A method and device for controlling the combined self-balancing angular momentum of a star and a rotating load

Abstract

The present invention discloses a method and device for controlling the joint self-balancing angular momentum of a star and a rotating payload, and belongs to the field of satellite attitude control. The method includes: using the torque output capability of a large angular momentum momentum wheel train in the direction of the rotation axis to plan the motion trajectory of the payload platform's spin-up angular velocity; estimating the payload platform's spin-up control torque in real time according to the payload platform's nominal rotational inertia and the payload platform's spin-up angular velocity in the plan; based on the principle of conservation of the entire satellite's angular momentum, introducing the payload platform's spin-up control torque into the feedback control torque of the satellite platform's momentum wheel, so as to calculate the satellite attitude control of the large angular momentum momentum wheel train in the direction of the spin-up axis by using the first control voltage during the spin-up process, and the satellite attitude control of the other two rotation axis directions by using the large torque momentum wheel train by using the second control voltage. The present invention can control the satellite platform's angular momentum during the large payload speed adjustment process, and realize zero momentum control of the entire satellite.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite attitude control, and in particular to a method and device for controlling the combined self-balancing angular momentum of a satellite and a rotating load. Background Art

[0002] With the development of high-resolution and ultra-wide coverage requirements for imaging missions, mission requirements have been put forward for optical imaging satellites that use vertical-track scanning and along-track stitching.

[0003] The three-axis earth-to-earth satellite platform ensures stable control of the platform. The optical payload platform rotates around the pointing axis at a large nominal speed. The payload platform control subsystem has the ability to control the speed of the payload cabin, and can achieve high control accuracy and high stability control of the payload speed. The large payload platform rotates at a high speed around the rotation axis at a large nominal speed. The space gyroscopic torque introduced is very obvious, which imposes constraints on the joint capacity. The satellite platform controller needs to consider the impact of the payload platform rotation, and needs to be equipped with a set of large angular momentum momentum wheels to provide angular momentum derotation capabilities for large rotating payloads. After being equipped with large angular momentum momentum wheels, how to control the angular momentum of the satellite platform during the large payload speed adjustment process has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention provides a method and device for controlling the angular momentum of a satellite body and a rotating load in a self-balancing manner, which can control the angular momentum of a satellite platform during the large load speed adjustment process and realize zero momentum control of the entire satellite. The technical solution is as follows:

[0005] On the one hand, a method for controlling the angular momentum of a star body and a rotating load by self-balancing is provided, the method comprising:

[0006] The rotation angular velocity trajectory of the load platform is planned by utilizing the torque output capability of the large angular momentum gear train in the direction of the rotation axis.

[0007] According to the nominal rotational inertia of the load platform and the rotation angular velocity of the load platform in the plan, the rotation control torque of the load platform is estimated in real time;

[0008] Based on the principle of conservation of angular momentum of the entire satellite, the spin-up control torque of the payload platform is introduced into the feedback control torque of the satellite platform momentum wheel to calculate the first control voltage of the large angular momentum momentum wheel train and the second control voltage of the large torque momentum wheel train during the spin-up process. The first control voltage is used to control the satellite attitude control of the large angular momentum momentum wheel train in the direction of the spin-up axis, and the second control voltage is used to control the satellite attitude control of the large torque momentum wheel train in the directions of the other two rotation axes.

[0009] On the other hand, a device for controlling a self-balancing angular momentum of a star body and a rotating load is provided, the device comprising:

[0010] A planning unit, used to plan the rotation angular velocity motion trajectory of the load platform by utilizing the torque output capability of the large angular momentum momentum gear train in the direction of the rotation axis;

[0011] An estimation unit, used for estimating the spin-up control torque of the load platform in real time according to the nominal rotational inertia of the load platform and the spin-up angular velocity of the load platform in the plan;

[0012] The control unit is used to introduce the spin-up control torque of the payload platform into the feedback control torque of the satellite platform momentum wheel based on the principle of conservation of angular momentum of the entire satellite, so as to calculate the first control voltage of the large angular momentum momentum wheel train and the second control voltage of the large torque momentum wheel train during the spin-up process, and to control the satellite attitude control of the large angular momentum momentum wheel train in the direction of the spin-up axis by using the first control voltage, and to control the satellite attitude control of the large torque momentum wheel train in the directions of the other two rotation axes by using the second control voltage.

[0013] On the other hand, a computer device is provided, which includes a memory and a processor, the memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the above-mentioned method for self-balancing angular momentum control of a star body and a rotating load.

