Method and system for analyzing influence of antenna motion on satellite attitude and compensating feedforward

Abstract

The invention provides an influence analysis and feed-forward compensation method and system of antenna motion on satellite attitude. The method comprises the following steps: calculating an antenna centroid vector of an antenna centroid under a satellite mechanical coordinate system during antenna motion; calculating a whole satellite centroid vector of the whole satellite centroid under a satellite mechanical coordinate system; calculating an antenna centroid motion linear velocity vector of the antenna centroid under a satellite centroid coordinate system during antenna motion; and calculating the angular momentum of the antenna motion relative to the mass center of the whole satellite to obtain the feed-forward angular momentum compensation amount of the angular momentum device of the control system. According to the method, the influence of various influence factors on the satellite attitude and the antenna pointing deviation is comprehensively represented, the whole satellite centroid change condition caused by the antenna motion is considered, and a basis is provided for the analysis of the influence of the antenna motion on the satellite attitude and the specific engineering design of feed-forward compensation according to the feed-forward angular momentum compensation amount of the control system angular momentum device; the influence of antenna motion on satellite attitude is eliminated, and feed-forward compensation is carried out for on-orbit mechanical motion of the antenna.

Description

Technical Field

[0001] The present invention belongs to the field of satellite attitude dynamics and control, and in particular, relates to an analysis method and system for analyzing the influence of antenna motion on satellite attitude and a feedforward compensation method and system. Background Art

[0002] The data transmission antenna, intersatellite communication antenna, relay antenna, etc. configured on the satellite are key equipment for information transmission. The satellite antenna is driven by a motor to achieve the tracking of the antenna beam on a specific target. The movement of the antenna will affect the satellite attitude, and in turn, the satellite attitude jitter will cause the antenna pointing deviation. At the same time, if the antenna rotation axis is not the main inertia axis of the antenna, it will also cause changes in the mass characteristics of the entire satellite. Therefore, for modern high-precision and high-stability satellites, it is necessary to analyze the impact of antenna movement on satellite attitude and conduct feedforward compensation methods to eliminate the impact of antenna movement on satellite attitude.

[0003] The patent document "Method for Calculating Motion Indicators of Satellite-borne Two-dimensional Driven Antennas" (CN105589465A) discloses a method for calculating motion indicators of satellite-borne two-dimensional driven antennas, which can guide satellites to select the control type of two-dimensional driven antennas, but does not involve feedforward compensation of the mechanical motion of the antenna in orbit.

[0004] The patent document "A method for compensating the accuracy of a three-axis pointing mechanism for a satellite-borne antenna" (CN107799875A) solves the technical problem of the misalignment between the output axis pointing direction of the mechanism and the antenna beam pointing direction due to factors such as its own gravity, installation and adjustment methods, and the on-orbit working environment, resulting in the on-orbit pointing deviation of the antenna. However, it involves the field of error correction rather than the on-orbit motion feedforward compensation of the antenna.

[0005] The patent document "Modeling method and system for vertical rod equivalent satellite attitude motion during the deployment process of ring antenna" (CN108984840A) involves the algorithm level of modeling, ensuring the calculation accuracy of the antenna deployment process, improving the speed of calculation, and reducing the complexity of modeling, but does not involve feedforward compensation of the mechanical motion of the antenna in orbit.

[0006] The paper "Feedforward attitude control for a TDRS with mobile antennas" (Journal of Harbin Institute of Technology (English version)) proposed a feedforward attitude compensation method for relay satellites equipped with large movable antennas, but did not involve the changes in the center of mass of the entire satellite caused by the movement of the antenna.

[0007] The paper "Analysis of the Impact of Large Flexible Antenna Movement on Relay Satellite Attitude" (Journal of Beijing Institute of Technology) takes tracking and data relay satellites as the analysis object, establishes a dynamic model of the multi-flexible system of the entire satellite, and analyzes the impact of the combined effect of flexible antennas and other accessories on the satellite's attitude under the action of antenna movement, but does not involve feedforward compensation methods.

