Full physical simulation test method and system for super low earth orbit satellite moment control technology

Abstract

The application provides a kind of super low orbit satellite moment of mass control technology full physical simulation test method and system, wherein the method comprises: step M1, through ground gravity moment simulation on-orbit mass moment torque characteristics;Step M2, build super low orbit satellite moment of mass control technology full physical simulation system;Step M3, design mass moment control full physical test method, for verifying super low orbit satellite moment of mass control technology.The application can truly simulate the on-orbit working state of the mass moment control system, effectively verify the attitude control process and index of the mass moment control technology, thereby providing a strong basis for the design of the mass moment control system of the super low orbit satellite.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of space vehicle technology, in particular to a full-physical simulation test method and system for super-low-orbit satellite mass moment control technology. BACKGROUND

[0002] In today's aerospace field, satellite technology is constantly evolving. Satellites in conventional orbits have played an important role in many applications, but satellites operating in 200-300 km super-low orbits are emerging. Super-low-orbit satellites have the advantages of fast response, high imaging resolution, and small platform load, which enable them to be quickly deployed and achieve high-resolution imaging tasks at low cost, and have great application potential in natural disaster emergency monitoring systems, and are expected to become a valuable solution.

[0003] However, super-low-orbit satellites face a critical challenge. Unlike conventional orbit satellites, the atmospheric density of their orbits increases significantly. The traditional zero-momentum flywheel control system needs to compensate for the aerodynamic disturbance torque for a long time in this case, which will cause angular momentum saturation and thus lose the ability to control the attitude. The emergence of mass moment control technology provides a new approach, which changes the center of mass position by moving a number of mass blocks inside the system, thereby adjusting the force arm of the aerodynamic force on the spacecraft to reduce the interference of the aerodynamic torque, and even actively using the aerodynamic torque. The application of mass moment control technology to the attitude control of super-low-orbit satellites not only minimizes the adverse effects of aerodynamic disturbance torque and thrust eccentric torque, but also actively uses aerodynamic torque for angular momentum unloading, effectively improving the accuracy and stability of attitude control.

[0004] Given the important role of super-low-orbit satellites in future aerospace applications and the significant benefits that mass moment control technology may bring, it is essential to conduct in-depth research and verification of super-low-orbit satellite mass moment control technology. However, before actual application, the rationality and reliability of the technology must be ensured. Due to the particularity and complexity of the space environment, it is difficult to conduct a large number of tests and verifications directly on the orbit, so full-physical simulation tests on the ground become a key link. Through full-physical simulation tests on the ground, the mass moment control technology scheme can be comprehensively and meticulously verified, providing a solid basis for the design of super-low-orbit satellite mass moment control systems, promoting the further development and improvement of super-low-orbit satellite technology, and thus promoting the progress and expansion of the entire aerospace field in related applications.

[0005] Through the retrieval of patent documents, it is found that the invention patent with the publication number CN201810617228.3 discloses a liquid-filled spacecraft attitude dynamics full-physical simulation test system and method, the system includes a set of liquid sloshing torque simulation system, and introduces a full-physical simulation method based on a three-axis air floating table, but the patent only verifies the dynamic characteristics of the satellite, and does not involve the mass moment control simulation method. The invention patent with the publication number CN201510954766.8 discloses a satellite image navigation and registration full-physical test device and test method, but the patent is limited to the image navigation and registration test of an optical remote sensing satellite, and does not involve the mass moment control simulation method.

[0006] In summary, in view of the problems of the prior art, a full-physical simulation test method and system for super low orbit satellite mass moment control technology are researched, the ground verification problem of the super low orbit satellite mass moment control technology is solved, and the key task to be solved at present is achieved. SUMMARY

[0007] In view of the defects in the prior art, the purpose of the present application is to provide a full-physical simulation test method and system for super low orbit satellite mass moment control technology.

