CN108983637A - A Semi-Physical Simulation Method of Satellite Control System Using Reaction Wheels - Google Patents
A Semi-Physical Simulation Method of Satellite Control System Using Reaction Wheels Download PDFInfo
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Abstract
Description
技术领域technical field
本发明总体而言涉及航天控制领域，具体而言涉及一种采用反作用轮的卫星控制系统半物理仿真方法。此外，本发明还涉及一种用于卫星控制系统的半物理仿真系统。The present invention generally relates to the field of aerospace control, in particular to a semi-physical simulation method for a satellite control system using a reaction wheel. In addition, the invention also relates to a semi-physical simulation system for a satellite control system.
背景技术Background technique
针对卫星姿轨控制的半物理仿真试验是验证卫星的姿轨控系统设计的重要方法。半物理仿真系统是采用多台实时仿真计算机来分别模拟卫星轨道、姿态动力学、卫星在轨运行环境、星载计算机、姿态敏感器、执行机构等，并能实现各单机的电性能接口模拟。在全部单机交付后，将实物配合模拟器，替换原实时仿真机，接入闭环，形成台架测试。而反作用轮作为卫星姿态控制的重要执行机构，在被引入半物理仿真试验闭环以后可使试验更加接近真实系统，从而更好地测试各个姿轨控分系统的设计。然而，在传统卫星姿轨控仿真试验中，仅将反作用轮利用遥测采集转速引入闭环，或采用交叉线使卫星动力学模型闭环而反作用轮开环只接收遥测指令，这两种方法延时大，对系统动态影响大。为取得更好的实时性以提高仿真结果与真实系统的一致性，目前采用高精度力传感器测量反作用轮输出力矩以将反作用轮引入半物理仿真闭环试验。The semi-physical simulation test for satellite attitude and orbit control is an important method to verify the design of satellite attitude and orbit control system. The semi-physical simulation system uses multiple real-time simulation computers to simulate satellite orbit, attitude dynamics, satellite in-orbit operating environment, on-board computer, attitude sensor, actuator, etc., and can realize the electrical performance interface simulation of each single machine. After all the stand-alone machines are delivered, the physical objects are matched with the simulator to replace the original real-time simulator, and connected to the closed loop to form a bench test. As an important actuator of satellite attitude control, the reaction wheel can make the test closer to the real system after being introduced into the closed loop of semi-physical simulation test, so as to better test the design of each attitude control subsystem. However, in the traditional satellite attitude and orbit control simulation test, only the reaction wheel is introduced into the closed loop by using telemetry to collect the rotation speed, or the satellite dynamic model is closed-loop by using the cross line, and the reaction wheel only receives the telemetry command in the open loop. These two methods have a large delay. , which has a great influence on the system dynamics. In order to achieve better real-time performance and improve the consistency between the simulation results and the real system, a high-precision force sensor is currently used to measure the output torque of the reaction wheel to introduce the reaction wheel into the semi-physical simulation closed-loop test.
但是，在采用高精度力传感器测量反作用轮输出力矩过程中，由于初始输出存在显著误差，因此导致测量系统最终反馈给卫星动力学模型中的反作用轮实时力矩出现偏差，从而造成动力学模型中有外力矩引入。在半物理试验进入长时间卫星对地后的稳定工作阶段，为了抵消外力矩的干扰，在卫星姿态稳定的情况下，反作用轮的转速却以一定的加速度进行加速，致使转速沿某一方向上升，直至超出转速阈值，影响半物理闭环仿真试验的有效性，并且易对反作用轮造成伤害。通常使用的人为手动初始校准方法存在较大缺陷，无法判断力矩测量系统何时达到平稳输出，需反复进行校准，且容易造成较大的输出振荡，进而影响半物理仿真试验的结果。However, in the process of measuring the output torque of the reaction wheel with a high-precision force sensor, due to the significant error in the initial output, the real-time torque of the reaction wheel that the measurement system finally feeds back to the satellite dynamics model deviates, resulting in an error in the dynamics model. The introduction of external torque. In the stable working stage after the semi-physical test enters the long-term satellite to the ground, in order to offset the interference of external torque, the rotation speed of the reaction wheel is accelerated at a certain acceleration when the satellite attitude is stable, causing the rotation speed to rise in a certain direction , until the speed threshold is exceeded, which affects the validity of the semi-physical closed-loop simulation test and is easy to cause damage to the reaction wheel. The commonly used manual initial calibration method has major defects. It is impossible to judge when the torque measurement system reaches a stable output. Repeated calibration is required, and it is easy to cause large output oscillations, which will affect the results of the semi-physical simulation test.