[0008] The present invention calculates the position vector of the antenna mass center in the satellite mechanical coordinate system, the position vector of the whole satellite mass center in the satellite mechanical coordinate system, and the velocity vector of the antenna mass center in the satellite mass center coordinate system during the antenna movement. In addition, the present invention also calculates the angular momentum of the antenna movement relative to the whole satellite mass center, thereby obtaining the feedforward angular momentum compensation amount of the control system angular momentum device. In an application scenario where extremely high satellite pointing accuracy and stability are required, the present invention provides a basis for analyzing the impact of antenna movement on satellite attitude and the specific engineering design of feedforward compensation. Summary of the invention

[0009] In view of the defects in the prior art, the purpose of the present invention is to provide a method and system for analyzing the impact of antenna movement on satellite attitude and for feedforward compensation.

[0010] According to the present invention, a method for analyzing the influence of antenna motion on satellite attitude and a feedforward compensation method includes:

[0011] Antenna centroid vector calculation steps: Calculate the antenna centroid vector of the antenna centroid in the satellite mechanical coordinate system during antenna motion.

[0012] The steps for calculating the centroid vector of the entire satellite are as follows: Calculate the centroid vector of the entire satellite in the satellite mechanical coordinate system.

[0013] Calculation steps for the linear velocity vector of the antenna mass center motion: Calculate the linear velocity vector of the antenna mass center motion in the satellite mass center coordinate system during the antenna motion.

[0014] Calculation steps of angular momentum compensation: Calculate the angular momentum of the antenna motion relative to the mass center of the entire satellite to obtain the feedforward angular momentum compensation of the angular momentum device of the control system.

[0015] Preferably, the antenna centroid vector calculation step includes: the satellite mechanical coordinate system is O j X j Y j Z j , the origin is O j , the vector from the antenna to the mechanical origin Expressed as

[0016] in, Represents the antenna installation vector.

[0017] Represents the antenna deployment arm vector.

[0018] Represents the antenna rotation axis vector.

[0019] It represents the centroid vector of the antenna, which changes with the movement of the antenna. At the initial moment, the centroid vector of the antenna is recorded as

[0020] The antenna coordinate system is CX a Y a Z a , the origin is C.

[0021] The Z axis is the rotation axis of the antenna.

[0022] The Y axis is perpendicular to the antenna rotation axis.

[0023] X axis is CX a , CX a =CY a ×CZ a .

[0024] Antenna coordinate system CX a Y a Z a The initial vector of the antenna centroid in The calculation method is

[0025] in,

[0026] θ represents the angle between the antenna centroid vector and the antenna rotation axis vector.

[0027] Antenna coordinate system CX a Y a Z a The antenna centroid vector in The calculation method is

[0028] Among them, α represents the rotation around CZ a Axis rotation angle.

[0029] R z (α) represents the rotation matrix around the Z axis.

[0030] Satellite mechanical coordinate system O j X j Y j Z j The antenna centroid vector is expressed as

[0031] Among them, Aja Represents the antenna coordinate system CX a Y a Z a To the mechanical coordinate system O j X j Y j Z j The transformation matrix.

[0032] Preferably, the whole satellite centroid vector calculation step includes: the satellite mechanical coordinate system is O j X j Y j Z j The center-of-mass vector of the entire star is

[0033] in, Represents the satellite body centroid vector.

[0034] Represents the vector from the antenna to the mechanical origin.

[0035] Represents the vector from the center of mass of the entire star to the center of mass of the body.

[0036] The vector from the antenna to the center of mass of the body.

[0037] m b Indicates the satellite mass.

[0038] m a Indicates the antenna quality.

[0039] Preferably, the step of calculating the linear velocity vector of the antenna mass center movement comprises: calculating the linear velocity vector of the antenna mass center movement in the antenna coordinate system CX a Y a Z a It can be expressed as (V a ) a ,

[0040] Among them, ω a Indicates the antenna rotation angular velocity.

[0041] Represents the antenna coordinate system CX a Y a Z a The centroid vector of the antenna in .

[0042] Satellite mechanical coordinate system O j X j Y j Z j The linear velocity vector of the antenna mass center in the image is expressed as (V a )j , (V a ) j =A ja ·(V a ) a .

[0043] Among them, A ja Represents the antenna coordinate system CX a Y a Z a To the mechanical coordinate system O j X j Y j Z j The transformation matrix.

[0044] The angular momentum compensation amount calculation step includes: the satellite mass center coordinate system and the satellite mechanical coordinate system are three-axis parallel, and only the coordinate origin is translated to the mass center of the entire satellite.