[0008] According to the full-physical simulation test method for super low orbit satellite mass moment control technology provided by the present application, the following steps are included:

[0009] Step M1, ground gravity moment control simulation in-orbit mass moment control is performed;

[0010] Step M2, based on the ground gravity moment simulation in-orbit mass moment control of step M1, a full-physical simulation system for super low orbit satellite mass moment control technology is built;

[0011] Step M3, based on the full-physical simulation system for super low orbit satellite mass moment control technology, a full-physical test method for mass moment control is designed, which is used for verifying the super low orbit satellite mass moment control technology.

[0012] Preferably, step M1 includes: the ground air floating table changes the gravity moment by adjusting the center of mass of the combined body, so as to simulate the control process of the mass moment control system of the super low orbit satellite in the in-orbit state to change the aerodynamic moment by adjusting the center of mass of the whole satellite.

[0013] Preferably, in step M1, the ground simulation method for super low orbit satellite mass moment control technology includes:

[0014] The control moment of the mass moment control system of the satellite in the in-orbit flight state is represented as:

[0015] T q =r q ×F q (1)

[0016] wherein r q is the vector from the satellite center of mass to the satellite centroid; F q is the resultant aerodynamic force on the satellite;

[0017] The control torque of the combination of the ground air floating table and the mass moment control system in the simulation state of the ground air floating table is expressed as:

[0018] T g =r g ×F g (2)

[0019] wherein r g is the vector from the ball center of the air floating bearing of the table to the center of mass of the combination; F g is the resultant gravity force on the combination.

[0020] Preferably, in step M2, the full-physical simulation system of the mass moment control technology of the ultra-low-orbit satellite comprises the mass moment control system, the three-axis air floating table and accessories, the accessories comprising: a table flywheel set (one table flywheel in each of the Xt, Yt and Zt directions), an optical self-collimation instrument, a laser gyroscope, a table computer and three sets of table body support jacks, the table flywheel set and the mass moment control system are installed on the three-axis air floating table, and the optical self-collimation instrument, the laser gyroscope and the table computer are cooperated to form a closed-loop control system, so as to complete the construction of the full-physical simulation system.

[0021] Preferably, in step M2, the table computer is used as a controller, the optical self-collimation instrument and the laser gyroscope are used as sensors, and the mass moment control system and the table flywheel set are used as an actuator, so as to form a feedback control system to control the attitude of the table body of the three-axis air floating table.

[0022] Preferably, step M3 comprises: using the table flywheel set to implement three-axis attitude control on the table body of the three-axis air floating table, when the attitude is stable, the flywheels in the Xt and Yt directions are exited from the closed-loop control, and the flywheel speed is maintained. Then, the mass moment control system is connected to the closed loop to take over the attitude control in the Xt and Yt directions, and the attitude control in the Zt direction is still completed by the Zt direction flywheel on the table through closed-loop feedback control.

[0023] Preferably, the full-physical test method of the mass moment control of the ultra-low-orbit satellite in step M3 comprises: after the trim of the three-axis air floating table is completed, the three sets of table body support jacks are lowered, and the three-axis attitude control is performed by the table flywheel set as an actuator.

[0024] Preferably, in step M3, the flywheel control adopts a classical PID control algorithm.

[0025] Preferably, step M3 further comprises: verifying the attitude control index of the mass moment control system by comparing the change of the attitude control precision of the air floating platform body before and after the mass moment control system is connected.

[0026] The application also provides a full-physical simulation test system for the mass moment control technology of an ultra-low-orbit satellite, comprising:

[0027] Module S1, simulating on-orbit mass moment control through ground gravity moment control;

[0028] Module S2, based on the ground gravity moment simulation of on-orbit mass moment control in module S1, building a full-physical simulation system for the mass moment control technology of an ultra-low-orbit satellite;

[0029] Module S3, based on the full-physical simulation system for the mass moment control technology of an ultra-low-orbit satellite, designing a full-physical test method for mass moment control, for verifying the mass moment control technology of an ultra-low-orbit satellite.

[0030] Compared with the prior art, the application has the following beneficial effects:

[0031] 1. The application can be applied in the development process of an ultra-low-orbit satellite in China, helping to promote satellite research and development.

