Three-axis integrated intelligent attitude control component for micro-satellites

Abstract

A three-axis integrated intelligent attitude control component suitable for a micro-satellite has a simple design and can independently design the system without having to redesign the system according to different satellites. It occupies a small space, is relatively light in weight, and has high system reliability. The component comprises: an X-axis reaction flywheel (11), a Y-axis reaction flywheel (12), a Z-axis reaction flywheel (13), an X-axis magnetic torque device (21), a Y-axis magnetic torque device (22), a Z-axis magnetic torque device (23), an attitude sensor (3), a mounting frame (4), an attitude control box (5), and a magnetic torque controller (6). The number of the X-axis reaction flywheel, the Y-axis reaction flywheel, and the Z-axis reaction flywheel is three, and the height is smaller than the diameter. The X-axis magnetic torque device and the Y-axis magnetic torque device are both long magnetic torque devices, and the Z-axis magnetic torque device comprises a plurality of short magnetic torque devices (231).

Description

Technical Field

[0001] The utility model relates to the technical field of aerospace vehicles, in particular to a three-axis integrated intelligent attitude control component suitable for a micro-satellite. Background Art

[0002] With the continuous deepening of space research, micro-satellites with light weight, low cost and good performance have gradually attracted more attention and achieved rapid development. With the progress of advanced technologies such as microelectronics, small high-performance electronic components are gradually used in small satellites, making small satellites further miniaturized.

[0003] The attitude determination and control system is one of the most complex subsystems in the satellite and is also the core system of the entire satellite system. Its main task is to realize the pointing of the satellite in a specific coordinate system in space. It is generally composed of sensors for measuring attitude vectors, attitude control computers and actuators. The principle of satellite attitude determination and control system design is: on the basis of comprehensive consideration of cost, development cycle and system reliability, the system design can meet the overall requirements of the satellite for attitude control accuracy and the restrictions on the mass, volume and power consumption of the attitude control system. In terms of attitude measurement and control devices, research on micro devices based on advanced processing technologies such as MEMS / NEMS / MOEMS has been widely carried out, such as micro gyroscopes, micro accelerometers, highly integrated three-axis micro magnetometers, micro momentum wheels, etc., which have been applied on both pico-satellites and nano-satellites.

[0004] The currently designed intelligent attitude control system structure occupies too much space in micro and small satellites, and the system design must consider both the size constraints within the satellite and the system circuit connections. Therefore, the design of the existing intelligent attitude control system is complex and the system cannot be designed independently. The system needs to be redesigned according to different satellites, and the system reliability is not high. Summary of the invention

[0005] In order to overcome the defects of the prior art, the technical problem to be solved by the utility model is to provide a three-axis integrated intelligent attitude control component suitable for micro-satellites. The design is simple and the system can be designed independently without the need to redesign the system according to different satellites. It occupies a small space, is relatively light in weight, and has high system reliability.

[0006] The technical scheme of the utility model is: this three-axis integrated intelligent attitude control component suitable for micro-satellites comprises: an X-axis reaction flywheel (11), a Y-axis reaction flywheel (12), a Z-axis reaction flywheel (13), an X-axis magnetic torque device (21), a Y-axis magnetic torque device (22), a Z-axis magnetic torque device (23), an attitude sensor (3), a mounting frame (4), an attitude control box (5), and a magnetic torque controller (6); the X-axis reaction flywheel, the Y-axis reaction flywheel, and the Z-axis reaction flywheel are three in number, and the heights are all smaller than the diameters; the X-axis magnetic torque device and the Y-axis magnetic torque device are both long magnetic torque devices, and the Z-axis magnetic torque device comprises a plurality of short magnetic torque devices (231);

[0007] The attitude sensor transmits the received attitude signal to the attitude control box, the attitude control box is connected to the X-axis reaction flywheel, the Y-axis reaction flywheel, and the Z-axis reaction flywheel to control their rotation, and the magnetic torque controller is connected to the X-axis magnetic torque device, the Y-axis magnetic torque device, and the Z-axis magnetic torque device;

[0008] The installation frame is surrounded by a rectangular area and includes a left edge area, a lower edge area, and a center area. The installation frames at the left edge area and the lower edge area include a front frame and a back frame.

