RU2787277C1 - Method for control of portable surveillance equipment on two-stage rotary platform, mainly placed on spacecraft - Google Patents

Abstract

FIELD: aerospace technology.

SUBSTANCE: method for control of surveillance equipment (hereinafter – SE) on a two-stage rotary platform (hereinafter – RP), placed on a spacecraft (hereinafter – SC), includes determination of parameters of RP angular movement along each of axes of rotation, generation of control impacts on RP drives, when surveilling objects on an underlying surface. Before the beginning of a surveillance session, a direction of an angular speed vector (hereinafter – ASV) of rotation of a sight axis (hereinafter – SA) of SE, determined in the coordinate system (hereinafter – CS) related to RP during the impact on one of RP drives, is combined with a direction determined in CS related to SC, which is the minimum angle with SC speed vector. During the session, setting of SA of SE to positions required for surveillance of objects is performed by generation of controlling impacts on this RP drive, and drive development time is measured. In initial sessions, the direction, which is the minimum angle with SC speed vector, is alternately combined with the direction of ASV of rotation of SA of SE during the impact on one and on the other RP drive, respectively. In following sessions, the direction, which is the minimum angle with SC speed vector, is combined with the direction of ASV of rotation of SA of SE during the impact on the drive with the greatest development time.

EFFECT: increase in the reliability due to uniform development of drives.

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Description

SUBSTANCE: invention relates to aerospace engineering and can be used to provide control of portable observation equipment placed on an aircraft/spacecraft on a two-stage turntable when performing observations of the underlying surface.

A known method of controlling the target equipment of a spacecraft (SC), implemented by the control system of the television video spectrum complex of the spacecraft (RF patent 2068801, IPC 6: B64G 9/00), which includes guidance and tracking of targets, in which the reorientation of the axis of sight of the television installed on the rotary platform is performed. and scientific equipment to a target selected in real time from a TV image with subsequent automatic tracking of the target, including determining the spatial position of the guidance device relative to the spacecraft, setting the coordinates of targets, determining the position of targets relative to the guidance device, calculating the angles of rotation of the guidance device and turning the device guidance.

The disadvantages of the method include, in particular, the fact that it allows aiming only at targets, on the one hand, limited by the range of rotation angles of the turntable, and on the other hand, limited by falling into the current frame of the TV image, which, in addition to the mentioned range limitation rotation angles of the turntable, has a limited coverage, determined by the field of view of the TV camera. At the same time, the very fact of placing the guidance equipment on the turntable limits the freedom of movement of the equipment when it is aimed and the target is tracked by the spacecraft crew.

A known method of orientation of the target equipment of the spacecraft (Anshakov G.P., Makarov V.P., Manturov A.I., Mostovoy Ya.A. Methods and controls in highly informative observation of the Earth from space. XIV St. Petersburg International Conference on Integrated Navigation Systems, May 28-30, 2007, pp. 165-173, St. Petersburg, Russia, 2007), which includes measuring the parameters of the angular motion of the spacecraft, generating and issuing control signals to the drives of the inertial executive bodies, creating the minimum moments of inertia of the spacecraft by moving the equipment and structural elements to the center of mass of the spacecraft, changing the parameters of the angular motion of the inertial masses of the inertial actuators and the corresponding change in the parameters of the angular motion of the spacecraft with the target equipment fixed on it, determining the momentum accumulated by the inertial masses of the inertial actuators, generating and issuing control signals to the reset system kinetic moment.

The disadvantages of the method include, in particular, the fact that inertial masses of inertial actuators are used to ensure reorientation (program rotations) and stabilization in the required position of the target equipment.

A known method for orienting the target equipment of a spacecraft based on automatic turntables (Lobanov V.C., Tarasenko N.V., Shulga D.N., Zboroshenko V.N., Fedoseev S.V., Khakhanov Yu.A. Target equipment guidance systems based on automatic turntables for the ISS PC XIV St. Petersburg International Conference on Integrated Navigation Systems, May 28-30, 2007, pp. 206-213. St. Petersburg, Russia, 2007 - prototype), which consists in placing two or three - power gimbal suspension with drives along each of the axes of automatic rotary platforms, installation of angular velocity meters, astro sensors and a computing device on automatic rotary platforms, determination of the parameters of the angular movement of automatic rotary platforms from measurements from angular velocity meters and astro sensors, generation of control signals to drives, providing spatial rotations of automatic turntables, working out by the control system by the angular motion of the spacecraft of disturbances created in the process of turning automatic turntables.