[0045] The angular momentum of the satellite mass center caused by the antenna motion in the satellite mass center coordinate system is H sa ,

[0046] Among them, J a It represents the moment of inertia of the antenna around its own center of mass.

[0047] m a Indicates the antenna quality.

[0048] Represents the antenna installation vector.

[0049] Represents the antenna deployment arm vector.

[0050] Represents the antenna rotation axis vector.

[0051] Indicates that the satellite mechanical coordinate system is O j X j Y j Z j The centroid vector of the antenna.

[0052] Indicates that the satellite mechanical coordinate system is O j X j Y j Z j The center-of-mass vector of the whole star.

[0053] The feedforward angular momentum compensation output to the angular momentum device of the control system is -H sa .

[0054] According to the present invention, a system for analyzing the influence of antenna motion on satellite attitude and providing feedforward compensation comprises:

[0055] Antenna centroid vector calculation module: calculates the antenna centroid vector of the antenna centroid in the satellite mechanical coordinate system during antenna movement.

[0056] Whole satellite centroid vector calculation module: calculates the whole satellite centroid vector in the satellite mechanical coordinate system.

[0057] Antenna center of mass motion linear velocity vector calculation module: calculates the antenna center of mass motion linear velocity vector of the antenna in the satellite center of mass coordinate system during antenna motion.

[0058] Angular momentum compensation calculation module: calculates the angular momentum of the antenna movement relative to the center of mass of the entire satellite, and obtains the feedforward angular momentum compensation of the angular momentum device of the control system.

[0059] Preferably, in the antenna centroid vector calculation module: the satellite mechanical coordinate system is j X j Y j Z j , the origin is O j , the vector from the antenna to the mechanical origin Expressed as

[0060] in, Represents the antenna installation vector.

[0061] Represents the antenna deployment arm vector.

[0062] Represents the antenna rotation axis vector.

[0063] It represents the centroid vector of the antenna, which changes with the movement of the antenna. At the initial moment, the centroid vector of the antenna is recorded as

[0064] The antenna coordinate system is CX a Y a Z a , the origin is C.

[0065] The Z axis is the rotation axis of the antenna.

[0066] The Y axis is perpendicular to the antenna rotation axis.

[0067] X axis is CX a , CX a =CY a ×CZ a .

[0068] Antenna coordinate system CX a Y a Z a The initial vector of the antenna centroid in The calculation method is

[0069] in,

[0070] θ represents the angle between the antenna centroid vector and the antenna rotation axis vector.

[0071] Antenna coordinate system CX a Y a Z a The antenna centroid vector in The calculation method is

[0072] Among them, α represents the rotation around CZ a Axis rotation angle.

[0073] R z (α) represents the rotation matrix around the Z axis.

[0074] Satellite mechanical coordinate system O j X j Y j Z j The antenna centroid vector is expressed as

[0075] Among them, A ja Represents the antenna coordinate system CX a Y a Z a To the mechanical coordinate system O j X j Y j Z j The transformation matrix.

[0076] Preferably, in the whole satellite centroid vector calculation module: the satellite mechanical coordinate system is j X j Y j Z j The center-of-mass vector of the entire star is

[0077] in, Represents the satellite body centroid vector.

[0078] Represents the vector from the antenna to the mechanical origin.

[0079] Represents the vector from the center of mass of the entire star to the center of mass of the body.

[0080] The vector from the antenna to the center of mass of the body.

[0081] m b Indicates the satellite mass.

[0082] m a Indicates the antenna quality.

[0083] Preferably, in the antenna mass center motion linear velocity vector calculation module: the antenna mass center motion linear velocity vector in the antenna coordinate system CX a Y a Z a It can be expressed as (V a ) a ,

[0084] Among them, ω a Indicates the antenna rotation angular velocity.

[0085] Represents the antenna coordinate system CX a Y a Z a The centroid vector of the antenna in .

[0086] Satellite mechanical coordinate system O j X j Y j Z j The linear velocity vector of the antenna mass center in the image is expressed as (V a ) j , (V a ) j =A ja ·(V a ) a .

[0087] Among them, A ja Represents the antenna coordinate system CX a Y a Z a To the mechanical coordinate system O j X j Y j Z j The transformation matrix.

[0088] In the angular momentum compensation calculation module: the satellite mass center coordinate system and the satellite mechanical coordinate system are three-axis parallel, and only the coordinate origin is translated to the mass center of the entire satellite.