发明内容Contents of the invention
从现有技术出发，本发明的任务是提供一种采用反作用轮的卫星控制系统半物理仿真方法以及一种用于卫星控制系统的半物理仿真系统，通过该方法或该系统，可以精确地测量反作用轮的输出力矩并且实时地补偿反作用轮所测量的输出力矩与实际力矩之间的误差，由此避免反作用轮超速旋转，并提高仿真试验的有效性和精确性。Starting from the prior art, the task of the present invention is to provide a semi-physical simulation method for a satellite control system using a reaction wheel and a semi-physical simulation system for a satellite control system, by which method or system can be accurately measured The output torque of the reaction wheel and the error between the measured output torque and the actual torque of the reaction wheel are compensated in real time, thereby avoiding the over-speed rotation of the reaction wheel and improving the validity and accuracy of the simulation test.
在本发明的第一方面，前述任务通过一种采用反作用轮的卫星控制系统半物理仿真方法来解决，该方法包括下列步骤：In a first aspect of the invention, the aforementioned tasks are solved by a method for semi-physical simulation of a satellite control system using reaction wheels, the method comprising the following steps:
使用力矩测量系统测量反作用轮的输出力并且确定输出力矩，其中所述力矩测量系统包括力传感器和单轴气浮轴承；measuring the output force of the reaction wheel and determining the output torque using a torque measurement system comprising a force sensor and a single-axis air bearing;
在仿真的稳定工况的情况下，采用均值算法确定力矩测量系统的偏差并进行补偿；以及In the case of simulated stable conditions, the deviation of the torque measurement system is determined and compensated using the mean value algorithm; and
使用力矩测量系统的输出结果进行仿真。The simulation is performed using the output of the torque measurement system.
在本发明的一个优选方案中规定，使用力矩测量系统测量反作用轮的输出力并且确定输出力矩包括下列步骤：In a preferred solution of the present invention, it is stipulated that using the torque measuring system to measure the output force of the reaction wheel and determining the output torque includes the following steps:
由气浮轴承提供干扰力矩；Disturbance moment is provided by air bearing;
由力传感器测量反作用轮的输出力；以及measuring the output force of the reaction wheel by a force sensor; and
根据所述输出力和回转中心半径确定输出力矩。The output torque is determined according to the output force and the radius of the center of gyration.
通过该优选方案，可以精确地确定反作用轮的初始输出力矩，从而提高仿真精度，这是因为通过由单轴气浮轴承支承反作用轮，可以可靠地抵消重力，使得其回转精度和非理想力力矩满足系统要求。Through this preferred solution, the initial output torque of the reaction wheel can be accurately determined, thereby improving the simulation accuracy, because the reaction wheel is supported by a single-axis air bearing, and the gravity can be reliably offset, so that its rotation accuracy and non-ideal force moment Meet the system requirements.
在本发明的另一优选方案中规定，采用均值算法确定力矩测量系统的偏差并进行补偿包括下列步骤：In another preferred solution of the present invention, it is stipulated that using the mean value algorithm to determine the deviation of the torque measurement system and compensating includes the following steps:
在所预定的时间间隔内，在多个采样时刻计算力矩测量系统的输出力矩与反作用轮的转速差分力矩之间的差值，其中转速差分力矩是根据反作用轮转动惯量、反作用轮在当前采用时刻的转速与在上一采用时刻的转速之差、以及采用时间间隔确定的；以及In the predetermined time interval, calculate the difference between the output torque of the torque measurement system and the rotational speed differential torque of the reaction wheel at multiple sampling moments, where the rotational speed differential torque is based on the moment of inertia of the reaction wheel, the reaction wheel at the current adopting time determined by the difference between the speed at the time of use and the speed at the last time of use, and the time interval of use; and
对多个采样时刻的差值取平均以得到平均差值。The difference values at multiple sampling instants are averaged to obtain an average difference value.