[0014] On the other hand, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for controlling the combined self-balancing angular momentum of a star body and a rotating load are implemented.

[0015] On the other hand, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for controlling the combined self-balancing angular momentum of a star and a rotating load.

[0016] The technical solution provided by the present invention can at least bring the following beneficial effects:

[0017] During the spin-up process of the payload platform, the satellite attitude in the spin-up axis direction is controlled by the large angular momentum gear train, realizing the planning of the payload platform spin-up angular velocity motion trajectory. Based on the principle of conservation of angular momentum of the whole satellite, the spin-up control torque of the payload platform is introduced into the feedback control torque of the satellite platform momentum wheel, so as to use the large torque momentum gear train to control the satellite attitude in the other two rotation axis directions, thereby realizing the angular momentum self-balancing adjustment of the satellite platform and the payload platform. It can be seen that this scheme can control the angular momentum of the satellite platform during the large payload speed adjustment process and realize the zero momentum control of the whole satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is a flow chart of a method for controlling a combined self-balancing angular momentum of a star and a rotating load provided by an embodiment of the present invention;

[0020] Figure 2 It is a structural diagram of a self-balancing angular momentum control device for a star body and a rotating load provided by an embodiment of the present invention;

[0021] Figure 3 It is a hardware architecture diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] Please refer to Figure 1 The embodiment of the present invention provides a method for controlling the angular momentum of a star body and a rotating load in a self-balancing manner, the method comprising:

[0024] Step 100, planning the rotation angular velocity motion trajectory of the load platform by utilizing the torque output capability of the large angular momentum momentum gear train in the direction of the rotation axis;

[0025] Step 102, estimating the spin-up control torque of the load platform in real time according to the nominal rotational inertia of the load platform and the spin-up angular velocity of the load platform in the plan;

[0026] Step 104, based on the principle of conservation of angular momentum of the entire satellite, introduce the spin-up control torque of the payload platform into the feedback control torque of the satellite platform momentum wheel to calculate the first control voltage of the large angular momentum momentum wheel train and the second control voltage of the large torque momentum wheel train during the spin-up process, use the first control voltage to control the satellite attitude control of the large angular momentum momentum wheel train in the direction of the spin-up axis, and use the second control voltage to control the satellite attitude control of the large torque momentum wheel train in the directions of the other two rotation axes.

[0027] In the embodiment of the present invention, during the spin-up process of the payload platform, the satellite attitude in the spin-up axis direction is controlled by a large angular momentum gear train, so as to realize the planning of the angular velocity motion trajectory of the payload platform. Based on the principle of conservation of angular momentum of the whole satellite, the spin-up control torque of the payload platform is introduced into the feedback control torque of the satellite platform momentum wheel, so as to control the satellite attitude in the other two rotation axis directions by using the large torque momentum gear train, thereby realizing the angular momentum self-balancing adjustment of the satellite platform and the payload platform. It can be seen that this scheme can control the angular momentum of the satellite platform during the large payload speed adjustment process, and realize the zero momentum control of the whole satellite.

[0028] Described below Figure 1 How the various steps are performed.

[0029] First, step 100 "utilizing the torque output capability of the large angular momentum momentum gear train in the direction of the rotation axis to plan the rotation angular velocity motion trajectory of the load platform" and step 102 "real-time estimation of the rotation control torque of the load platform based on the nominal rotational inertia of the load platform and the rotation angular velocity of the load platform in the plan" are explained simultaneously.

[0030] In the embodiment of the present invention, the satellite is in a steady-state state in which the payload platform is not rotated at the initial stage. Before imaging, the satellite enters a rotating state from the steady-state state. During the rotating process, two sets of momentum gear trains are jointly controlled. Specifically, the large angular momentum momentum gear train completes the satellite attitude control in the direction of the rotating axis, and the large torque momentum gear train completes the satellite attitude control in the directions of the other two rotating axes. When the rotating angular velocity of the payload platform reaches the nominal angular velocity ω of the terminal T Then it enters the steady-state rotation state.

