of each magnetic levitation actuator in the two combined actuators. b i F s i ; By comparing the maximum value F of the command force required by each actuator for different combinations max i and allow output F max The maximum value is used to determine the actuator combination for the current beat as the actuator.

3. The method for combining and allocating actuators of different specifications for dual supersatellites according to claim 1, characterized in that, In step S1, the control command force F is calculated based on the position and attitude errors. cmd and command torque T cmd : in For the PD parameters of position and attitude control, F fwd ,T fwd These are compensating force and torque, respectively. Δr represents the change in the relative position of the two compartments; Δv represents the relative velocity between the two compartments; Δθ represents the error attitude angle of the load; Δω represents the error angular velocity of the load.

4. A system for combining and distributing actuators of different specifications for dual supersatellites, characterized in that, Includes the following steps: Module M1: Calculates control command force and command torque based on the satellite control mode; Module M2: Establishes an allocation matrix for two types of actuators: high-precision small-amplitude and low-precision large-amplitude, forming two combinations of actuators; calculates the output force of each actuator under the two combinations based on the control command force and command torque, and counts the maximum value of the actuator output force under different combinations; Module M3: Select the appropriate actuator combination as the execution mechanism for the current cycle based on the maximum output force; In module M2, two sets of installation matrices are determined based on the installation positions of the high-precision small-amplitude and low-precision large-amplitude actuators on the entire satellite, respectively defined as follows: Calculate the output force of each actuator under both combination conditions: This represents the output force of the nth actuator, which has high precision and small amplitude specifications. This represents the output force of the nth actuator with low-precision large amplitude specifications. Based on the calculated values, the maximum output force in the combination is: This indicates the maximum output force of each actuator with high precision and small amplitude specifications; This indicates the maximum output force of each actuator with low-precision large amplitude specification; In module M3, if the maximum output force of each actuator with high precision and small amplitude specifications is... If the value is less than the maximum allowed value, select that combination; otherwise, select the combination of actuators with low precision amplitude.

5. The dual-supersatellite actuator combination and allocation system according to claim 4, characterized in that, The satellite engineering mission in module M1 requires the payload to have two working modes: steady-state observation and rapid maneuvering. During steady-state observation, output high-precision control command force F. s and command torque T s ; In rapid maneuver mode, the control command force F outputs a large value. d and command torque T d ; Where: r and v are the relative positions and relative velocities of the two modules, respectively; θ and ω are the error attitude angle and angular velocity of the payload, respectively; I is the inertia of the payload module relative to the center of mass of the entire satellite; and α is the angular acceleration obtained by path planning under attitude maneuvering conditions. The PD parameters represent position and attitude control. In module M2, the installation matrix C of the two types of actuators is calculated based on their installation positions in the satellite's centroid coordinate system. s and C b The allocation matrix C is obtained by calculating the pseudo-inverse of the matrix. s i and C b i Further calculations were performed to obtain the output force F of each magnetic levitation actuator in the two combined actuators. b i F s i ; By comparing the maximum value F of the command force required by each actuator for different combinations max i and allow output F max The maximum value is used to determine the actuator combination for the current beat as the actuator.

6. The dual-supersatellite actuator combination and allocation system according to claim 4, characterized in that, In module M1, the control command force F is calculated based on the position and attitude errors. cmd and command torque T cmd : in For the PD parameters of position and attitude control, F fwd ,T fwd These are compensating force and torque, respectively. Δr represents the change in the relative position of the two compartments; Δv represents the relative velocity between the two compartments; Δθ represents the error attitude angle of the load; Δω represents the error angular velocity of the load.

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