[0089] The angular momentum of the satellite mass center caused by the antenna motion in the satellite mass center coordinate system is H sa ,

[0090] Among them, J a It represents the moment of inertia of the antenna around its own center of mass.

[0091] m a Indicates the antenna quality.

[0092] Represents the antenna installation vector.

[0093] Represents the antenna deployment arm vector.

[0094] Represents the antenna rotation axis vector.

[0095] Indicates that the satellite mechanical coordinate system is O j X j Y j Z j The centroid vector of the antenna.

[0096] Indicates that the satellite mechanical coordinate system is O j X j Y j Z j The center-of-mass vector of the whole star.

[0097] The feedforward angular momentum compensation output to the angular momentum device of the control system is -H sa .

[0098] According to a computer-readable storage medium storing a computer program provided by the present invention, when the computer program is executed by a processor, the steps of analyzing the influence of antenna motion on satellite attitude and the feedforward compensation method are implemented.

[0099] A satellite system according to the present invention includes the above-mentioned antenna motion-on-satellite attitude influence analysis and feedforward compensation system, or the above-mentioned computer-readable storage medium storing a computer program.

[0100] Compared with the prior art, the present invention has the following beneficial effects:

[0101] 1. The present invention comprehensively characterizes the influence of the antenna centroid vector, the whole satellite centroid vector, and the linear velocity vector of the antenna centroid motion on the satellite attitude and antenna pointing deviation, takes into account that the antenna rotation axis is not the antenna main inertia axis, and the change of the whole satellite centroid caused by the antenna movement, so as to better eliminate the influence of the antenna movement on the satellite attitude.

[0102] 2. The present invention calculates the angular momentum of the antenna movement relative to the center of mass of the entire satellite, and provides a basis for analyzing the impact of the antenna movement on the satellite attitude and the specific engineering design of the feedforward compensation according to the feedforward angular momentum compensation of the control system angular momentum device.

[0103] 3. The present invention eliminates the influence of antenna movement on satellite attitude through analysis of the influence on satellite attitude and feed-forward compensation, which is feed-forward compensation for the mechanical movement of the antenna in orbit. BRIEF DESCRIPTION OF THE DRAWINGS

[0104] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0105] Figure 1 This is a schematic diagram of the analysis of the impact of antenna movement on satellite attitude and the principle of the feedforward compensation method.

[0106] Figure 2 Schematic diagram of the relationship between the coordinate system and vector related to antenna motion. DETAILED DESCRIPTION

[0107] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0108] According to the present invention, a method for analyzing the influence of antenna motion on satellite attitude and feedforward compensation is provided. Figure 1 For example, the following steps are included:

[0109] Antenna centroid vector calculation steps: Calculate the antenna centroid vector of the antenna centroid in the satellite mechanical coordinate system during antenna motion.

[0110] In more preferred embodiments, Figure 2 As shown, in the antenna centroid vector calculation step:

[0111] The satellite mechanical coordinate system is O j X j Y j Z j , the origin is O j .

[0112] In the satellite mechanical coordinate system O j X j Y j Z j In the figure, the vector from the antenna to the mechanical origin is Expressed as

[0113]

[0114] in, represents the antenna installation vector;

[0115] represents the antenna deployment arm vector;

[0116] represents the antenna rotation axis vector;

[0117] It represents the centroid vector of the antenna, which changes with the movement of the antenna. At the initial moment, the centroid vector of the antenna is recorded as

[0118] In the antenna coordinate system CX a Y a Z a middle:

[0119] The origin is C;

[0120] The Z axis is the rotation axis of the antenna.

[0121] The Y axis is perpendicular to the antenna rotation axis.

[0122] X axis is CX a , CX a =CY a ×CZ a .

[0123] In the antenna coordinate system CX a Y a Z a The initial vector of the antenna centroid in It is expressed as:

[0124]

[0125] Where θ represents the angle between the antenna centroid vector and the antenna rotation axis vector,

[0126] In the antenna coordinate system CX a Y a Z a The antenna centroid vector in It is expressed as:

[0127]

[0128] Among them, α represents the rotation around CZ a Axis rotation angle, R z (α) represents the rotation matrix around the Z axis, so:

[0129]

[0130] In the satellite mechanical coordinate system O j X j Yj Z j The antenna centroid vector is expressed as

[0131]

[0132] Among them, A ja Represents the antenna coordinate system CX a Y a Z a To the mechanical coordinate system O j X j Y j Z j The transformation matrix.