[0009] X-axis reaction flywheel (11), Y-axis reaction flywheel (12), Z-axis magnetic torquer (23)

[0010] Installed in the central area of ​​the mounting frame;

[0011] The front frame and the back frame of the left edge area are respectively installed with a posture control box (5) and a Y-axis magnetic torquer (22);

[0012] The front frame of the lower edge area is installed with a Z-axis reaction flywheel (13), and the back frame is installed with an X-axis magnetic torque device (21), a posture sensor (3), and a magnetic torque controller (6).

[0013] The utility model has three X-axis reaction flywheels, three Y-axis reaction flywheels and three Z-axis reaction flywheels, and the heights of the three reaction flywheels are all smaller than the diameters. The axial directions of the X-axis reaction flywheels and the Y-axis reaction flywheels are parallel to the mounting frame, and the axial direction of the Z-axis reaction flywheel is perpendicular to the mounting frame. The mounting frames at the left edge region and the lower edge region are divided into a front frame and a back frame. By utilizing the fact that the height of the Z-axis reaction flywheel is smaller than the diameter, the X-axis magnetic torquer, the attitude sensor and the magnetic torque controller are mounted on the back of the Z-axis reaction flywheel, the Y-axis magnetic torquer is mounted on the back frame of the left edge region, and the Z-axis magnetic torquer includes a plurality of short magnetic torquers and is mounted on the front frame of the left edge region. Therefore, the attitude control component is assembled in the rectangular mounting frame through such a special structure, which makes maximum use of the space. The design is simple and the system can be independently designed without the need to redesign the system according to different satellites. The system occupies a small space, is relatively light in weight and has high system reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a front schematic diagram of a three-axis integrated intelligent attitude control component suitable for a micro-satellite according to the utility model.

[0015] Figure 2 It is a schematic diagram of the back side of a three-axis integrated intelligent attitude control component suitable for a micro-satellite according to the utility model.

[0016] Figure 3 It is a structural schematic diagram of a Z-axis magnetic torquer according to the utility model.

[0017] Figure 4 It is a structural schematic diagram of the adapter plate according to the utility model. DETAILED DESCRIPTION

[0018] like Figure 1-2 As shown, this three-axis integrated intelligent attitude control component suitable for micro-satellites includes: an X-axis reaction flywheel 11, a Y-axis reaction flywheel 12, a Z-axis reaction flywheel 13, an X-axis magnetic torque device 21, a Y-axis magnetic torque device 22, a Z-axis magnetic torque device 23, an attitude sensor 3, a mounting frame 4, an attitude control box 5, and a magnetic torque controller 6. There are three X-axis reaction flywheels 11, three Y-axis reaction flywheels 12, and three Z-axis reaction flywheels 13, and their heights are all smaller than their diameters. Both the X-axis magnetic torque device 21 and the Y-axis magnetic torque device 22 are long magnetic torque devices, and the Z-axis magnetic torque device 23 includes a plurality of short magnetic torque devices 231.

[0019] The attitude sensor 3 transmits the received attitude signal to the attitude control box 5, the attitude control box 5 is connected to the X-axis reaction flywheel 11, the Y-axis reaction flywheel 12, and the Z-axis reaction flywheel 13 to control their rotation, and the magnetic torque controller 6 is connected to the X-axis magnetic torque device 21, the Y-axis magnetic torque device 22, and the Z-axis magnetic torque device 23;

[0020] The installation frame 4 is surrounded by a rectangular area and includes a left edge area, a lower edge area, and a center area. The installation frames at the left edge area and the lower edge area include a front frame and a back frame.

[0021] The X-axis reaction flywheel 11, the Y-axis reaction flywheel 12, and the Z-axis magnetic torquer 23 are mounted in the central area of ​​the mounting frame 4;

[0022] The front frame and the back frame of the left edge area are respectively installed with the attitude control box 5 and the Y-axis magnetic torquer 22;

[0023] The front frame of the lower edge area is installed with a Z-axis reaction flywheel 13, and the back frame is installed with an X-axis magnetic torque device 21, a posture sensor 3, and a magnetic torque controller 6.