[0032] 2. The application has the ability to simulate the mass moment control process of an ultra-low-orbit satellite on the ground, thereby providing key basis and support for the design of the control system of an ultra-low-orbit satellite.

[0033] 3. The application can be used to verify the mass moment control technology scheme of an ultra-low-orbit satellite, and to examine the mass moment control technology index, which is of great significance to improving the detection performance of an ultra-low-orbit satellite. BRIEF DESCRIPTION OF DRAWINGS

[0034] Other features, objects and advantages of the application will become more apparent after reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0035] Figure 1 is a schematic diagram of forces acting on an ultra-low-orbit satellite in flight in an embodiment of the application;

[0036] Figure 2 is a schematic diagram of the composition of a full-physical simulation system for the mass moment control technology on the ground in an embodiment of the application;

[0037] Figure 3 is a schematic diagram of the full-physical simulation system for the mass moment control technology on the ground and the definition of coordinate systems in an embodiment of the application. DETAILED DESCRIPTION

[0038] The application will be described in detail below with specific examples. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the application. These are within the scope of the present application.

[0039] The application can truly simulate the mass moment control process of the super low orbit satellite by using the gravity moment on the three-axis air floating table to simulate the aerodynamic moment in the actual on-orbit state, so as to effectively verify the rationality and realizability of the mass moment control scheme of the super low orbit satellite.

[0040] Embodiment 1

[0041] The embodiment provides a full-physical simulation test method for the mass moment control technology of the super low orbit satellite, comprising the following steps:

[0042] Step M1, simulating on-orbit mass moment control through ground gravity moment control.

[0043] Specifically, step M1 comprises: the ground air floating table changes the gravity moment by adjusting the center of mass of the combined body, so as to simulate the control process of adjusting the center of mass of the whole satellite by the mass moment control system of the super low orbit satellite in the on-orbit state to change the aerodynamic moment.

[0044] Figure 1 is a schematic diagram of forces acting on the super low orbit satellite in the on-orbit flight of the embodiment of the application.

[0045] As shown in Figure 1 , in the embodiment, the ground simulation method of the mass moment control technology of the super low orbit satellite comprises:

[0046] The control moment of the satellite in the on-orbit flight state is represented as:

[0047] T q =r q ×F q (1)

[0048] Wherein, r q is the vector from the center of mass of the satellite to the centroid of the satellite; F q is the resultant force of the aerodynamic force acting on the satellite.

[0049] The control moment of the combined body of the table body and the mass moment control system in the ground air floating table simulation state is represented as:

[0050] T g =r g ×F g (2)

[0051] Wherein, r gis the vector from the aerostatic bearing ball center of the aerostatic table to the centroid of the combination; F g is the resultant force of the gravity suffered by the combination.

[0052] From the above, it can be seen that in the track state, the mass moment control system changes the aerodynamic moment by adjusting the centroid of the whole satellite, and in the ground aerostatic table simulation state, the centroid of the combination is adjusted to change the gravity moment, and the two have approximate expressions.

[0053] Step M2, based on the ground gravity moment simulation of the on-orbit mass moment control in step M1, a full-physical simulation system of the mass moment control technology of the super low orbit satellite is built.

[0054] Figure 2 is the full-physical simulation system composition diagram of the mass moment control technology in the embodiment of the application.

[0055] As shown in Figure 2 , the full-physical simulation system of the mass moment control technology of the super low orbit satellite includes a mass moment control system, a three-axis aerostatic table and accessories, the accessories include: a flywheel group on the table (one flywheel in each of the Xt, Yt and Zt directions), a computer on the table, an optical self-collimation instrument, a laser gyroscope and three groups of table body support jacks, the flywheel group on the table, the mass moment control system are installed on the three-axis aerostatic table, and the optical self-collimation instrument, the laser gyroscope and the computer on the table form a closed-loop control system, so as to complete the building of the full-physical simulation system.

[0056] In this embodiment, the computer on the table is used as the controller, the optical self-collimation instrument and the laser gyroscope are used as the sensor, the mass moment control system and the flywheel group on the table are used as the actuator, and the feedback control system is formed to control the attitude of the table body of the three-axis aerostatic table.