[0133] Since the antenna center of mass vector changes as the antenna rotates, it is necessary to calculate the antenna center of mass vector each time to avoid failure of feedforward angular momentum compensation or affect the satellite attitude.

[0134] The steps for calculating the centroid vector of the entire satellite are as follows: Calculate the centroid vector of the entire satellite in the satellite mechanical coordinate system.

[0135] In more preferred embodiments, the whole star centroid vector calculation step includes:

[0136] In the satellite mechanical coordinate system O j X j Y j Z j In the equation, the center-of-mass vector of the entire star is expressed as

[0137]

[0138] in, represents the satellite body centroid vector;

[0139] Represents the vector from the center of mass of the entire star to the center of mass of the body;

[0140] represents the vector from the antenna to the center of mass of the body;

[0141] m b Indicates the mass of the satellite itself;

[0142] m a Indicates the antenna quality.

[0143] Calculation steps for the linear velocity vector of the antenna mass center motion: Calculate the linear velocity vector of the antenna mass center motion in the satellite mechanical coordinate system during the antenna motion.

[0144] In more preferred embodiments, the step of calculating the linear velocity vector of the antenna centroid movement includes:

[0145] In the antenna coordinate system CX a Y a Z a The linear velocity vector of the antenna mass center in the image is expressed as (V a ) a ,

[0146]

[0147] Among them, ω a Indicates the antenna rotation angular velocity.

[0148] In the satellite mechanical coordinate system O j X j Y j Z j The linear velocity vector of the antenna mass center in the image is expressed as (V a ) j ,have

[0149] (V a ) j =A ja ·(V a ) a .

[0150] Calculation steps of angular momentum compensation: Calculate the angular momentum of the antenna motion relative to the mass center of the entire satellite to obtain the feedforward angular momentum compensation of the angular momentum device of the control system.

[0151] In more preferred embodiments, the angular momentum compensation amount calculation step includes:

[0152] The satellite mass center coordinate system is parallel to the satellite mechanical coordinate system in three axes, and only the coordinate origin is translated to the mass center of the whole satellite. The angular momentum caused by the antenna motion relative to the mass center of the whole satellite in the satellite mass center coordinate system is expressed as H sa ,

[0153]

[0154] Among them, J a It represents the moment of inertia of the antenna around its own center of mass.

[0155] Therefore, the feedforward angular momentum compensation output to the angular momentum device of the control system is -H sa .

[0156] The present invention takes into account that the antenna rotation axis is not the antenna's main inertia axis, which will cause changes in the mass characteristics of the entire satellite. The antenna center of mass vector, the entire satellite center of mass vector, the antenna center of mass motion linear velocity vector and the angular momentum device feedforward angular momentum compensation amount are selected as parameters for feedforward compensation for the antenna's on-orbit mechanical motion, thereby better eliminating the influence of the antenna motion on the satellite attitude.

[0157] The present invention also provides an antenna movement impact on satellite attitude analysis and feedforward compensation system. The antenna movement impact on satellite attitude analysis and feedforward compensation system can be implemented by executing the process steps of the antenna movement impact on satellite attitude analysis and feedforward compensation method. That is, those skilled in the art can understand the antenna movement impact on satellite attitude analysis and feedforward compensation method as a preferred implementation of the antenna movement impact on satellite attitude analysis and feedforward compensation system.

[0158] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0159] According to the present invention, a system for analyzing the influence of antenna motion on satellite attitude and providing feedforward compensation comprises the following modules:

[0160] Antenna centroid vector calculation module: calculates the antenna centroid vector of the antenna centroid in the satellite mechanical coordinate system during antenna movement.

[0161] Whole satellite centroid vector calculation module: calculates the whole satellite centroid vector in the satellite mechanical coordinate system.

[0162] Antenna center of mass motion linear velocity vector calculation module: calculates the antenna center of mass motion linear velocity vector of the antenna in the satellite center of mass coordinate system during antenna motion.

[0163] Angular momentum compensation calculation module: calculates the angular momentum of the antenna movement relative to the center of mass of the entire satellite, and obtains the feedforward angular momentum compensation of the angular momentum device of the control system.