通过该优选方案，可以及时、精确地补偿力矩测量系统的偏差，从而良好地防止反作用轮超速，并保证仿真系统的精度。Through this preferred solution, the deviation of the torque measurement system can be compensated in time and accurately, so as to well prevent the reaction wheel from overspeeding and ensure the accuracy of the simulation system.
在本发明的一个扩展方案中规定，所述采样时刻间隔为1秒，并且对每500个采样时刻的差值取平均。In an embodiment of the invention it is provided that the sampling time interval is 1 second and that the difference is averaged every 500 sampling times.
在本发明另一扩展方案中规定，方法还包括下列步骤：In another development of the invention it is provided that the method further comprises the following steps:
将力矩测量系统的输出结果通过光纤传输给半物理仿真系统。The output result of the torque measurement system is transmitted to the semi-physical simulation system through optical fiber.
在本发明的第二方面，前述任务通过一种用于卫星控制系统的半物理仿真系统来解决，该系统包括：In a second aspect of the invention, the aforementioned tasks are solved by a semi-physical simulation system for a satellite control system comprising:
反作用轮，其被配置为提供相应的反作用力；a reaction wheel configured to provide a corresponding reaction force;
力矩测量系统，其被配置为测量反作用轮的输出力，其中所述力矩测量系统包括力传感器和单轴气浮轴承，并且其中单轴气浮轴承支承反作用轮以抵消重力；以及a torque measurement system configured to measure an output force of the reaction wheel, wherein the torque measurement system includes a force sensor and a single-axis air bearing, and wherein the single-axis air bearing supports the reaction wheel to counteract gravity; and
控制器，其被配置为controller, which is configured as
根据反作用轮的输出力确定输出力矩；以及determining the output torque based on the output force of the reaction wheel; and
在仿真的稳定工况的情况下采用均值算法确定力矩测量系统的偏差并根据所述偏差进行补偿。In the case of the simulated steady state, the deviation of the torque measuring system is determined using a mean value algorithm and compensated according to said deviation.
在本发明的一个优选方案中规定，力传感器的精度为1.12至3.37毫牛顿。由于力传感器到回转中心的半径为固定值89mm，因此在力传感器的精度为1.12至3.37毫牛顿的情况下，可以保证对输出力矩的测量精度保证在0.1毫牛顿米至0.3毫牛顿米(mNm)。In a preferred embodiment of the invention it is provided that the force sensor has an accuracy of 1.12 to 3.37 millinewtons. Since the radius from the force sensor to the center of gyration is a fixed value of 89mm, when the accuracy of the force sensor is 1.12 to 3.37 millinewtons, the measurement accuracy of the output torque can be guaranteed to be in the range of 0.1 millinewton meters to 0.3 millinewton meters (mNm ).
本发明至少达到下列有益效果：通过利用高精度力传感器测量反作用轮输出力的大小，再乘以回转中心半径，可得到输出力矩测量信号，并通过移动平均算法对测量常值偏差进行在线补偿后引入半物理试验闭环，能够获得更好的实时性，提高了仿真结果与真实系统的一致性。The present invention at least achieves the following beneficial effects: by using a high-precision force sensor to measure the output force of the reaction wheel, and then multiplying it by the radius of the center of gyration, the output torque measurement signal can be obtained, and the measurement constant value deviation is compensated online through the moving average algorithm The introduction of a closed-loop semi-physical test can achieve better real-time performance and improve the consistency between the simulation results and the real system.
附图说明Description of drawings
下面结合附图参考具体实施例来进一步阐述本发明。The present invention will be further described below with reference to specific embodiments in conjunction with the accompanying drawings.