The disadvantages of the prototype method include, in particular, the fact that automatic turntables with target equipment can only be placed on spacecraft whose inertial-mass characteristics (mass, moments of inertia) are two, three or more orders of magnitude higher than the inertial-mass characteristics of automatic turntables. platforms with target hardware.

The problem to be solved by the present invention is to ensure long-term performance of the instrument complex containing portable observation equipment on a turntable.

The technical result achieved in the implementation of the present invention is to increase the reliability of control of portable surveillance equipment on a turntable by ensuring uniform operating time of the turntable drives.

The technical result is achieved by the fact that in the method of controlling portable observation equipment located mainly on a spacecraft on a two-stage turntable, including determining the parameters of the angular movement of the turntable along each of the axes of rotation, the formation of control actions on the drives of the turntable when performing sessions of observing objects located on underlying surface, unlike the prototype, before the start of the observation session, the direction of the vector of the angular velocity of rotation of the axis of sight of the observation equipment, determined in the coordinate system associated with the turntable during the period of impact on one of the drives of the turntable, is combined with the coordinate system determined in the coordinate system associated with the spacecraft the direction that makes the minimum angle with the velocity vector of the device, during the observation session, the alignment of the axis of sight of the observation equipment to the positions required for observing objects is carried out are formed by the formation of control actions on a given turntable drive and the operating time of the drive is measured in an observation session, while in the initial successive observation sessions with the indicated direction determined in the coordinate system associated with the spacecraft, constituting the minimum angle with the velocity vector of the apparatus, alternately combine the direction of the angular vector speed of rotation of the axis of sight of the observation equipment during the period of impact, respectively, on one and the other drive of the turntable, and in subsequent sessions of observations with the indicated direction determined in the coordinate system associated with the spacecraft, constituting the minimum angle with the velocity vector of the apparatus, the direction of the vector of the angular velocity of rotation is combined axes of sight of the observation equipment during the period of impact on the drive with the greatest total operating time.

The invention is illustrated by a diagram of the use of portable observation equipment on a spacecraft, fixed on a two-stage turntable, on which the designations are introduced:

1 - two-degree suspension;

2 - detachable fastening of portable surveillance equipment;

3 - node of the removable installation of the turntable on the window;

4 - computing device;

5 - the first axis of the suspension;

6 - the second suspension axis;

7 - portable surveillance equipment;

8 - opening of the detachable attachment of portable surveillance equipment;

9 - the axis of the hole of the detachable attachment of portable surveillance equipment;

10 - sensitivity axis of portable surveillance equipment;

11 - opening of the assembly for the removable installation of the turntable on the window;

12 - axis of the hole of the assembly of the removable installation of the turntable on the window;

13 - porthole;

14 - the outer surface of the assembly of the removable installation of the turntable on the window;

15 - the outer surface of the body of the apparatus;

16 - straight cone;

17 - base of a straight cone;

18 - boundary of the required field of view of the underlying surface by portable surveillance equipment;

19 - underlying surface;

M is the distance from the first axis of the suspension to the outer surface of the assembly of the removable installation of the turntable on the window;

R - porthole radius;

K - the thickness of the body of the apparatus at the location of the porthole,

H is the minimum value of the distance from the apparatus to the underlying surface;

A - the point of intersection of the axes of the suspension;

B - sub-satellite point;

AC - height of a straight cone;

γ - half-opening angle of a straight cone;

L is the radius of the required field of view of the underlying surface by portable surveillance equipment.

Let us explain the actions proposed in the method.

Let us consider an onboard instrumentation complex as part of portable observation equipment, removablely fixed on a two-stage turntable, removablely mounted on the side window.

For example, the instrument complex contains: a two-stage suspension 1 with mutually perpendicular suspension axes and angle sensors and drives placed along the suspension axes, a detachable mounting unit for portable observation equipment 2, a unit for removable installation of a turntable on the window 3 and a computing device 4.

For example, a two-stage suspension can be made as follows. The first drive ensures rotation of the first suspension frame relative to the suspension body around the first suspension axis 5, and the first angle sensor measures the angular position of the first suspension frame relative to the suspension body. The second drive provides rotation of the second suspension frame relative to the first suspension frame around the second suspension axis 6, and the second angle sensor measures the angular position of the second suspension frame relative to the first suspension frame.

The outputs of the angle sensors and the inputs of the drives are connected to the inputs and outputs of the computing device 4, respectively. The computing device 4 is designed in such a way that one of its outputs is adapted to be connected to portable monitoring equipment 7.

