A pseudo-velocity control parameter setting method for spacecraft sway suppression

Abstract

This invention discloses a method for tuning pseudo-rate control parameters for spacecraft sway suppression. It aims to provide theoretical design support for tuning pseudo-rate control parameters in spacecraft sway suppression, improve parameter design efficiency, and avoid blind trial-and-error in the parameter design process. This invention belongs to the field of spacecraft control technology. It quantitatively presents the relationship between attitude control accuracy, closure coefficient, inner-outer loop bandwidth ratio, and pseudo-rate modulator parameters, enabling rapid determination of the pseudo-rate attitude modulator threshold. This invention provides systematic design guidance for pseudo-rate control parameters, has strong engineering practicality, and avoids the blindness of parameter tuning.

Description

Technical Field

[0001] This invention relates to a method for tuning pseudo-rate control parameters for spacecraft sway suppression, belonging to the field of spacecraft control technology. Background Technology

[0002] Spacecraft in orbit are typically equipped with attitude control nozzles for attitude stabilization during orbital maneuvers. These nozzles generate pulsed control forces based on control switch commands. Common attitude control nozzle control methods include slant-switching line control and pseudo-rate control. Slant-switching line control parameters are simple to design and are widely used in the final stages of launch vehicles. However, slant-switching line control has poor adaptability to system delays, making it difficult to achieve minimum pulse width control and not saving fuel. Therefore, pseudo-rate control is often used in spacecraft in orbit, achieving minimum pulse width control through a pseudo-rate modulator to save on-orbit control fuel consumption. Pseudo-rate control has many parameters, mainly including the pseudo-rate modulator, system gain, and correction network. The pseudo-rate modulator is a strongly nonlinear element, posing significant challenges in frequency domain stability analysis during sloshing. Therefore, current engineering methods often use trial-and-error simulations for tuning, lacking systematic methodological guidance and resulting in low parameter tuning efficiency. Summary of the Invention

[0003] The technical problem to be solved by this invention is to overcome the shortcomings of the prior art and to provide theoretical design support for the tuning of pseudo-rate control parameters for spacecraft sway suppression, improve parameter design efficiency, and avoid blind trial and error in the parameter design process.

[0004] The objective of this invention is achieved through the following technical solutions: In a first aspect, the present invention provides a method for tuning pseudo-rate control parameters for spacecraft sway suppression, comprising: (1) Select the attitude control accuracy, loop closure coefficient and inner loop bandwidth ratio that meet the task requirements, and calculate the pseudo rate modulator switching threshold; (2) Based on the pseudo-rate modulator switching threshold, calculate the pseudo-rate modulator time constant, system bandwidth, and system control gain parameters; the system refers to the control system of a certain spacecraft object; (3) Determine whether the system control bandwidth meets the bandwidth isolation requirements of the swaying frequency. If it does not meet the requirements, adjust the attitude control accuracy, loop closure coefficient and inner and outer loop bandwidth ratio, and return to step (1). If it meets the requirements, proceed to the next step. (4) Calculate the modulation period of the pseudo-rate modulator and determine whether the minimum modulation period of the pseudo-rate modulator meets the requirements. If it does not meet the requirements, adjust the minimum pulse width working time and return to step (1). If it meets the requirements, proceed to the next step. (5) Select the pseudo-rate element frequency domain analysis alternative model and design the sway suppression notch network parameters so that the system meets the frequency domain stability margin index after considering the alternative model.

[0005] Furthermore, the method for calculating the pseudo-rate modulator switching threshold in step (1) is as follows:

[0006] in, For the pseudo-rate modulator switching threshold, The lap-loop coefficients of the pseudo-rate modulator. To determine the value for attitude control accuracy, Minimum pulse width operating time, The ratio of inner to outer ring bandwidth. To control the torque coefficient.

[0007] Furthermore, the calculation methods for the pseudo-rate modulator time constant, system bandwidth, and system control gain parameters in step (2) are as follows:

[0008]

[0009]

[0010] in, The time constant of the pseudo-rate modulator. For system control bandwidth, The system damping coefficient is... This is the attitude angle deviation gain parameter. The attitude angular rate deviation gain parameter, the system control gain parameters include and .

[0011] Furthermore, the sway frequency bandwidth isolation requirement in step (3) is that the sway frequency bandwidth must be at least twice the system control bandwidth. If the system control bandwidth is too high, the attitude control accuracy value needs to be increased. Or reduce the lap coefficient Or reduce the inner and outer loop bandwidth ratio Conversely, the attitude control accuracy value is reduced. Or increase the lap time coefficient Or increase the ratio of inner and outer ring bandwidth .

[0012] Furthermore, the method for calculating the minimum modulation period in step (4) is as follows:

[0013] The minimum modulation period must meet the following requirements; if not, the minimum pulse width operating time should be increased. .

[0014]

[0015] in, The modulation period of the pseudo-rate modulator. The input signal magnitude for the pseudo-rate modulator, This refers to the time required for the nozzle to reach 90% thrust after receiving the command to open. The time required for each nozzle to reach 10% thrust from receiving the shut-off command. This is the minimum interval between continuous nozzle switching.