[0057] Step M3, based on the full-physical simulation system of the mass moment control technology of the super low orbit satellite, a full-physical test method of the mass moment control is designed to verify the mass moment control technology of the super low orbit satellite, finally, by comparing and analyzing the changes of the attitude control precision of the aerostatic table body before and after the mass moment control system is connected, the attitude control index of the mass moment control system is verified.

[0058] Specifically, step M3 includes: using the flywheel group on the table to implement three-axis attitude control on the table body of the three-axis aerostatic table, when the attitude is stable, the flywheels in the Xt and Yt directions are out of the closed-loop control, and the flywheel speed is maintained. Then, the X b , Y b direction control mechanism of the mass moment control system is connected to the closed loop to take over the attitude control in the Xt and Yt directions, while the attitude control in the Zt direction is still completed by the Zt direction flywheel through the closed-loop feedback control.

[0059] In this embodiment, the ultra-low orbit moment of mass control ground full physical test method comprises: after the three-axis air floating table is balanced, three groups of table body support jacks are lowered, and three-axis attitude control is performed by the flywheel group on the table as an executing mechanism, and the flywheel control adopts a classic PID control algorithm.

[0060] Figure 3 is the ground full physical simulation system of the moment of mass control technology and a coordinate system definition schematic diagram in the embodiment of the application.

[0061] As Figure 3 shown, after the three-axis attitude control of the table body of the three-axis air floating table is stable (the pointing accuracy is better than 0.01° (3σ), and the stability is better than 5×10 -4 ° / s (3σ)), the flywheel in the X t , Y t direction is exited from the closed loop control, and the flywheel speed is maintained. Then, the X b , Y b direction control mechanism of the moment of mass control system is connected to the closed loop, and takes over the attitude control in the X t , Y t direction, while the attitude control in the Z t direction is still completed by the closed loop feedback control of the flywheel on the table.

[0062] Finally, the attitude angle and angular velocity data of the three-axis air floating table in the X t , Y t direction are recorded and analyzed, and the rationality and index realizability of the moment of mass control system scheme are verified.

[0063] Embodiment 2:

[0064] The application also provides an ultra-low orbit satellite moment of mass control technology full physical simulation test system, which can be realized by performing the process steps of the ultra-low orbit satellite moment of mass control technology full physical simulation test method, that is, the ultra-low orbit satellite moment of mass control technology full physical simulation test method can be understood by those skilled in the art as an optimal implementation manner of the ultra-low orbit satellite moment of mass control technology full physical simulation test system.

[0065] The ultra-low orbit satellite moment of mass control technology full physical simulation test system comprises:

[0066] Module S1 simulates on-orbit moment of mass control through ground gravity moment control.

[0067] Module S2, based on the ground gravity moment simulation of on-orbit moment of mass control of module S1, builds an ultra-low orbit satellite moment of mass control technology full physical simulation system.

[0068] Module S3, based on the super low earth orbit satellite moment of mass control technology full physical simulation system, designs a moment of mass control full physical test method for verifying the super low earth orbit satellite moment of mass control technology.

[0069] Those skilled in the art know that, in addition to implementing the system provided by the present application and each device, module and unit thereof in the form of pure computer readable program code, the system provided by the present application and each device, module and unit thereof can also be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers, etc. by logically programming the method steps to achieve the same functions. Therefore, the system provided by the present application and each device, module and unit thereof can be considered as a hardware component, and the devices, modules and units included therein for achieving various functions can also be considered as structures within the hardware component; the devices, modules and units for achieving various functions can also be considered as both software modules implementing methods and structures within the hardware component.

[0070] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. A full physical simulation test method for super low earth orbit satellite moment of mass control technology, characterized in that, Comprising the following steps: Step M1, simulate on-orbit mass moment control by ground gravity moment control; Step M2, based on the ground gravity moment simulation of on-orbit mass moment control in step M1, build a full-physical simulation system of super low-orbit satellite mass moment control technology; Step M3, based on the full-physical simulation system of super low-orbit satellite mass moment control technology, design a full-physical test method of mass moment control for verifying the super low-orbit satellite mass moment control technology.

