20 results about "Reaction wheel" patented technology

The application discloses a mode switching method applied to a variable rotating speed control moment gyro, which clearly defines multiple working modes of the control moment gyro, switching logic between behaviors of the control moment gyro in the modes and the modes, can realize non-control, moment control and backup reaction wheel functions of the control moment gyro, and can make the control moment gyro effectively applied in satellite attitude control.

The application relates to a spacecraft attitude control method of a reaction wheel-chemical propulsion-electric propulsion hybrid actuator, which comprises the following steps: a dynamic model of a GEO satellite with flexible accessories is established; a spacecraft attitude control algorithm is designed by using a self-anti-interference control law; total control torques of three kinds of actuators, i.e., a reaction wheel, chemical propulsion and electric propulsion, are calculated; a dynamic distribution model of the hybrid actuator is designed to minimize energy consumption, and is used for torque distribution of the total control torques of the three kinds of actuators, so that the control torques of the reaction wheel, chemical propulsion and electric propulsion are obtained; and the particle swarm algorithm is used for iterative optimization of control parameters of the dynamic distribution model, so that the optimal control torques of the reaction wheel, chemical propulsion and electric propulsion are output, the autonomous distribution of the control torques of the actuators in the control process is realized, and the high-precision, short-time and low-energy consumption target of the rapid switching of various attitude control modes of the GEO satellite and between the various attitude control modes is realized.

The invention discloses a reaction wheel momentum management method for satellite redundancy configuration, and belongs to the technical field of satellite attitude control. According to the method, for reaction wheels in three-positive-one-oblique, pyramid or full-oblique redundant configuration, the core is that the characteristic that output torque of the configured reaction wheels is synthesized to be zero is utilized, the reaction wheel with the maximum difference value between the current rotating speed and the target rotating speed is recognized in real time through the preset target rotating speed to serve as a reference datum, and the reference datum serves as the guide; under the constraint condition that the resultant torque generated by all the reaction wheels is strictly guaranteed to be zero, the rotating speed output quantity of each reaction wheel is obtained, finally, the rotating speed of the corresponding reaction wheel at the current moment is adjusted based on the rotating speed output quantity of each reaction wheel, and momentum management of each reaction wheel in redundant configuration is completed. The method has many advantages in the aspects of momentum management, moment allowance control, control quality improvement, equipment service life prolonging and whole satellite energy saving of the satellite.

The present invention provides a satellite jet angular momentum unloading method and system, wherein the method includes: calculating the angular momentum that needs to be unloaded by the reaction wheel group in the directions of the three orthogonal coordinate axes of the satellite; determining the on-threshold and off-threshold of jet unloading; determining the unloading requirement of the three-axis unloading angular momentum based on the on-threshold and off-threshold; correcting the unloading state of each axis based on the unloading requirement of the three-axis unloading angular momentum; wherein, if the three-axis angular momentum unloading requirement is to unload the angular momentum of three axes or one axis, the unloading state correction is not performed; if the angular momentum of two axes needs to be unloaded, the unloading state is corrected to unload the larger angular momentum of the two axes; and obtaining the unloading jet width instruction based on the corrected unloading state of each axis. The present invention can improve the efficiency of jet unloading angular momentum and reduce fuel consumption; it can keep the three-axis angular momentum within a smaller range for a longer time, and reduce the residual angular momentum of the reaction wheel after the jet unloading mode is switched out of the on-orbit remote control.

The invention relates to a spacecraft attitude combined control method based on a hybrid execution mechanism. The method comprises the following steps: establishing a GEO satellite dynamics model with flexible accessories; according to the established kinetic model, designing a spacecraft attitude control algorithm by using a golden section adaptive control law based on the feature model and a tracking maintenance adaptive control law based on the feature model, and generating a control instruction; according to the generated control instruction, establishing a dynamic allocation model of the hybrid actuating mechanism by taking an attitude maneuver angle error as a constraint condition, and switching a combined working mode of electric propulsion, reaction wheel and chemical propulsion in different attitude adjustment stages; and with minimum energy consumption as a target, solving an optimal error threshold used for switching a combined working mode in the dynamic distribution model of the hybrid execution mechanism by using a PSO-GA algorithm, and realizing autonomous distribution of the control torque of the execution mechanism in the spacecraft attitude combined control process. Therefore, the goals of high precision, short time and low energy consumption of the multiple attitude control modes of the GEO satellite and rapid switching among the multiple attitude control modes are achieved.