[0031] In the embodiment of the present invention, the rotation angular velocity motion trajectory of the load platform can be planned:

[0032] The variation of the load platform's rotation angular velocity ω with time t is as follows:

[0033] ω=k×M x / I xx ×t (t0 <t<ω T / (k×M x / I xx ));

[0034] ω=ω T (t>ω T / (k× M x / I xx ));

[0035] Among them, k is the ratio of the rotation moment, generally k<0.8, M x is the torque output capacity of the large angular momentum gear train in the direction of the rotation axis, Ixx is the nominal rotational inertia of the load platform in the direction of the rotation axis, t is the accumulated ship time on the satellite, and t0 is the initial moment of rotation of the load platform; ω T is the nominal angular velocity of the load platform;

[0036] The above planning of the load platform's rotation angular velocity is used to complete the load platform's rotation control. The real-time angular velocity measurement value of the load platform during the rotation process is ω C , then the load platform's rotation control torque M can be estimated in real time by the following formula: f :

[0037] M f =I xx ×(ω C -ω C_lst ) / dt;

[0038] Where dt is the control period of the angular velocity of the load platform, ω C is the real-time angular velocity measurement value of the load platform during the rotation process, ω C_lst is the angular velocity of the load platform in one control cycle.

[0039] Based on the principle of conservation of angular momentum of the whole star, it is necessary to introduce -M f To the feedback control torque of the satellite platform momentum wheel.

[0040] Then, for step 104, based on the principle of conservation of angular momentum of the entire satellite, the spin-up control torque of the payload platform is introduced into the feedback control torque of the satellite platform momentum wheel to calculate the first control voltage of the large angular momentum momentum wheel train and the second control voltage of the large torque momentum wheel train during the spin-up process. The first control voltage is used to control the satellite attitude control of the large angular momentum momentum wheel train in the direction of the spin-up axis, and the second control voltage is used to control the satellite attitude control of the large torque momentum wheel train in the directions of the other two rotation axes.

[0041] In the embodiment of the present invention, after determining the spin-up control torque of the payload platform, it is necessary to distribute the control torque of the satellite platform. The feedback control torque of the satellite platform momentum wheel during the spin-up process is Torq=[Torqx TorqyTorqz]'. The first control voltage of the large angular momentum momentum wheel train and the second control voltage of the large torque momentum wheel train during the spin-up process are calculated using the following formula:

[0042] U1=(D N1×3 ×[Torqx-M f 0 0]'+Torq_F N1×3 ) / Mdf_UT1;

[0043] U2=(D N2×3 ×[0 Torqy Torqz]' + Torq_FN2×3 ) / Mdf_UT2;

[0044] Among them, Torq_F N1×3 、Torq_F N2×3 are the friction torques of the momentum wheels of the large angular momentum gear train and the large moment momentum gear train, respectively; N1 and N2 are the number of wheels of the large angular momentum gear train and the large moment momentum gear train, respectively; D N1×3 , D N2×3 is the conversion matrix of the control torque of the momentum wheel system in the satellite system into the control torque of a single large momentum wheel, which is composed of the momentum wheel installation matrix C 3×N1 , C 3×N2 It is calculated that Mdf_UT1 and Mdf_UT2 are the torque-voltage coefficients of the large angular momentum momentum gear train and the large torque momentum gear train respectively.

[0045] It should be noted that the estimation model of the friction torque of the momentum wheel only considers the 0-2 order terms, and the friction torque Torq_F[i] of any momentum wheel i is estimated as:

[0046] Torq_F[i]=Torq_F_2s[i]+Torq_F_1s[i]+Torq_F_0s[i].

[0047] in:

[0048] Torq_F_2s[i]=RW[i].Mdf_FricM2×RW[i].h×RW[i].h×sgn(RW[i].h);

[0049] Torq_F_1s[i]=RW[i].Mdf_FricM×RW[i].h;

[0050] Torq_F_0s[i]=RW[i].Mdf_FricS×sgn(RW[i].h);

[0051] Among them, Torq_F_0s[i], Torq_F_1s[i], Torq_F_2s[i] are the 0th, 1st, and 2nd order terms of the friction torque of momentum wheel i, respectively; RW[i].h is the real-time angular momentum measurement value of momentum wheel i; the function sgn(x) is the sign function for calculating x, and RW[i].Mdf_FricS, RW[i].Mdf_FricM, RW[i].Mdf_FricM2 are the fitting coefficients of the 0th, 1st, and 2nd order models of the friction torque of momentum wheel i, respectively.

[0052] Furthermore, the transformation matrix D N1×3 , D N2×3 With the installation matrix C 3×N1 , C 3×N2The relationship is:

[0053] D N1×3= C 3×N1 T ×(C 3×N1 ×C 3×N1 T ) -1 ;

[0054] D N2×3= C 3×N2 T ×(C 3×N2 ×C 3×N2 T ) -1 .

[0055] The above can realize the zero momentum control of the whole star during the spinning process.