[0164] In more preferred embodiments, in the antenna centroid vector calculation module: the satellite mechanical coordinate system is j X j Y j Z j , the origin is O j , the vector from the antenna to the mechanical origin Expressed as

[0165] in, Represents the antenna installation vector.

[0166] Represents the antenna deployment arm vector.

[0167] Represents the antenna rotation axis vector.

[0168] It represents the centroid vector of the antenna, which changes with the movement of the antenna. At the initial moment, the centroid vector of the antenna is recorded as

[0169] The antenna coordinate system is CX a Y a Z a , the origin is C.

[0170] The Z axis is the rotation axis of the antenna.

[0171] The Y axis is perpendicular to the antenna rotation axis.

[0172] X axis is CX a , CX a =CY a ×CZ a .

[0173] Antenna coordinate system CX a Y a Z a The initial vector of the antenna centroid in The calculation method is

[0174] in,

[0175] θ represents the angle between the antenna centroid vector and the antenna rotation axis vector.

[0176] Antenna coordinate system CX a Y a Z a The antenna centroid vector in The calculation method is

[0177] Among them, α represents the rotation around CZ a Axis rotation angle.

[0178] R z (α) represents the rotation matrix around the Z axis.

[0179] The satellite mechanical coordinate system is O j X j Y j Z j The antenna centroid vector is expressed as

[0180] Among them, A ja Represents the antenna coordinate system CX a Y a Z a To the mechanical coordinate system O j X j Y j Z j The transformation matrix.

[0181] In more preferred examples, in the whole satellite centroid vector calculation module: the satellite mechanical coordinate system is j X j Y j Z j The center-of-mass vector of the entire star is

[0182] in, Represents the satellite body centroid vector.

[0183] Represents the vector from the antenna to the mechanical origin.

[0184] Represents the vector from the center of mass of the entire star to the center of mass of the body.

[0185] The vector from the antenna to the center of mass of the body.

[0186] m b Indicates the satellite mass.

[0187] m a Indicates the antenna quality.

[0188] In more preferred embodiments, in the antenna centroid motion linear velocity vector calculation module: the antenna coordinate system CX a Y a Z a The linear velocity vector of the antenna mass center in the image is expressed as (V a ) a ,

[0189] Among them, ω a Indicates the antenna rotation angular velocity.

[0190] Represents the antenna coordinate system CX a Y a Z a The centroid vector of the antenna in .

[0191] Satellite mechanical coordinate system O j X j Y jZ j The linear velocity vector of the antenna mass center in the image is expressed as (V a ) j , (V a ) j =A ja ·(V a ) a .

[0192] Among them, A ja Represents the antenna coordinate system CX a Y a Z a To the mechanical coordinate system O j X j Y j Z j The transformation matrix.

[0193] In the angular momentum compensation calculation module: the satellite mass center coordinate system and the satellite mechanical coordinate system are three-axis parallel, and only the coordinate origin is translated to the mass center of the entire satellite.

[0194] The angular momentum of the satellite mass center caused by the antenna motion in the satellite mass center coordinate system is H sa ,

[0195] Among them, J a It represents the moment of inertia of the antenna around its own center of mass.

[0196] m a Indicates the antenna quality.

[0197] Represents the antenna installation vector.

[0198] Represents the antenna deployment arm vector.

[0199] Represents the antenna rotation axis vector.

[0200] Indicates that the satellite mechanical coordinate system is O j X j Y j Z j The centroid vector of the antenna.

[0201] Indicates that the satellite mechanical coordinate system is O j X j Y j Z j The center-of-mass vector of the whole star.

[0202] The feedforward angular momentum compensation output to the angular momentum device of the control system is -H sa.

[0203] According to a computer-readable storage medium storing a computer program provided by the present invention, when the computer program is executed by a processor, the steps of analyzing the influence of antenna motion on satellite attitude and the feedforward compensation method are implemented.

[0204] A satellite system according to the present invention includes the above-mentioned antenna motion-on-satellite attitude influence analysis and feedforward compensation system, or the above-mentioned computer-readable storage medium storing a computer program.