[0024] The utility model has three X-axis reaction flywheels 11, Y-axis reaction flywheels 12, and Z-axis reaction flywheels 13, and the heights of the three reaction flywheels are all smaller than the diameters. The axial directions of the X-axis reaction flywheels 11 and the Y-axis reaction flywheels 12 are parallel to the mounting frame 4, and the axial direction of the Z-axis reaction flywheel 13 is perpendicular to the mounting frame 4. The mounting frame 4 at the left edge area and the lower edge area is divided into a front frame and a back frame. The height of the Z-axis reaction flywheel 13 is smaller than the diameter, and the X-axis magnetic torquer 21, the attitude sensor 3, and the magnetic torque controller 6 are installed on the back of the Z-axis reaction flywheel 13, the Y-axis magnetic torquer 22 is installed on the back frame of the left edge area, and the Z-axis magnetic torquer 23 includes a plurality of short magnetic torquers 231 and is installed on the front frame of the left edge area. Therefore, the attitude control component is assembled in the rectangular mounting frame 4 through such a special structure, which maximizes the use of space, has a simple design, and can independently design the system, does not need to redesign the system according to different satellites, occupies a small space, is relatively light in weight, and has high system reliability.

[0025] It is understandable that the sum of the magnetic moments of several short magnetic torquers 231 is equal to or approximately equal to the total magnetic moment of the long magnetic torquers in the same direction, that is, the magnetic moments of the axial magnetic torquer 21, the Y-axis magnetic torquer 22, and the Z-axis magnetic torquer 23 are the same or approximately the same, so that the maximum control torque of the magnetic torquer in each direction can be ensured to be the same or approximately the same as much as possible. The length of the short magnetic torquer 231 is equal to the thickness of the mounting frame.

[0026] Substantially the same and substantially equal to mean that the difference in total magnetic moments in different axial directions is within 5%.

[0027] In an optional embodiment, a plurality of short magnetic torquers 231 are assembled together via an adapter plate 232 . The adapter plate is I-shaped and includes two X support plates 234 and one Y support plate 235 . The Z-axis magnetic torquer 23 is fixed to the adapter plate via a locking member 233 .

[0028] In an optional embodiment, four weight-reducing grooves are provided on the flat plates of the X support plate 234 and the Y support plate 235. Of course, a hollow hole design can also be adopted here, and the purpose is to reduce the weight of the support plate.

[0029] In an optional embodiment, the attitude control box 5 includes: a multi-channel group control unit, a core control unit, and a magnetic torque drive functional unit, which are separated and arranged on the front frame of the left edge area. This arrangement enables the attitude control box to cooperate with the three-axis integrated intelligent attitude control component of the utility model to form a rectangular parallelepiped structure, which is compact and reduces the occupied space.

[0030] In an optional embodiment, the mounting frame 4 is a magnesium-aluminum alloy frame. Magnesium-aluminum alloy has a lower density than other rigid metal materials, and the mounting frame 4 is integrally machined, which can reduce weight.

[0031] In an optional embodiment, a plurality of weight-reducing grooves are provided on the outer side of the mounting frame 4 to reduce the weight as much as possible while ensuring the mounting thickness and mechanical strength.

[0032] In an optional embodiment, three Y-axis reaction flywheels 12 are on the right side of the central area, two X-axis reaction flywheels 11 are in the middle of the central area, and one X-axis reaction flywheel 11 and a Z-axis magnetic torquer 23 are on the left side of the central area. Such a layout makes fuller use of the space in the central area.

[0033] It will be appreciated that the reaction flywheel may not include a box cover, which can save installation space and weight.

[0034] The following improvements can also be made:

[0035] 1. In a specific embodiment, when the size of the mounting frame 4 is 320mm*320mm*130mm, the magnetic moment of the Z-axis magnetic torquer 23 is 10mA 2 The magnetic moment of the X-axis magnetic torquer 21 and the Y-axis magnetic torquer 22 is 20mA. 2 , at this time, the number of X, Y, and Z axis magnetic torquers are 2+2+4 respectively;

[0036] In another specific embodiment, when the size of the mounting frame 4 is 430 mm*430 mm*130 mm, the magnetic moment of the Z-axis magnetic torquer 23 is 6.4 mA. 2 , X-axis magnetic torque device 21, Y-axis magnetic torque device 22 is 25mA 2At this time, the number of X-axis, Y-axis, and Z-axis magnetic torquers are 2+2+8 respectively.