[0016] Furthermore, in step (5), the frequency domain analysis substitution model for the pseudo-rate element and the frequency domain stability margin index considering the deviation of the substitution model are selected as follows:

[0017] in, As a replacement model for frequency domain analysis of pseudo-rate elements, , The low-frequency amplitude margin and phase margin required for system stability, respectively. , Consider the low-frequency magnitude margin and phase margin after the substitution model bias, respectively, where s is the Laplace operator.

[0018] In a second aspect, the present invention provides a computer-readable storage medium having stored thereon computer program instructions, which, when loaded and run by a processor, cause the processor to perform the method described in the first aspect.

[0019] Thirdly, the present invention provides a computer program product stored on a non-transitory computer-readable medium, the computer program product comprising program code for performing the method described in the first aspect.

[0020] Fourthly, the present invention provides an electronic device, comprising: Processor; and Memory is used to store computer program instructions; When the computer program instructions are loaded and run by the processor, the processor performs the method described in the first aspect.

[0021] Compared with the prior art, the present invention has the following advantages: (1) This invention provides systematic design guidance for pseudo-rate control parameters, which is highly practical for engineering and avoids the blindness of parameter tuning.

[0022] (2) This invention quantitatively provides the relationship between attitude control accuracy, loop closure coefficient and inner loop bandwidth ratio and pseudo rate modulator parameters, which can quickly determine the pseudo rate attitude modulator threshold.

[0023] (3) This invention provides a frequency domain analysis model for replacing the strong nonlinear element of the strong pseudo-rate modulator and a frequency domain stability margin index after considering the deviation of the replacement model, which can realize simple and efficient frequency domain design. Attached Figure Description

[0024] Figure 1 This is a flowchart of the parameter tuning method of the present invention; Figure 2 This is a schematic diagram of the pseudo-rate control structure of the present invention; Figure 3 It is the sweep frequency phase characteristic curve of the pseudo-rate modulation stage; Figure 4 It is the sweep amplitude characteristic curve of the pseudo-rate modulation stage. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0026] like Figure 1 As shown, this invention discloses a method for tuning pseudo-rate control parameters to suppress spacecraft swaying, comprising: Step (1): Select the attitude control accuracy, loop closure coefficient and inner / outer loop bandwidth ratio that meet the task requirements, and calculate the pseudo rate modulator switching threshold; In this implementation, the pseudo-rate modulator switching threshold is calculated as follows:

[0027] in, For the pseudo-rate modulator switching threshold, The lap-loop coefficients of the pseudo-rate modulator. To determine the value for attitude control accuracy, Minimum pulse width operating time, The ratio of inner to outer ring bandwidth. To control the torque coefficient.

[0028] Step (2): Calculate the pseudo-rate modulator time constant, system bandwidth, and system control gain parameters; In this implementation, the pseudo-rate modulator time constant, system bandwidth, and system control gain parameters are calculated as follows:

[0029]

[0030]

[0031] in, The time constant of the pseudo-rate modulator. For system control bandwidth, The system damping coefficient is... This is the attitude angle deviation gain parameter. The attitude angular rate deviation gain parameter, the system control gain parameters include and .

[0032] Step (3): Determine whether the system control bandwidth meets the bandwidth isolation requirements of the swaying frequency. If it does not meet the requirements, adjust the attitude control accuracy, loop closure coefficient and inner and outer loop bandwidth ratio, and return to step (1). If it meets the requirements, proceed to the next step. In this implementation, the sway frequency bandwidth isolation requirement dictates that the sway frequency bandwidth must be at least twice the system control bandwidth. If the system control bandwidth is too high, the attitude control accuracy needs to be increased. Or reduce the lap coefficient Or reduce the inner and outer loop bandwidth ratio Conversely, the attitude control accuracy value is reduced. Or increase the lap time coefficient Or increase the ratio of inner and outer ring bandwidth .

[0033] Step (4): Calculate the modulation period of the pseudo-rate modulator and determine whether the minimum modulation period of the pseudo-rate modulator meets the requirements. If it does not meet the requirements, adjust the minimum pulse width working time and return to step (1). If it meets the requirements, proceed to the next step. In this implementation, the minimum modulation period is calculated as follows:

[0034] The minimum modulation period must meet the following requirements; if not, the minimum pulse width operating time should be increased. .

[0035]

[0036] in, The modulation period of the pseudo-rate modulator. The input signal magnitude for the pseudo-rate modulator, This refers to the time required for the nozzle to reach 90% thrust after receiving the command to open. The time required for each nozzle to reach 10% thrust after receiving the shut-off command. This is the minimum interval between continuous nozzle switching.

[0037] Step (5): Select the pseudo-rate element frequency domain analysis alternative model and design the sway suppression notch network parameters so that the system meets the frequency domain stability margin index after considering the alternative model.