The detachable fastening unit of the portable surveillance equipment 2 is provided with a hole 8, which is configured to align the axis of this hole (the axis of the hole of the detachable mounting unit of the portable surveillance equipment 9) with the sensitivity axis of the portable surveillance equipment 10.

The node of the removable installation of the turntable on the window 3 is provided with a hole 11, made with the possibility of aligning the axis of this hole (the axis of the hole of the node of the removable installation of the turntable on the window 12) with the axis of the window 13. In the installed position of the turntable, the outer surface of the node of the removable installation of the turntable on the window 14 faces the porthole.

These nodes and these holes are made in such a way that the axis of the hole of the detachable attachment of the portable surveillance equipment 9 and the axis of the hole of the assembly of the removable installation of the turntable on the window 12 pass through the point of intersection of the axes of the suspension A.

The node of the removable installation of the turntable on the porthole 3 is made fixed relative to the position of the first axis of the suspension 5 (for example, with the above implementation of the suspension, the node of the removable installation of the turntable on the window 3 is rigidly connected to the suspension body), while the first axis of the suspension 5 is perpendicular to the axis of the hole of the removable installation node turntable to porthole 12.

The position of the second axis of the suspension 6 is fixed relative to the detachable attachment of the portable observation equipment 2 (for example, in the above implementation of the suspension, the detachable attachment of the portable observation equipment 2 is rigidly (fixed) connected to the second suspension frame), while the opening of the detachable attachment of the portable observation equipment 8 is made so that the axis of the opening of the detachable attachment of portable surveillance equipment 9 is perpendicular to the second axis of the suspension 6.

The value of the angle y shown in the figure can be determined as the value of the half-opening angle of a straight cone, the boundary of the base of which coincides with the boundary of the required field of view of the underlying surface by portable observation equipment, and the height is equal to the minimum distance from the apparatus to the underlying surface.

Portable observation equipment 7 is placed on a turntable by means of a detachable attachment of portable observation equipment 2 (a detachable attachment of portable observation equipment makes it possible to use various replaceable observation equipment for the implementation of observations). In this case, the output of the computing device 4, adapted for connection with portable monitoring equipment 7, is connected to portable monitoring equipment 7.

According to the proposed method, in the coordinate system associated with the turntable, the direction of the vector of the angular velocity of rotation of the axis of sight of the observation equipment during the period of impact on the first drive of the turntable (in this example, this direction coincides with the first axis of the suspension 5) and the direction of the vector of the angular velocity of rotation of the axis of sight of the equipment observation during the period of impact on the second drive of the turntable (in this example, this direction coincides with the second axis of the suspension 6).

Before the start of the observation session, the turntable is installed on the window (by means of the removable installation of the turntable on the window) in such a way that the direction of the vector of the angular velocity of rotation of the axis of sight of the observation equipment, determined in the coordinate system associated with the turntable during the period of impact on one of the drives of the turntable is aligned with the direction defined in the coordinate system associated with the vehicle, which makes up the minimum angle with the velocity vector of the vehicle.

As an example, the figure shows the layout of the turntable relative to the aircraft / spacecraft, on which the velocity vector of the device is directed perpendicular to the plane of the figure and the direction of the angular velocity vector of rotation of the axis of sight of the observation equipment, determined in the coordinate system associated with the turntable during the period of impact on the first drive of the turntable (coinciding with the first axis of the suspension 5) is aligned with the direction of the vehicle's velocity vector (i.e., makes a zero angle with it).

During the observation session, the alignment of the sighting axis of the observation equipment to the positions required for observing objects is carried out by forming control actions on this (in the example shown in the figure, the first) drive of the turntable and measuring the operating time of this drive in the observation session.

For example, according to the data from the angle sensors installed along the suspension axes, the current angular position of the suspension frames is determined and in the computing device, control commands for the corresponding suspension drive are generated, which ensure that the corresponding suspension frame is set to the calculated position, which ensures that the sensitivity axis of the portable observation equipment is guided through the window. to the calculated position for the subsequent implementation of the observation of the required object of observation on the underlying surface. After that, at the moment when, due to the orbital motion of the apparatus, the required object of observation on the underlying surface is at a given distance from the sensitivity axis of the portable observation equipment, the computing device generates and issues a command to the portable observation equipment to perform shooting.

It should be noted that in the example under consideration - in the case of performing observations of the underlying surface through the window of the device, - to ensure the maximum width of the view of the underlying surface through the window, the observation equipment is preliminarily (before starting to perform observations) rotated until the minimum angle between the axis of sight of the observation equipment and the plane perpendicular to apparatus vector.