[0037] 2. Normally, the integrated attitude control box 5 includes a multi-channel PCU (packet control unit) functional unit, a core control unit, and a magnetic torquer drive functional unit, which is convenient for controller wiring, etc. However, when the system size is limited and integration is impossible, the three functional units can be split and arranged while taking wiring and space into consideration.

[0038] The beneficial effects of the present invention are as follows:

[0039] 1. Complete functions and high integration to meet the attitude control requirements of micro-satellites.

[0040] 2. Make full use of the shape characteristics of a single magnetic bar and a single flywheel to make the overall system compact and beautiful, so as to achieve small size and light weight while meeting performance requirements, which can further improve the load capacity of micro-satellites.

[0041] 3. High reliability, 3*3 flywheel and 2+2+4 magnetic torquer design, and 3 groups of 9-axis design of attitude sensors, all 3 axes are fully redundant.

[0042] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A three-axis integrated intelligent attitude control component suitable for micro-satellites, characterized by: It includes: An X-axis reaction flywheel (11), a Y-axis reaction flywheel (12), a Z-axis reaction flywheel (13), an X-axis magnetic torque device (21), a Y-axis magnetic torque device (22), a Z-axis magnetic torque device (23), an attitude sensor (3), a mounting frame (4), an attitude control box (5), and a magnetic torque controller (6); the number of the X-axis reaction flywheel, the Y-axis reaction flywheel, and the Z-axis reaction flywheel is three, and the height of each of the three reaction flywheels is smaller than the diameter; the X-axis magnetic torque device and the Y-axis magnetic torque device are both long magnetic torque devices, and the Z-axis magnetic torque device includes a plurality of short magnetic torque devices (231); The attitude sensor transmits the received attitude signal to the attitude control box, the attitude control box is connected to the X-axis reaction flywheel, the Y-axis reaction flywheel, and the Z-axis reaction flywheel to control their rotation, and the magnetic torque controller is connected to the X-axis magnetic torque device, the Y-axis magnetic torque device, and the Z-axis magnetic torque device; The installation frame is surrounded by a rectangular area and includes a left edge area, a lower edge area, and a center area. The installation frames at the left edge area and the lower edge area include a front frame and a back frame. An X-axis reaction flywheel (11), a Y-axis reaction flywheel (12), and a Z-axis magnetic torquer (23) are installed in the central area of ​​the installation frame; The front frame and the back frame of the left edge area are respectively installed with a posture control box (5) and a Y-axis magnetic torquer (22); The front frame of the lower edge area is installed with a Z-axis reaction flywheel (13), and the back frame is installed with an X-axis magnetic torque device (21), a posture sensor (3), and a magnetic torque controller (6).

2. The three-axis integrated intelligent attitude control assembly suitable for micro-satellites according to claim 1, characterized in that: The short magnetic torquers are assembled together via an adapter plate (232); the adapter plate is I-shaped and comprises two X support plates (234) and one Y support plate (235); the Z-axis magnetic torquer is fixed to the adapter plate via a locking member (233).

3. The three-axis integrated intelligent attitude control assembly suitable for micro-satellites according to claim 2 is characterized in that: The X support plate and the Y support plate are both flat plates with four weight-reducing grooves.

4. The three-axis integrated intelligent attitude control assembly suitable for micro-satellites according to claim 3 is characterized in that: The attitude control box comprises: a multi-channel grouping control unit, a core control unit, and a magnetic torquer driving functional unit, which are split and arranged on a front frame in the left edge area.

5. The three-axis integrated intelligent attitude control assembly suitable for micro-satellites according to claim 1, characterized in that: The mounting frame is a magnesium-aluminum alloy frame.

6. The three-axis integrated intelligent attitude control assembly suitable for micro-satellites according to claim 5, characterized in that: A plurality of weight-reducing grooves are arranged on the outer side of the mounting frame.

7. The three-axis integrated intelligent attitude control assembly suitable for micro-satellites according to claim 1, characterized in that: Three Y-axis reaction flywheels are on the right side of the central area, two X-axis reaction flywheels are in the middle of the central area, and one X-axis reaction flywheel and a Z-axis magnetic torquer are on the left side of the central area.

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