[0056] Furthermore, when the angular velocity of the load platform converges to the nominal angular velocity and completes the spin, it enters the steady-state rotation state. At this time, the control accuracy will decrease, and it is necessary to filter and correct the angular momentum feedforward control based on the moment of inertia. After the spin is completed and enters the steady-state rotation state, it can be controlled in the following ways:

[0057] A1: According to the balance between the angular momentum of the satellite system in the direction of the rotation axis and the angular momentum of the payload platform in the direction of the rotation axis, the moment of inertia of the payload platform in the direction of the rotation axis is estimated by real-time filtering;

[0058] A2: Determine the expected angular momentum of each large angular momentum momentum wheel according to the moment of inertia of the load platform in the direction of the rotation axis, and use the expected angular momentum to control the corresponding large angular momentum momentum wheel to achieve zero momentum control of the entire satellite.

[0059] In this step A1, it is assumed that the moment of inertia of the load platform in the direction of the rotation axis is I xx_new , the rotational angular momentum of the load platform is: h_load =I xx_new ×ω C , the angular momentum h_x of the satellite system in the direction of rotation axis is obtained by synthesizing the large angular momentum momentum gear train:

[0060] h_x=([1,0,0]×C 3×N1 ×[RW[0].h, RW[1].h, … ,RW[N1-1].h] T )1;

[0061] Among them, (s)1 is the first component of vector s, and N1 is the number of large angular momentum momentum wheels.

[0062] During the rotation of the payload platform, the large angular momentum gear train completes the satellite attitude control in the direction of the rotation axis. If there is no other torque, h_x and h_load are in equilibrium: h_x+h_load=0; if the equilibrium state is balanced, the moment of inertia of the payload platform in the direction of the rotation axis is determined. xx_new for:

[0063] I xx_new =- h_x / ω C ;

[0064] Among them, h_x is the angular momentum of the satellite system in the direction of the rotation axis, ω C It is the real-time angular velocity measurement value of the load platform;

[0065] If the angular momentum change of the high torque wheel momentum wheel is observed to have a time first-order correlation term during the spinning process, it is determined that h_x and h_load are in an unbalanced state. In the unbalanced state, the interference torque generated by the angular momentum imbalance is: T disturb =ω orb ×(h_x+h_load); and, there exists T disturb ×sumT=h disturb .

[0066] If the equilibrium state is unbalanced, determine the moment of inertia I of the load platform in the direction of the rotation axis. xx_new for:

[0067] I xx_new =[(h disturb / sumT)×ω orb -h_x] / ω C ;

[0068] Among them, h disturb The first-order time-related term of the angular momentum of the large moment-momentum gear train synthesized into the three-axis coordinate system of the main body; ω orb is the vector of the angular velocity of the satellite in orbit; sumT is the time accumulation.

[0069] In this way, the moment of inertia of the load platform in the direction of the rotation axis can be calculated.

[0070] In this step A2, once jet unloading occurs during the rotation of the payload platform, causing the angular momentum of the entire satellite to change, or the angular velocity of the payload platform converges to the nominal angular velocity ω of the terminal during the rotation of the payload platform T After that, the speed control of the large angular momentum gear train can be started, and the nominal angular momentum of the large angular momentum gear train can be determined as: h T =Ixx_new×ω T ; Then the expected angular momentum of each large angular momentum momentum wheel is D N1×3×h T .

[0071] In this way, after the spin-up is completed and the satellite enters the steady-state rotation state, the nominal angular momentum of the large angular momentum momentum wheel is determined according to the rotational inertia of the load platform, so that the speed can be controlled by using the angular momentum momentum wheel train, thereby achieving high-precision and stable control of the entire satellite in the steady-state rotation state.

[0072] Furthermore, considering the individual differences in the friction torque characteristics of different momentum wheels and the difference between the actual value and the binding value of the momentum wheel installation vector direction, the actual angular momenta of multiple momentum wheels with large angular momentum may be unequal during the rotation of the load platform, resulting in the angular momentum component of the synthetic angular momentum of the body on the non-rotating axis being not zero, and it is necessary to compensate for the control during the rotation process.

[0073] Specifically, an embodiment of the present invention may further include: if it is determined that the actual angular momentum of the large angular momentum momentum wheel is not equal during the rotation process of the load platform, then based on the theoretical value of the three-axis composite angular momentum of the large angular momentum momentum wheel train and the actual composite torque, an updated installation matrix of the large angular momentum momentum wheel train is calculated, and the control process is corrected using the updated installation matrix.