The invention discloses a reaction wheel vibration isolator micro-vibration suppression performance evaluation method, which comprises the following steps of: installing a reaction wheel simulation piece and a vibration isolator on a three-way vibration table, setting a plurality of amplitude sweep frequencies, collecting an acceleration signal and calculating a suppression ratio through FFT (Fast Fourier Transform); building a six-component force measuring table, measuring six-direction disturbance before and after vibration isolation, and calculating power spectrum density, frequency-band integration and a comprehensive inhibition ratio; and the micro-vibration suppression performance of the vibration isolator is evaluated by integrating the results and combining a satellite cabin transfer function. The method adapts to an on-satellite micro-vibration environment, can be associated with load indexes, and can also be popularized to evaluation of other on-satellite disturbance sources such as control moment gyroscopes and acceptance and optimization of power-assisted vibration isolator products.

The invention provides a method, a device and a system for controlling the yawing attitude of a floating type wind turbine generator. The method comprises the following steps: acquiring a wind deviation angle, a wave direction deviation angle and a yawing angle; whether at least one of the wind deviation angle and the wave direction deviation angle is larger than a corresponding first angle threshold value or not is determined; under the condition that at least one of the wind deviation angle and the wave direction deviation angle is larger than a corresponding first angle threshold value, whether the yawing angle is smaller than a second angle threshold value or not and whether the duration is larger than or equal to first preset duration or not are determined; under the condition that the yawing angle is larger than or equal to a second angle threshold value or smaller than the second angle threshold value and the duration is smaller than a first preset duration, the target rotating speed is obtained through calculation at least according to the wind facing deviation angle, and the reaction wheel is controlled to rotate at the target rotating speed. The method solves the technical problem of low power generation efficiency caused by violent yawing of the floating type wind turbine generator in the prior art.

The invention provides a micro-nano satellite multi-constraint fine control method based on actuator dynamics, and belongs to the field of spacecraft control, and the method comprises the steps: considering the electromechanical characteristics of a reaction wheel, and building a micro-nano satellite attitude deep coupling model containing the dynamic characteristics of the reaction wheel; aiming at reaction wheel axle friction and counter electromotive force interference, designing a double-interference observer to accurately estimate the reaction wheel axle friction and counter electromotive force interference; designing a nonlinear state-dependent obstacle function to convert a constraint state into a tracking control variable according to the star rotating speed and reaction wheel current physical constraint; and a composite controller is constructed by combining a double-interference observer and a nonlinear state-dependent barrier function, and the design of the high-precision controller of the micro-nano satellite is completed. According to the method, the problem of various physical constraints in micro-nano satellite control can be solved, the interference of the reaction wheel is compensated, and the method has the characteristics of high reliability and high accuracy.

The application provides a reaction wheel reliability prediction method under degradation process, comprising collecting satellite reaction wheel bearing temperature history degradation data, and preprocessing the data; using Wiener process to establish a reaction wheel temperature performance degradation model and performing parameter estimation; establishing a reaction wheel reliability model and calculating the reaction wheel reliability; combining Kalman filtering algorithm and the reaction wheel temperature performance degradation model to establish a prediction model of the reaction wheel; and using the prediction model to predict the reliability of the reaction wheel. The application can more accurately and reliably predict the fault result, so as to achieve the purpose of satellite attitude control system fault prediction, promote the reliability and performance improvement of the satellite attitude control system; the application adds a random term in the Kalman filtering algorithm, fully gives play to the advantages of each model and algorithm, improves the accuracy and stability of the overall prediction, and improves the poor real-time problem in the reliability prediction method using the random degradation process.