[0038] In this implementation, the pseudo-rate element frequency domain analysis alternative model and the frequency domain stability margin index considering the deviation of the alternative model are selected as follows:

[0039] in, As a replacement model for frequency domain analysis of pseudo-rate elements, , The low-frequency amplitude margin and phase margin required for system stability, respectively. , Consider the low-frequency amplitude margin and phase margin after the deviation of the substitution model.

[0040] The pseudo-rate control block diagram for single-channel control of a spacecraft is as follows: Figure 2 As shown. Following the steps of this invention, parameters for the pseudo-rate modulation stage are designed, and a frequency domain sweep is performed on the entire pseudo-rate modulator section to obtain phase and amplitude characteristic curves under different input signals, as shown. Figure 3 , Figure 4 As shown in the figure, the pseudo-rate modulator frequency domain analysis substitution model can effectively characterize its frequency domain characteristics in the low-to-mid frequency range. Therefore, in frequency domain comprehensive analysis, a linear element can be used to approximate the highly nonlinear pseudo-rate modulator, thus facilitating the frequency domain design of the jitter suppression network.

[0041] The contents not described in detail in this specification are common knowledge to those skilled in the art.

[0042] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for tuning pseudo-rate control parameters to suppress spacecraft swaying, characterized in that, include: (1) Select the attitude control accuracy, loop closure coefficient and inner loop bandwidth ratio that meet the task requirements, and calculate the pseudo rate modulator switching threshold; (2) Based on the pseudo-rate modulator switching threshold, calculate the pseudo-rate modulator time constant, system bandwidth, and system control gain parameters; (3) Determine whether the system control bandwidth meets the bandwidth isolation requirements of the swaying frequency. If it does not meet the requirements, adjust the attitude control accuracy, loop closure coefficient and inner and outer loop bandwidth ratio, and return to step (1). If it meets the requirements, proceed to the next step. (4) Calculate the modulation period of the pseudo-rate modulator and determine whether the minimum modulation period of the pseudo-rate modulator meets the requirements. If it does not meet the requirements, adjust the minimum pulse width working time and return to step (1). If it meets the requirements, proceed to the next step. (5) Select the pseudo-rate element frequency domain analysis alternative model and design the sway suppression notch network parameters so that the system meets the frequency domain stability margin index after considering the alternative model.

2. The pseudo-rate control parameter tuning method according to claim 1, characterized in that, The calculation method for the pseudo-rate modulator switching threshold is as follows: in, For the pseudo-rate modulator switching threshold, The lap-loop coefficients of the pseudo-rate modulator. To determine the value for attitude control accuracy, Minimum pulse width operating time, The ratio of inner to outer ring bandwidth. To control the torque coefficient.

3. The pseudo-rate control parameter tuning method according to claim 2, characterized in that, The calculation methods for the pseudo-rate modulator time constant, system bandwidth, and system control gain parameters are as follows: in, The time constant of the pseudo-rate modulator. For system control bandwidth, The system damping coefficient is... This is the attitude angle deviation gain parameter. The attitude angular rate deviation gain parameter, the system control gain parameters include and .

4. The pseudo-rate control parameter tuning method according to claim 1, characterized in that, In step (3), the frequency bandwidth isolation requirement is that the frequency bandwidth must be at least twice the system control bandwidth.

5. The pseudo-rate control parameter tuning method according to claim 1, characterized in that, In step (3), if the system control bandwidth is too high, the attitude control accuracy value needs to be increased. Or reduce the lap coefficient Or reduce the inner and outer loop bandwidth ratio Conversely, the attitude control accuracy value is reduced. Or increase the lap time coefficient Or increase the ratio of inner and outer ring bandwidth .

6. The pseudo-rate control parameter tuning method according to claim 3, characterized in that, The minimum modulation period is calculated as follows: The minimum modulation period must meet the following requirements; if not, the minimum pulse width operating time should be increased. ; in, The modulation period of the pseudo-rate modulator. The input signal magnitude for the pseudo-rate modulator, This refers to the time required for the nozzle to reach 90% thrust after receiving the command to open. The time required for each nozzle to reach 10% thrust after receiving the shut-off command. This is the minimum interval between continuous nozzle switching.

7. The pseudo-rate control parameter tuning method according to claim 1, characterized in that, The alternative model for frequency domain analysis of the pseudo-rate element and the frequency domain stability margin index considering the deviation of the alternative model are selected as follows: in, As a replacement model for frequency domain analysis of pseudo-rate elements, , The low-frequency amplitude margin and phase margin required for system stability, respectively. , Considering the low-frequency magnitude margin and phase margin after the substitution model bias, respectively, Let be the time constant of the pseudo-rate modulator, and s be the Laplace operator.

8. A computer-readable storage medium having stored thereon computer program instructions, which, when loaded and run by a processor, cause the processor to perform the method as described in any one of claims 1 to 7.

9. A computer program product stored on a non-transitory computer-readable medium, the computer program product comprising program code for performing the method as described in any one of claims 1 to 7.

10. An electronic device, comprising: processor; as well as Memory is used to store computer program instructions; When the computer program instructions are loaded and run by the processor, the processor performs the method as described in any one of claims 1 to 7.

Images