[0074] Assume that the theoretical value A of the three-axis composite angular momentum of the large angular momentum momentum train is:

[0075] A=[h_x1,0,0;h_x2,0,0;…h_x N1 ,0,0;] T ;

[0076] Considering that the large angular momentum wheel mainly provides satellite attitude control in the direction of the rotation axis, the angle between the large angular momentum wheel installation axis and the rotation axis is small, and the magnitude of the actual composite torque and the theoretical composite torque in the direction of the rotation axis is basically the same. Assume that the actual composite torque B of the large angular momentum wheel is:

[0077] B=[h_x1,h_y1,h_z1; h_x2,h_y2,h_z2;…;h_x N1 ,h_y N1 ,h_z N1 ] T ;

[0078] The updated installation matrix of the large angular momentum wheel is C 3×N1_NEW , then we can get approximately:

[0079] B=C 3×N1_NEW × (D N1×3 ×A).

[0080] Using the above formula, the updated installation matrix can be calculated:

[0081] C 3×N1_NEW =B× (D N1×3 ×A) -1 .

[0082] Since the installation matrix is ​​related to the conversion matrix, and the conversion matrix is ​​used to calculate the first control voltage and the second control voltage, the first control voltage and the second control voltage can be corrected using the updated installation matrix, thereby correcting the control during the spinning process.

[0083] In an embodiment of the present invention, when there are errors between the mass characteristics of the payload platform and the friction characteristics of the actuator, an on-orbit estimation strategy can be used to achieve compensation correction of the control process, thereby providing a guarantee for accurate on-orbit zero-momentum control of the entire satellite.

[0084] Please refer to Figure 2 The embodiment of the present invention provides a device for controlling a self-balancing angular momentum of a star body and a rotating load, the device comprising:

[0085] The planning unit 200 is used to plan the rotation angular velocity motion trajectory of the load platform by utilizing the torque output capability of the large angular momentum momentum gear train in the direction of the rotation axis;

[0086] An estimation unit 202, configured to estimate the spin-up control torque of the load platform in real time according to the nominal rotational inertia of the load platform and the spin-up angular velocity of the load platform in the plan;

[0087] The control unit 204 is used to introduce the spin-up control torque of the payload platform into the feedback control torque of the satellite platform momentum wheel based on the principle of conservation of angular momentum of the entire satellite, so as to calculate the first control voltage of the large angular momentum momentum wheel train and the second control voltage of the large torque momentum wheel train during the spin-up process, and use the first control voltage to control the satellite attitude control of the large angular momentum momentum wheel train in the direction of the spin-up axis, and use the second control voltage to control the satellite attitude control of the large torque momentum wheel train in the directions of the other two rotation axes.

[0088] In one embodiment of the present invention, the rotation angular velocity ω of the load platform changes with time t as follows:

[0089] ω=k×M x / I xx ×t (t0 <t<ω T / (k×M x / I xx ));

[0090] ω=ω T (t>ω T / (k× M x / I xx ));

[0091] Where k is the ratio of the rotation moment, M x is the torque output capacity of the large angular momentum gear train in the direction of the rotation axis, I xx is the nominal rotational inertia of the load platform in the direction of the rotation axis, t is the accumulated ship time on the satellite, and t0 is the initial moment of rotation of the load platform; ω T is the nominal angular velocity of the load platform;

[0092] The load platform's rotation control torque M is estimated in real time using the following formula: f :

[0093] M f =I xx ×(ω C -ω C_lst ) / dt;

[0094] Where dt is the control period of the angular velocity of the load platform, ω C is the real-time angular velocity measurement value of the load platform during the rotation process, ω C_lst is the angular velocity of the load platform in one control cycle.

[0095] In one embodiment of the present invention, when the control unit performs the calculation of the first control voltage of the large angular momentum momentum gear train and the second control voltage of the large torque momentum gear train during the spinning process, the control unit specifically includes:

[0096] The first control voltage U1 and the second control voltage U2 are calculated using the following formula:

[0097] U1=(D N1×3 ×[Torqx-M f 0 0]'+Torq_F N1×3 ) / Mdf_UT1;

[0098] U2=(D N2×3 ×[0 Torqy Torqz]' + Torq_F N2×3 ) / Mdf_UT2;

[0099] Among them, Torq_F N1×3 、Torq_F N2×3 are the friction torques of the momentum wheels of the large angular momentum gear train and the large moment momentum gear train, respectively; N1 and N2 are the number of wheels of the large angular momentum gear train and the large moment momentum gear train, respectively; D N1×3 , D N2×3 is the conversion matrix of the control torque of the momentum wheel system in the satellite system into the control torque of a single large momentum wheel, which is composed of the momentum wheel installation matrix C 3×N1 , C 3×N2It is calculated that Torq=[Torqx Torqy Torqz]' is the feedback control torque of the satellite platform momentum wheel during the rotation process; Mdf_UT1 and Mdf_UT2 are the torque-voltage coefficients of the large angular momentum momentum wheel train and the large torque momentum wheel train respectively.