[0205] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An analysis of the effect of antenna motion on satellite attitude and a feedforward compensation method, characterized in that: include: Antenna centroid vector calculation steps: Calculate the antenna centroid vector of the antenna centroid in the satellite mechanical coordinate system during antenna motion; The steps of calculating the mass center vector of the whole satellite are as follows: calculating the mass center vector of the whole satellite in the satellite mechanical coordinate system; The calculation steps of the linear velocity vector of the antenna mass center motion are as follows: Calculate the linear velocity vector of the antenna mass center motion in the satellite mass center coordinate system during the antenna motion; Calculation steps of angular momentum compensation: Calculate the angular momentum of the antenna motion relative to the mass center of the entire satellite to obtain the feedforward angular momentum compensation of the angular momentum device of the control system.

2. The method for analyzing the influence of antenna motion on satellite attitude and for feedforward compensation according to claim 1, characterized in that: The antenna centroid vector calculation step includes: the satellite mechanical coordinate system is j X j Y j Z j , the origin is O j , the vector from the antenna to the mechanical origin Expressed as in, represents the antenna installation vector; represents the antenna deployment arm vector; represents the antenna rotation axis vector; It represents the centroid vector of the antenna, which changes with the movement of the antenna. At the initial moment, the centroid vector of the antenna is recorded as The antenna coordinate system is CX a Y a Z a , the origin is C; The Z axis is the rotation axis of the antenna. The Y axis is perpendicular to the antenna rotation axis. X axis is CX a , CX a =CY a ×CZ a ; Antenna coordinate system CX a Y a Z a The initial vector of the antenna centroid in The calculation method is in, θ represents the angle between the antenna centroid vector and the antenna rotation axis vector; Antenna coordinate system CX a Y a Z a The antenna centroid vector in The calculation method is Among them, α represents the rotation around CZ a Axis rotation angle; R z (α) represents the rotation matrix around the Z axis; Satellite mechanical coordinate system O j X j Y j Z j The antenna centroid vector is expressed as Among them, A ja Represents the antenna coordinate system CX a Y a Z a To the mechanical coordinate system O j X j Y j Z j The transformation matrix.

3. The method for analyzing the influence of antenna motion on satellite attitude and for feedforward compensation according to claim 1, characterized in that: The whole satellite centroid vector calculation step includes: the satellite mechanical coordinate system is j X j Y j Z j The center-of-mass vector of the entire star is in, represents the satellite body centroid vector; The vector representing the distance from the antenna to the mechanical origin; Represents the vector from the center of mass of the entire star to the center of mass of the body. The vector from the antenna to the center of mass of the body. m b Indicates the mass of the satellite itself; m a Indicates the antenna quality.

4. The method for analyzing the influence of antenna motion on satellite attitude and for feedforward compensation according to claim 1, characterized in that: The antenna centroid motion linear velocity vector calculation step includes: antenna coordinate system CX a Y a Z a The linear velocity vector of the antenna mass center in the image is expressed as (V a ) a , Among them, ω a represents the antenna rotation angular velocity; Represents the antenna coordinate system CX a Y a Z a The antenna centroid vector in ; Satellite mechanical coordinate system O j X j Y j Z j The linear velocity vector of the antenna mass center in the image is expressed as (V a ) j , (V a ) j =A ja ·(V a ) a ; Among them, A ja Represents the antenna coordinate system CX a Y a Z a To the mechanical coordinate system O j X j Y j Z j The transformation matrix. The angular momentum compensation amount calculation step includes: the satellite mass center coordinate system and the satellite mechanical coordinate system are three-axis parallel, and only the coordinate origin is translated to the mass center of the whole satellite; The angular momentum of the satellite's center of mass caused by the antenna motion in the satellite's center of mass coordinate system is H sa , Among them, J a represents the moment of inertia of the antenna around its own center of mass; m a Indicates the quality of the antenna; represents the antenna installation vector; represents the antenna deployment arm vector; represents the antenna rotation axis vector; Indicates that the satellite mechanical coordinate system is O j X j Y j Z j The center-of-mass vector of the antenna; Indicates that the satellite mechanical coordinate system is O j X j Y j Z j The center-of-mass vector of the whole star; The feedforward angular momentum compensation output to the angular momentum device of the control system is -H sa .