The application discloses a kind of frequent yaw maneuvering condition under satellite flywheel control method and system, according to the reliability of flywheel system, at least four non-coplanar reaction wheels work simultaneously, the optimal configuration quantity of flywheel system is five reaction wheels, five reaction wheels are arranged in flywheel system using three orthogonal+two oblique installation mode, when any one reaction wheel fails, four non-coplanar reaction wheels work simultaneously can still guarantee the high reliability of satellite, solve the problem that traditional four reaction wheel scheme will lead to other three reaction wheels frequent zero speed when any one flywheel fails, make satellite attitude jitter, simultaneously also reduce the service life of flywheel, simultaneously, five reaction wheels adopt three orthogonal+two oblique installation scheme, most conducive to satellite integration, simultaneously three orthogonal installation is attached to satellite cabin wall, beneficial to flywheel heat dissipation, five reaction wheel configuration scheme guarantees the high reliability of satellite, prolongs service life, with higher use value and popularization value.

The invention discloses a momentum management method for momentum wheels of a micro-nano satellite, which is a momentum management method for a specific reaction wheel device (four momentum wheels), and particularly aims at slowly reducing the rotating speed of the momentum wheels when the momentum wheels of the momentum wheel device using the four momentum wheels at the same time keep stable rotating speed in a stable state. By the adoption of the method, on the premise that normal torque output of the momentum wheel is not affected, the rotating speed of the momentum wheel in the posture stable state can be effectively reduced, so that power consumption of the momentum wheel is reduced, and it is guaranteed that the momentum wheel has enough torque output.

This invention discloses a hybrid control configuration method for highly maneuverable micro-nano satellites, which uses three reaction flywheels and a pair of control moment gyroscopes as a hybrid control mechanism. This allows the control moment gyroscopes to exert high maneuverability on a single axis while also serving as backup for the three reaction wheels, thereby improving the reliability of the satellite attitude control system.

A parameter determination method for reducing the disturbance of satellite laser terminals caused by dual-axis solar array rotation is proposed. Addressing the problem of the severe impact of the stepping motion of dual-axis solar arrays on satellite attitude at large inclination angles, a whole-satellite dynamics and control model is established based on the virtual power principle, considering satellite orbital parameters, solar array drive mechanism parameters, solar array structural parameters, and reaction wheels. Optimization methods are then used to optimize key parameters affecting satellite attitude caused by dual-axis solar array rotation, obtaining usable parameters for reducing solar array disturbance. This method can effectively reduce the impact of dual-axis solar array rotation on satellite attitude jitter, lower the development cost of high-precision, high-stability pointing laser payloads on satellites, and improve the on-orbit robustness of such payloads.

The application relates to a relative motion control and angular momentum management method of an electromagnetic formation, which comprises the following steps: establishing a 6-degree-of-freedom relative dynamics model of an electromagnetic satellite formation, determining a leader satellite and a follower satellite; selecting a leader satellite to be installed with a reaction wheel, designing a magnetic moment for the satellite based on a frequency division multiplexing method, generating effective electromagnetic force and torque, and designing a direct current component for angular momentum unloading; adopting an active disturbance rejection control method to design a 6-degree-of-freedom relative motion controller of the electromagnetic formation system under the condition of external disturbance and model uncertainty; and designing an unloading law to unload the angular momentum of the reaction wheel of the leader satellite, and solving the direct current component of the magnetic moment of the leader satellite. According to the application, the relative position control and the angular momentum management are decoupled by using the idea of frequency division multiplexing, and the angular momentum unloading and the formation control are carried out in parallel.