图1示出了根据本发明的采用反作用轮的卫星控制系统半物理仿真方法的流程图；Fig. 1 shows the flow chart of the satellite control system semi-physical simulation method adopting reaction wheel according to the present invention;
图2示出了根据本发明的用于卫星控制系统的半物理仿真系统的示意图；以及Figure 2 shows a schematic diagram of a semi-physical simulation system for a satellite control system according to the present invention; and
图3-7示出了使用本发明方法或系统的某型号卫星的在轨运行工况的试验结果。3-7 show the test results of the on-orbit operation conditions of a certain type of satellite using the method or system of the present invention.
具体实施方式Detailed ways
应当指出，各附图中的各组件可能为了图解说明而被夸大地示出，而不一定是比例正确的。在各附图中，给相同或功能相同的组件配备了相同的附图标记。It should be noted that components in the various figures may be shown exaggerated for the purpose of illustration and are not necessarily true to scale. In the various figures, identical or functionally identical components are assigned the same reference symbols.
在本发明中，除非特别指出，“布置在…上”、“布置在…上方”以及“布置在…之上”并未排除二者之间存在中间物的情况。In the present invention, unless otherwise specified, "arranged on", "arranged on" and "arranged on" do not exclude the presence of intermediates between the two.
在本发明中，各实施例仅仅旨在说明本发明的方案，而不应被理解为限制性的。In the present invention, each embodiment is only intended to illustrate the solutions of the present invention, and should not be construed as limiting.
在本发明中，除非特别指出，量词“一个”、“一”并未排除多个元素的场景。In the present invention, unless otherwise specified, the quantifiers "a" and "an" do not exclude the scene of multiple elements.
在此还应当指出，在本发明的实施例中，为清楚、简单起见，可能示出了仅仅一部分部件或组件，但是本领域的普通技术人员能够理解，在本发明的教导下，可根据具体场景需要添加所需的部件或组件。It should also be pointed out here that in the embodiments of the present invention, for the sake of clarity and simplicity, only a part of parts or components may be shown, but those skilled in the art can understand that under the teaching of the present invention, specific The scene needs to add the required parts or components.
在此还应当指出，在本发明的范围内，“相同”、“相等”、“等于”等措辞并不意味着二者数值绝对相等，而是允许一定的合理误差，也就是说，所述措辞也涵盖了“基本上相同”、“基本上相等”、“基本上等于”。It should also be pointed out that within the scope of the present invention, expressions such as "same", "equal", and "equal to" do not mean that the two values are absolutely equal, but allow a certain reasonable error, that is, the Wording also covers "substantially the same", "substantially equal", "substantially equal to".
另外，本发明的各方法的步骤的编号并未限定所述方法步骤的执行顺序。除非特别指出，所述方法步骤可以以不同顺序执行。In addition, the numbers of the steps of the various methods of the present invention do not limit the execution sequence of the method steps. Unless otherwise indicated, the method steps may be performed in a different order.
图1示出了根据本发明的采用反作用轮的卫星控制系统半物理仿真方法100的流程图，其中虚线框表示可选步骤。FIG. 1 shows a flow chart of a method 100 for semi-physical simulation of a satellite control system using reaction wheels according to the present invention, wherein dashed boxes represent optional steps.