5. An analysis and feedforward compensation system for the impact of antenna motion on satellite attitude, characterized in that: include: Antenna centroid vector calculation module: calculates the antenna centroid vector of the antenna centroid in the satellite mechanical coordinate system during antenna movement; Whole satellite centroid vector calculation module: calculates the whole satellite centroid vector in the satellite mechanical coordinate system; Antenna mass center motion linear velocity vector calculation module: calculates the antenna mass center motion linear velocity vector in the satellite mass center coordinate system during antenna motion; Angular momentum compensation calculation module: calculates the angular momentum of the antenna movement relative to the center of mass of the entire satellite, and obtains the feedforward angular momentum compensation of the angular momentum device of the control system.

6. The antenna motion-to-satellite attitude influence analysis and feedforward compensation system according to claim 5, characterized in that: In the antenna centroid vector calculation module: the satellite mechanical coordinate system is j X j Y j Z j , the origin is O j , the vector from the antenna to the mechanical origin Expressed as in, represents the antenna installation vector; represents the antenna deployment arm vector; represents the antenna rotation axis vector; It represents the centroid vector of the antenna, which changes with the movement of the antenna. At the initial moment, the centroid vector of the antenna is recorded as The antenna coordinate system is CX a Y a Z a , the origin is C; The Z axis is the rotation axis of the antenna. The Y axis is perpendicular to the antenna rotation axis. X axis is CX a , CX a =CY a ×CZ a ; Antenna coordinate system CX a Y a Z a The initial vector of the antenna centroid in The calculation method is in, θ represents the angle between the antenna centroid vector and the antenna rotation axis vector; Antenna coordinate system CX a Y a Z a The antenna centroid vector in The calculation method is Among them, α represents the rotation around CZ a Axis rotation angle; R z (α) represents the rotation matrix around the Z axis; Satellite mechanical coordinate system O j X j Y j Z j The antenna centroid vector is expressed as Among them, A ja Represents the antenna coordinate system CX a Y a Z a To the mechanical coordinate system O j X j Y j Z j The transformation matrix.

7. The method for analyzing the influence of antenna motion on satellite attitude and for feedforward compensation according to claim 5, characterized in that: In the whole satellite centroid vector calculation module: the satellite mechanical coordinate system is j X j Y j Z j The center-of-mass vector of the entire star is in, represents the satellite body centroid vector; The vector representing the distance from the antenna to the mechanical origin; Represents the vector from the center of mass of the entire star to the center of mass of the body; represents the vector from the antenna to the center of mass of the body; m b Indicates the mass of the satellite itself; m a Indicates the antenna quality.

8. The method for analyzing the influence of antenna motion on satellite attitude and for feedforward compensation according to claim 5, characterized in that: In the antenna centroid motion linear velocity vector calculation module: Antenna coordinate system CX a Y a Z a The linear velocity vector of the antenna mass center in the image is expressed as (V a ) a , Among them, ω a represents the antenna rotation angular velocity; Represents the antenna coordinate system CX a Y a Z a The antenna centroid vector in ; Satellite mechanical coordinate system O j X j Y j Z j The linear velocity vector of the antenna mass center in the image is expressed as (V a ) j , (V a ) j =A ja ·(V a ) a ; Among them, A ja Represents the antenna coordinate system CX a Y a Z a To the mechanical coordinate system O j X j Y j Z j The transformation matrix. In the angular momentum compensation calculation module: the satellite mass center coordinate system and the satellite mechanical coordinate system are three-axis parallel, and only the coordinate origin is translated to the mass center of the entire satellite; The angular momentum of the satellite's center of mass caused by the antenna motion in the satellite's center of mass coordinate system is H sa , Among them, J a represents the moment of inertia of the antenna around its own center of mass; m a Indicates the quality of the antenna; represents the antenna installation vector; represents the antenna deployment arm vector; represents the antenna rotation axis vector; Indicates that the satellite mechanical coordinate system is O j X j Y j Z j The center-of-mass vector of the antenna; Indicates that the satellite mechanical coordinate system is O j X j Y j Z j The center-of-mass vector of the whole star; The feedforward angular momentum compensation output to the angular momentum device of the control system is -H sa .

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of analyzing the influence of antenna movement on satellite attitude and the feedforward compensation method described in any one of claims 1 to 4 are implemented.

10. A satellite system, characterized in that: A system for analyzing the effect of antenna motion on satellite attitude and for feedforward compensation as described in any one of claims 5 to 8, or a computer-readable storage medium storing a computer program as described in claim 9.

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