2. The total physical simulation test method for the moment control technology of ultra-low earth orbit satellites according to claim 1, characterized in that, The step M1 includes: the ground air floating table changes the gravity moment by adjusting the combined mass center to simulate the control process of the super low-orbit satellite mass moment control system adjusting the whole satellite mass center to change the aerodynamic moment in the on-orbit situation.

3. The total physical simulation test method of the super-low earth orbit satellite moment of mass control technology according to claim 2, characterized in that, In the step M1, the ground simulation method of super low-orbit satellite mass moment control technology is adopted, comprising: In the on-orbit flight state of the satellite, the control moment of the mass moment control system is represented as: T q = r q x F q (1) where r q is the vector from the satellite center of mass to the satellite centroid; F q is the resultant aerodynamic force on the satellite; In the simulation state of the ground air floating table, the control moment of the table body and the mass moment control system combination is represented as: T g = r g x F g (2) wherein r g is the vector from the aerostatic bearing ball center to the center of mass of the combination; F g is the resultant of the gravitational forces acting on the combination.

4. The total physical simulation test method for the moment control technology of ultra-low earth orbit satellites according to claim 1, characterized in that, In the step M2, the full-physical simulation system of super low-orbit satellite mass moment control technology comprises a mass moment control system, a three-axis air floating table and accessories, the accessories include: a table flywheel group, an optical self-collimation instrument, a laser gyroscope, a table computer and three groups of table body support jacks, the table flywheel group includes one flywheel in each of Xt, Yt and Zt directions, the table flywheel group and the mass moment control system are installed on the three-axis air floating table, and the closed-loop control system is formed by cooperating with the optical self-collimation instrument, the laser gyroscope and the table computer, so as to complete the building of the full-physical simulation system.

5. The total physical simulation test method of the super-low earth orbit satellite moment of mass control technology according to claim 4, characterized in that, In the step M2, the table computer is used as a controller, the optical self-collimation instrument and the laser gyroscope are used as sensors, the mass moment control system and the table flywheel group are used as actuators, and a feedback control system is formed to control the attitude of the table body of the three-axis air floating table.

6. The total physical simulation test method of the super-low earth orbit satellite moment of mass control technology according to claim 4, characterized in that, The step M3 includes: using the table flywheel group to implement three-axis attitude control of the table body of the three-axis air floating table, when the attitude is stable, the flywheels in Xt and Yt directions are exited from the closed-loop control, while the flywheel speed is kept, then the mass moment control system is connected to the closed-loop to take over the attitude control in Xt and Yt directions, while the attitude control in Zt direction is still completed by the flywheel in Zt direction through the closed-loop feedback control.

7. The total physical simulation test method of the super-low earth orbit satellite moment of mass control technology according to claim 6, characterized in that, The full-physical test method of super low-orbit mass moment control in the step M3 includes: after the three-axis air floating table is trimmed, the three groups of table body support jacks are lowered, and the three-axis attitude control is performed by the table flywheel group as an actuator.

8. The total physical simulation test method of the super-low earth orbit satellite moment of mass control technology according to claim 7, characterized in that, In the step M3, the flywheel control adopts a classic PID control algorithm.

9. The total physical simulation test method of the super-low earth orbit satellite moment of mass control technology according to claim 8, characterized in that, The step M3 further includes: verifying the attitude control index of the mass moment control system by comparing and analyzing the change of the attitude control accuracy of the air floating table body before and after the mass moment control system is connected.

10. A full physical simulation test system for super low earth orbit satellite moment of mass control technology, characterized in that, Comprising: Module S1, simulate on-orbit mass moment control by ground gravity moment control; Module S2, based on the ground gravity moment simulation of on-orbit mass moment control in module S1, build a full-physical simulation system of super low-orbit satellite mass moment control technology; Module S3, based on the super low orbit satellite moment of mass control technology full physical simulation system, designs a moment of mass control full physical test method for verifying the super low orbit satellite moment of mass control technology.

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