[0100] In one embodiment of the present invention, the control unit is further used for:

[0101] When the angular velocity of the payload platform converges to the nominal angular velocity and the rotation is completed, the moment of inertia of the payload platform in the direction of the rotation axis is estimated by real-time filtering according to the equilibrium state between the angular momentum in the direction of the rotation axis of the satellite system and the angular momentum in the direction of the rotation axis of the payload platform.

[0102] The expected angular momentum of each large angular momentum momentum wheel is determined according to the rotational inertia of the load platform in the direction of the rotation axis, so as to utilize the expected angular momentum to control the corresponding large angular momentum momentum wheel to realize the zero momentum control of the whole satellite.

[0103] Specifically: If the equilibrium state is balanced, determine the moment of inertia I of the load platform in the direction of the rotation axis xx_new for:

[0104] I xx_new =- h_x / ω C ;

[0105] Among them, h_x is the angular momentum of the satellite system in the direction of the rotation axis, ω C It is the real-time angular velocity measurement value of the load platform;

[0106] If the equilibrium state is unbalanced, determine the moment of inertia I of the load platform in the direction of the rotation axis. xx_new for:

[0107] I xx_new =[(h disturb / sumT)×ω orb -h_x] / ω C ;

[0108] Among them, h disturb The first-order time-related term of the angular momentum of the large moment-momentum gear train synthesized into the three-axis coordinate system of the main body; ω orb is the vector of the angular velocity of the satellite in orbit; sumT is the time accumulation.

[0109] In one embodiment of the present invention, the control unit is also used for: if it is determined that the actual angular momentum of the large angular momentum momentum wheel is not equal during the rotation process of the load platform, then based on the theoretical value of the three-axis composite angular momentum of the large angular momentum momentum wheel train and the actual composite torque, calculate the updated installation matrix of the large angular momentum momentum wheel train, and use the updated installation matrix to correct the control process.

[0110] It should be noted that: the star body and rotating load combined self-balancing angular momentum control device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the star body and rotating load combined self-balancing angular momentum control device and the star body and rotating load combined self-balancing angular momentum control method embodiment provided in the above embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0111] The embodiment of the present application also provides a computer device, please refer to Figure 3 The computer device includes a processor and a memory, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the self-balancing angular momentum control method of a star body and a rotating load provided in the above-mentioned method embodiments.

[0112] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the method for self-balancing angular momentum control of a star body and a rotating load provided in the above-mentioned method embodiments.

[0113] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the method for controlling the combined self-balancing angular momentum of a star body and a rotating load as described in any of the above embodiments.

[0114] For the convenience of description, the above system or device is described by dividing it into various modules or units according to its functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0115] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0116] Finally, it should be noted that, in this article, relational terms such as first, second, third and fourth are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0117] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling the angular momentum of a star body and a rotating load by self-balancing, characterized in that: The method comprises: The rotation angular velocity trajectory of the load platform is planned by utilizing the torque output capability of the large angular momentum gear train in the direction of the rotation axis. According to the nominal rotational inertia of the load platform and the rotation angular velocity of the load platform in the plan, the rotation control torque of the load platform is estimated in real time; Based on the principle of conservation of angular momentum of the entire satellite, the spin-up control torque of the payload platform is introduced into the feedback control torque of the satellite platform momentum wheel to calculate the first control voltage of the large angular momentum momentum wheel train and the second control voltage of the large torque momentum wheel train during the spin-up process. The first control voltage is used to control the satellite attitude control of the large angular momentum momentum wheel train in the direction of the spin-up axis, and the second control voltage is used to control the satellite attitude control of the large torque momentum wheel train in the directions of the other two rotation axes. The method also includes: when the angular velocity of the payload platform converges to the nominal angular velocity and the rotation is completed, based on the balance state between the angular momentum of the satellite system in the direction of the rotation axis and the angular momentum of the payload platform in the direction of the rotation axis, real-time filtering is used to estimate the moment of inertia of the payload platform in the direction of the rotation axis; based on the moment of inertia of the payload platform in the direction of the rotation axis, the expected angular momentum of each large angular momentum momentum wheel is determined, so as to control the corresponding large angular momentum momentum wheel with the expected angular momentum to realize the zero momentum control of the whole satellite; If the equilibrium state is balanced, determine the moment of inertia I of the load platform in the direction of the rotation axis. xx_new for: I xx_new =- h_x / ω C ; Among them, h_x is the angular momentum of the satellite system in the direction of the rotation axis, ω C It is the real-time angular velocity measurement value of the load platform; If the equilibrium state is unbalanced, determine the moment of inertia I of the load platform in the direction of the rotation axis. xx_new for: I xx_new =[(h disturb / sumT)×ω orb -h_x] / ω C ; Among them, h disturb The first-order time-related term of the angular momentum of the large moment-momentum gear train synthesized into the three-axis coordinate system of the main body; ω orb is the vector of the angular velocity of the satellite in orbit; sumT is the time accumulation.