在步骤102，使用力矩测量系统测量反作用轮的输出力并且确定输出力矩。所述力矩测量系统包括力传感器和单轴气浮轴承，并且其中单轴气浮轴承支承反作用轮以抵消重力，使得反作用轮的回转精度、非理想力矩(0.2mNm)满足系统要求。确定输出力矩的过程例如为：由气浮轴承提供干扰力矩；由力传感器测量反作用轮的输出力；以及根据所述输出力和回转中心半径确定输出力矩。高精度力传感器到回转中心的半径为固定值(89mm)，按照系统要求测量精度选取测量范围满足条件的力传感器，测量得到的反作用轮的力大小乘以高精度力传感器到回转中心的半径得到输出力矩测量信号，力矩测量精度可达0.2mNm。高精度力传感器信号微弱，因此可以对此信号进行放大，再传至采样计算机，由力矩测量系统软件进行数据处理、图形显示、数据分发等操作。At step 102, the output force of the reaction wheel is measured using a torque measurement system and the output torque is determined. The torque measurement system includes a force sensor and a single-axis air bearing, and the single-axis air bearing supports the reaction wheel to offset gravity, so that the rotation accuracy and non-ideal torque (0.2mNm) of the reaction wheel meet the system requirements. The process of determining the output torque is, for example: providing the disturbance torque by the air bearing; measuring the output force of the reaction wheel by the force sensor; and determining the output torque according to the output force and the radius of the center of gyration. The radius from the high-precision force sensor to the center of gyration is a fixed value (89mm). According to the measurement accuracy required by the system, a force sensor with a satisfactory measurement range is selected, and the measured force of the reaction wheel is multiplied by the radius from the high-precision force sensor to the center of gyration. Output torque measurement signal, the torque measurement accuracy can reach 0.2mNm. The signal of the high-precision force sensor is weak, so the signal can be amplified, and then transmitted to the sampling computer, and the torque measurement system software performs data processing, graphic display, data distribution and other operations.
在步骤104，在仿真的稳定工况的情况下，采用均值算法确定力矩测量系统的偏差并进行补偿。确定偏差的过程例如为：在所预定的时间间隔内，在多个采样时刻计算力矩测量系统的输出力矩与反作用轮的转速差分力矩之间的差值，其中转速差分力矩是根据反作用轮转动惯量、反作用轮在当前采用时刻的转速与在上一采用时刻的转速之差、以及采用时间间隔确定的；以及对多个采样时刻的差值取平均以得到平均差值。也就是说，采用移动平均算法对力矩测量系统的常值偏差进行在线补偿，即对一段时间内力矩测量系统实时输出与反作用轮实时反馈转速差分力矩所得差值平均，每秒采用滑动窗口平均方式利用平均差值对力矩测量系统输出进行补充校准，从而保证力矩测量系统数据准确输出。具体方法是实时采集力矩测量系统输出数据，结合反作用轮输出轮速，计算实时测量系统的偏差值。该过程可以由如下公式来表征：In step 104, in the case of the simulated stable working condition, the deviation of the torque measurement system is determined and compensated by using the mean value algorithm. The process of determining the deviation is, for example, calculating the difference between the output torque of the torque measurement system and the rotational speed differential torque of the reaction wheel at multiple sampling moments within a predetermined time interval, wherein the rotational speed differential torque is based on the rotational inertia of the reaction wheel , the difference between the rotational speed of the reaction wheel at the current sampling time and the rotational speed at the previous sampling time, and the sampling time interval; and taking the average of the difference values at multiple sampling time points to obtain the average difference value. That is to say, the constant value deviation of the torque measurement system is compensated online by using the moving average algorithm, that is, the difference between the real-time output of the torque measurement system and the real-time feedback speed differential torque of the reaction wheel is averaged over a period of time, and the sliding window average method is adopted every second The output of the torque measurement system is calibrated supplementarily by using the average difference, so as to ensure the accurate output of the torque measurement system data. The specific method is to collect the output data of the torque measurement system in real time and combine the output wheel speed of the reaction wheel to calculate the deviation value of the real-time measurement system. This process can be characterized by the following formula:
Tder＝Tout-Jw(ωnow-ωpre)/ΔtT der ＝T out -J w (ω now -ω pre )/Δt
其中Tder为力矩测量系统输出误差，Tout为力矩测量系统输出值，Jw为反作用轮转动惯量，ωnow、ωpre为当前时刻及以上一采样时刻反作用转速，Δt为采样间隔时间。Where T der is the output error of the torque measurement system, T out is the output value of the torque measurement system, J w is the moment of inertia of the reaction wheel, ω now and ω pre are the reaction speed at the current time and the previous sampling time, and Δt is the sampling interval.
根据上述公式实时计算力矩测量系统输出偏差值，例如每500秒对500个每秒采集的力矩测量系统输出偏差值进行平均，将得到的平均偏差值对系统输出进行补偿校准，从而保证系统数据准确输出。Calculate the output deviation value of the torque measurement system in real time according to the above formula, for example, average the output deviation values of 500 torque measurement systems collected per second every 500 seconds, and compensate and calibrate the system output with the obtained average deviation value, so as to ensure the accuracy of the system data output.