According to the proposed method, in the initial successive sessions of observations with the indicated direction determined in the coordinate system associated with the apparatus, which constitutes the minimum angle with the velocity vector of the apparatus, the direction of the angular velocity vector of rotation of the axis of sight of the observation equipment is combined in turn during the period of exposure, respectively, to one and the other rotary drive platforms. In subsequent observation sessions, with the indicated direction determined in the coordinate system associated with the apparatus, which makes up the minimum angle with the velocity vector of the apparatus, the direction of the vector of the angular velocity of rotation of the axis of sight of the observation equipment during the period of impact on the drive with the largest total operating time is combined.

For example, in the first observation session, with the indicated direction determined in the coordinate system associated with the apparatus, which makes up the minimum angle with the velocity vector of the apparatus, the direction of the vector of the angular velocity of rotation of the axis of sight of the observation equipment during the period of impact on the first drive of the rotary platform is combined. And then, during the first observation session, the alignment of the sighting axis of the observation equipment to the positions required for observing objects is carried out by forming control actions on the first drive of the turntable and measuring the operating time of the first drive in the observation session.

In the second observation session, the direction of the angular velocity vector of rotation of the sighting axis of the observation equipment during the period of impact on the second drive of the rotary platform is combined with the indicated direction determined in the coordinate system associated with the apparatus, which makes up the minimum angle with the velocity vector of the apparatus. And then, during the second observation session, the alignment of the sighting axis of the observation equipment to the positions required for observing objects is carried out by forming control actions on the second drive of the turntable and measuring the operating time of the second drive in the observation session.

In each next (third, fourth, etc.) session of observations with the indicated direction determined in the coordinate system associated with the apparatus, constituting the minimum angle with the velocity vector of the apparatus, the direction of the vector of the angular velocity of rotation of the axis of sight of the observation equipment during the period of impact on the drive is combined with the largest total operating time measured at the end of the previous observation session.

Let us describe the technical effect of the proposed invention.

The proposed technical solution improves the reliability of control of portable surveillance equipment on a turntable by ensuring uniform operating time of the turntable drives.

The use of the proposed method ensures uniform operating time of all turntable drives and eliminates the situation when one of the turntable drives has a small operating time and is guaranteed to be in working condition (i.e., has a significant resource margin), and the other turntable drive has a large operating time , close to the drive resource (i.e. the drive is close to its limit state, at which the probability of failure is high),

This ensures long-term performance of the onboard instrumentation complex containing portable observation equipment on a turntable.

The significance of this effect when applying the proposed technical solution is due to the fact that, in flight, there is no or significantly limited possibility of performing repair and restoration work on-board devices, in particular, turntable drives.

At the same time, the proposed technical solution fully ensures the possibility of targeted use of surveillance equipment without restrictions - i.e. proposed in the proposed method, the method of alternately engaging the drives of the turntable does not limit the possibility of performing observations of objects located on the underlying surface.

The industrial execution of the essential features that characterize the invention is not complicated and can be performed using well-known technologies.

Claims (1)

A method for controlling portable observation equipment located mainly on a spacecraft on a two-stage turntable, including determining the parameters of the angular movement of the turntable along each of the turn axes, forming control actions on the drives of the turntable when performing sessions of observing objects located on the underlying surface, characterized in that before the start of the observation session, the direction of the vector of the angular velocity of rotation of the axis of sight of the observation equipment, determined in the coordinate system associated with the turntable during the period of impact on one of the drives of the turntable, is combined with the direction determined in the coordinate system associated with the spacecraft, which makes up the minimum angle with the velocity vector spacecraft, during the observation session, the alignment of the axis of sight of the observation equipment to the positions required for observing objects is carried out by the formation of control actions influences on a given turntable drive and measure the operating time of the drive in an observation session, while in the initial successive observation sessions with the indicated direction determined in the coordinate system associated with the spacecraft, constituting the minimum angle with the spacecraft velocity vector, alternately combine the direction of the angular velocity vector the axes of sight of the observation equipment during the period of impact, respectively, on one and the other drives of the turntable, and in subsequent observation sessions with the indicated direction determined in the coordinate system associated with the spacecraft, constituting the minimum angle with the velocity vector of the spacecraft, combine the direction of the vector of the angular velocity of rotation of the axis sighting of observation equipment during the period of impact on the drive with the greatest total operating time.

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