2. The method according to claim 1, characterized in that: The planning of the rotation angular velocity motion trajectory of the load platform includes: The variation of the load platform's rotation angular velocity ω with time t is as follows: ω=k×M x / I xx ×t (t0<t<ω T / (k×M x / I xx )); ω=ω T (t>ω T / (k× M x / I xx )); Where k is the ratio of the rotation moment, M x is the torque output capacity of the large angular momentum gear train in the direction of the rotation axis, I xx is the nominal rotational inertia of the load platform in the direction of the rotation axis, t is the accumulated ship time on the satellite, and t0 is the initial moment of rotation of the load platform; ω T is the nominal angular velocity of the load platform; The load platform's rotation control torque M is estimated in real time using the following formula: f : M f =I xx ×(ω C -ω C_lst ) / dt; Where dt is the control period of the angular velocity of the load platform, ω C is the real-time angular velocity measurement value of the load platform during the rotation process, ω C_lst is the angular velocity of the load platform in one control cycle.

3. The method according to claim 2, characterized in that The method of calculating the first control voltage of the large angular momentum momentum gear train and the second control voltage of the large torque momentum gear train during the spinning process includes: The first control voltage U1 and the second control voltage U2 are calculated using the following formula: U1=(D N1×3 ×[Torqx-M f 0 0]'+Torq_F N1×3 ) / Mdf_UT1; <h2 style=";text-align:left;direction:ltr">U2=(D<h2 style=";text-align:left;direction:ltr"> N2×3 <h2 style=";text-align:left;direction:ltr"> ×[0 Torqy Torqz]' + Torq_F<h2 style=";text-align:left;direction:ltr"> N2×3 <h2 style=";text-align:left;direction:ltr"> ) / Mdf_UT2; Among them, Torq_F N1×3 、Torq_F N2×3 are the friction torques of the momentum wheels of the large angular momentum gear train and the large moment momentum gear train, respectively; N1 and N2 are the number of wheels of the large angular momentum gear train and the large moment momentum gear train, respectively; D N1×3 , D N2×3 is the conversion matrix of the control torque of the momentum wheel system in the satellite system into the control torque of a single large momentum wheel, which is composed of the momentum wheel installation matrix C 3×N1 , C 3×N2 It is calculated that Torq=[Torqx Torqy Torqz]' is the feedback control torque of the satellite platform momentum wheel during the rotation process; Mdf_UT1 and Mdf_UT2 are the torque-voltage coefficients of the large angular momentum momentum wheel train and the large torque momentum wheel train respectively.

4. The method according to any one of claims 1 to 3, characterized in that: Also includes: If it is determined that the actual angular momentum of the large angular momentum momentum wheel is not equal during the rotation process of the load platform, the updated installation matrix of the large angular momentum momentum wheel train is calculated based on the theoretical value of the three-axis composite angular momentum and the actual composite torque of the large angular momentum momentum wheel train, and the updated installation matrix is ​​used to correct the control process.