在可选步骤106，将力矩测量系统的输出结果通过光纤传输给半物理仿真系统。通过光纤网络的信号传输，可显著提高半物理仿真试验的实时性。应当指出，其它传输方式也是可设想的。In optional step 106, the output result of the torque measurement system is transmitted to the semi-physical simulation system through an optical fiber. The signal transmission through the optical fiber network can significantly improve the real-time performance of the semi-physical simulation test. It should be noted that other transmission methods are also conceivable.
在步骤108，使用力矩测量系统的输出结果进行仿真。将校准后的力矩信号引入半物理仿真系统，例如半物理仿真动力学模拟器运行周期为5ms，例如反作用轮力矩测量系统的驱动频率可以达到100Hz。At step 108, a simulation is performed using the output of the torque measurement system. The calibrated torque signal is introduced into the semi-physical simulation system. For example, the operating cycle of the semi-physical simulation dynamics simulator is 5ms. For example, the driving frequency of the reaction wheel torque measurement system can reach 100Hz.
图2示出了根据本发明的用于卫星控制系统的半物理仿真系统200的示意图。FIG. 2 shows a schematic diagram of a semi-physical simulation system 200 for a satellite control system according to the present invention.
如图2所示，半物理仿真系统200主要包括多个反作用轮、由力传感器和单轴气浮轴承构成的力矩测量系统、控制器(如星载计算机)、仿真平台等。As shown in FIG. 2 , the semi-physical simulation system 200 mainly includes a plurality of reaction wheels, a torque measurement system composed of a force sensor and a single-axis air bearing, a controller (such as an on-board computer), a simulation platform, and the like.
由力矩测量系统测量反作用轮的力矩，并传输给星载计算机，星载计算机计算反作用轮的误差，星载计算机通过与各个计算机和传感器的交互来确定转速、力矩指令以便对误差进行补偿。姿轨控半物理仿真平台使用经修正的反作用轮的输出力矩进行仿真。The torque of the reaction wheel is measured by the torque measurement system and transmitted to the onboard computer. The onboard computer calculates the error of the reaction wheel. The onboard computer determines the speed and torque commands through the interaction with each computer and sensor to compensate for the error. The semi-physical simulation platform for attitude and orbit control uses the modified output torque of the reaction wheel for simulation.
图3-7示出了使用本发明的方法或系统的某型号卫星的在轨运行工况的试验结果。如图3-7所示，卫星在进入稳定运行工况后，反作用轮转速稳定在要求范围内，卫星姿态稳定，卫星x、y轴方向外力矩误差均小于0.002Nm，可见采用高精度反作用轮力矩测量系统完成半物理仿真试验结果更接近真实系统。3-7 show the test results of the on-orbit operation conditions of a certain type of satellite using the method or system of the present invention. As shown in Figure 3-7, after the satellite enters a stable operating condition, the speed of the reaction wheel is stable within the required range, the attitude of the satellite is stable, and the external torque errors in the x and y directions of the satellite are less than 0.002Nm. It can be seen that the high-precision reaction wheel is used The semi-physical simulation test results of the torque measurement system are closer to the real system.
虽然本发明的一些实施方式已经在本申请文件中予以了描述，但是本领域技术人员能够理解，这些实施方式仅仅是作为示例示出的。本领域技术人员在本发明的指导下可以想到众多的变型方案、替代方案和改进方案而不超出本发明的范围。所附权利要求书旨在限定本发明的范围，并藉此涵盖这些权利要求本身及其等同变换的范围内的方法和结构。While certain embodiments of the present invention have been described in this specification, those skilled in the art will appreciate that these embodiments have been presented by way of example only. Under the guidance of the present invention, those skilled in the art can think of numerous modification schemes, substitution schemes and improvement schemes without departing from the scope of the present invention. It is intended that the scope of the invention be defined by the appended claims and that methods and structures within the scope of such claims themselves and their equivalents be covered thereby.
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