The application provides a micro-nano satellite multi-constraint fine control method based on actuator dynamics, and belongs to the field of spacecraft control, and comprises the following steps: considering the electromechanical characteristics of the reaction wheel, an attitude deep coupling model of the micro-nano satellite containing the dynamic characteristics of the reaction wheel is established; aiming at the wheel shaft friction and back electromotive force interference of the reaction wheel, a double interference observer is designed to accurately estimate the wheel shaft friction and back electromotive force interference; aiming at the physical constraints of the satellite rotation speed and the reaction wheel current, a nonlinear state-dependent barrier function is designed to convert the constraint state into a tracking control variable; a composite controller is constructed by combining the double interference observer and the nonlinear state-dependent barrier function, and the high-precision controller design of the micro-nano satellite is completed. The application can overcome the multi-class physical constraint problem in the control of the micro-nano satellite, compensate the interference of the reaction wheel, and has the characteristics of high reliability and high accuracy.

The invention discloses an active posture adjusting device and method for an underwater robot, and belongs to the technical field of underwater robots. The whole device is installed in a sealed cabin of the robot and is composed of a rack, a rolling adjusting unit, a pitching adjusting unit, a yaw adjusting unit and a posture sensing and control unit. Wherein the rolling unit and the yawing unit respectively drive a reaction wheel to rotate through a motor, and the rolling angle and the yawing angle are controlled by utilizing the generated reaction torque; according to the pitching unit, a motor is adopted to drive a lead screw mechanism, internal mass distribution is changed through a sliding block, and therefore the pitching posture is adjusted. The posture sensing and control unit is responsible for collecting posture information of the robot in real time, outputting control signals after calculation, and cooperatively driving the execution units to complete three-degree-of-freedom high-dynamic response adjustment. The system is high in integration level, high in response speed and good in external interference resistance, can effectively enhance the movement stability and maneuvering control precision of the underwater robot in a complex marine environment, and is suitable for various task scenes such as fine observation, underwater detection and operation.

A method of controlling a gyroscopically-stabilized projectile, comprising a control system producing a control signal, a rotating aerodynamic shell, and a reaction mass system responsive to the control signal, the method comprising: imparting rotational and translational kinetic energy to induce gyroscopic stabilization of the projectile about a gyroscopic axis and a movement of the projectile along a flight path; interacting the shell with surrounding air while moving, to induce aerodynamic forces; generating the control signal from the control system; and altering a state of the reaction wheel system selectively in dependence on the control signal, to alter the flight path.

A method of controlling a gyroscopically-stabilized projectile, comprising a control system producing a control signal, a rotating aerodynamic shell, and a reaction mass system responsive to the control signal, the method comprising: imparting rotational and translational kinetic energy to induce gyroscopic stabilization of the projectile about a gyroscopic axis and a movement of the projectile along a flight path; interacting the shell with surrounding air while moving, to induce aerodynamic forces; generating the control signal from the control system; and altering a state of the reaction wheel system selectively in dependence on the control signal, to alter the flight path.

A method of determining one or more inertial properties of a spacecraft. The method comprises: receiving data collected at different points in time during operation of the spacecraft. The data includes information indicative of: the angular momentum of a reaction wheel on-board the spacecraft, and the angular velocity of the spacecraft. The method further comprises: identifying changes in the angular velocity of the spacecraft based on the information indicative of the angular velocity of the spacecraft; and determining one or more inertial properties of the spacecraft based on the identified changes in the angular velocity of the spacecraft and the information indicative of the angular momentum of the reaction wheel.

The application discloses a three-dimensional attitude control system composed of multiple reaction wheels and a control method thereof, and belongs to the technical field of attitude control. The three-dimensional attitude control system composed of multiple reaction wheels comprises an attitude control processor composed of three reaction wheel groups, the reaction wheel group comprises a base plate, a microprocessor, an electric governor controller, a motor and an inertial sensor mounted on the base plate, a mass wheel is mounted at the output end of the motor, the inertial sensor and the electric governor controller are connected with the microprocessor and are used for signal processing and equipment control, the microprocessor is connected with the attitude control processor and is used for data exchange control and coordination, and the application is applied to a vehicle body or the like. The application not only can provide higher attitude judgment adjustment sensitivity and timeliness, but also can improve the body load, reduce unnecessary body weight and prolong the service life of the body.