5. A self-balancing angular momentum control device for a star and a rotating load, characterized in that: The device comprises: A planning unit, used to plan the rotation angular velocity motion trajectory of the load platform by utilizing the torque output capability of the large angular momentum momentum gear train in the direction of the rotation axis; An estimation unit, used for estimating the spin-up control torque of the load platform in real time according to the nominal rotational inertia of the load platform and the spin-up angular velocity of the load platform in the plan; A control unit is used to introduce the spin-up control torque of the payload platform into the feedback control torque of the satellite platform momentum wheel based on the principle of conservation of angular momentum of the entire satellite, so as to calculate the first control voltage of the large angular momentum momentum wheel train and the second control voltage of the large torque momentum wheel train during the spin-up process, and to control the satellite attitude control of the large angular momentum momentum wheel train in the direction of the spin-up axis by using the first control voltage, and to control the satellite attitude control of the large torque momentum wheel train in the directions of the other two rotation axes by using the second control voltage; The control unit is also used for: when the angular velocity of the payload platform converges to the nominal angular velocity and the rotation is completed, according to the balance state between the angular momentum of the satellite system in the direction of the rotation axis and the angular momentum of the payload platform in the direction of the rotation axis, real-time filtering estimates the moment of inertia of the payload platform in the direction of the rotation axis; according to the moment of inertia of the payload platform in the direction of the rotation axis, determining the expected angular momentum of each large angular momentum momentum wheel, so as to use the expected angular momentum to control the corresponding large angular momentum momentum wheel to realize the zero momentum control of the whole satellite; If the equilibrium state is balanced, determine the moment of inertia I of the load platform in the direction of the rotation axis. xx_new for: I xx_new =- h_x / ω C ; Among them, h_x is the angular momentum of the satellite system in the direction of the rotation axis, ω C It is the real-time angular velocity measurement value of the load platform; If the equilibrium state is unbalanced, determine the moment of inertia I of the load platform in the direction of the rotation axis. xx_new for: I xx_new =[(h disturb / sumT)×ω orb -h_x] / ω C ; Among them, h disturb The first-order time-related term of the angular momentum of the large moment-momentum gear train synthesized into the three-axis coordinate system of the main body; ω orb is the vector of the angular velocity of the satellite in orbit; sumT is the time accumulation.

6. The device according to claim 5, characterized in that The variation of the load platform's rotation angular velocity ω with time t is as follows: ω=k×M x / I xx ×t (t0<t<ω T / (k×M x / I xx )); ω=ω T (t>ω T / (k× M x / I xx )); Where k is the ratio of the rotation moment, M x is the torque output capacity of the large angular momentum gear train in the direction of the rotation axis, I xx is the nominal rotational inertia of the load platform in the direction of the rotation axis, t is the accumulated ship time on the satellite, and t0 is the initial moment of rotation of the load platform; ω T is the nominal angular velocity of the load platform; The load platform's rotation control torque M is estimated in real time using the following formula: f : M f =I xx ×(ω C -ω C_lst ) / dt; Where dt is the control period of the angular velocity of the load platform, ω C is the real-time angular velocity measurement value of the load platform during the rotation process, ω C_lst is the angular velocity of the load platform in one control cycle.

7. The device according to claim 6, characterized in that When the control unit executes the calculation of the first control voltage of the large angular momentum momentum gear train and the second control voltage of the large torque momentum gear train during the spinning process, the control unit specifically includes: The first control voltage U1 and the second control voltage U2 are calculated using the following formula: U1=(D N1×3 ×[Torqx-M f 0 0]'+Torq_F N1×3 ) / Mdf_UT1; <h2 style=";text-align:left;direction:ltr">U2=(D<h2 style=";text-align:left;direction:ltr"> N2×3 <h2 style=";text-align:left;direction:ltr"> ×[0 Torqy Torqz]' + Torq_F<h2 style=";text-align:left;direction:ltr"> N2×3 <h2 style=";text-align:left;direction:ltr"> ) / Mdf_UT2; Among them, Torq_F N1×3 、Torq_F N2×3 are the friction torques of the momentum wheels of the large angular momentum gear train and the large moment momentum gear train, respectively; N1 and N2 are the number of wheels of the large angular momentum gear train and the large moment momentum gear train, respectively; D N1×3 , D N2×3 is the conversion matrix of the control torque of the momentum wheel system in the satellite system into the control torque of a single large momentum wheel, which is composed of the momentum wheel installation matrix C 3×N1 , C 3×N2 It is calculated that Torq=[Torqx Torqy Torqz]' is the feedback control torque of the satellite platform momentum wheel during the rotation process; Mdf_UT1 and Mdf_UT2 are the torque-voltage coefficients of the large angular momentum momentum wheel train and the large torque momentum wheel train respectively.

8. The device according to any one of claims 5 to 7, characterized in that: The control unit is also used for: if it is determined that the actual angular momentum of the large angular momentum momentum wheel is not equal during the rotation process of the load platform, then based on the theoretical value of the three-axis composite angular momentum of the large angular momentum momentum wheel train and the actual composite torque, calculating the updated installation matrix of the large angular momentum momentum wheel train, and using the updated installation matrix to correct the control process.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of any one of the methods described in claims 1-4.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 4 are implemented.

11. A computer program product, characterized in that The method comprises a computer program, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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