CN108762231B - An on-orbit verification method for ultra-precise, ultra-stable and ultra-agile control - Google Patents
An on-orbit verification method for ultra-precise, ultra-stable and ultra-agile control Download PDFInfo
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Abstract
一种超精超稳超敏捷控制在轨验证方法，首先确定超精超稳超敏捷控制在轨验证的功能和性能指标要求，并根据要求设计在轨验证方法所需的硬件和软件部分，并将其组装成在轨验证系统，然后通过地面测试结果验证超精超稳超敏捷控制的功能性能要求，完善在轨验证方法在轨测试流程与方案，完成在轨测试结果验证超精超稳超敏捷控制效果。本发明为航天器超精超稳超敏捷控制的在轨验证提供一套切实可行的验证方案，并通过地面试验测试验证了其功能和性能指标要求，具有很好的使用价值。
A method for on-orbit verification of ultra-precision, ultra-stable, and ultra-agile control. First, the function and performance index requirements for on-orbit verification of ultra-precision, ultra-stable and ultra-agile control are determined, and the hardware and software parts required for the on-orbit verification method are designed according to the requirements. Assemble it into an on-orbit verification system, and then verify the functional performance requirements of ultra-precision, ultra-stable, and ultra-agile control through ground test results, improve the on-orbit verification method, and the on-orbit test process and plan. Agility control effect. The invention provides a feasible verification scheme for the on-orbit verification of the ultra-precision, ultra-stable and ultra-agile control of the spacecraft, and its function and performance index requirements are verified through the ground test test, which has good use value.
Description
技术领域technical field
本发明属于航天器控制领域，涉及一种超精超稳超敏捷控制在轨验证方法。The invention belongs to the field of spacecraft control, and relates to an on-orbit verification method for ultra-precision, ultra-stable and ultra-agile control.
背景技术Background technique
未来高性能航天器提出了三超(超高精度、超高稳定度、超敏捷)控制的需求，目前仅基于卫星姿态控制的单级控制技术已经难以满足要求，为此，提出航天器超精超稳超敏捷控制多级复合控制方法。在原有姿态控制系统基础上增加了具有振动隔离、扰振抑制和精确指向调节的三超(超精超稳超敏捷)平台，通过三超平台的被动隔振控制，实现高频抖动隔离，通过三超平台的主动控制实现载荷光轴的高精度高稳定度指向控制。In the future, high-performance spacecraft put forward the requirements of three-super (ultra-high precision, ultra-high stability, and ultra-agility) control. At present, the single-stage control technology based only on satellite attitude control has been difficult to meet the requirements. Multi-level compound control method for ultra-stable and ultra-agile control. On the basis of the original attitude control system, a three-super (ultra-precision, ultra-stable, and super-agile) platform with vibration isolation, vibration suppression and precise pointing adjustment is added. The active control of the three super platform realizes the high-precision and high-stability pointing control of the load optical axis.
基于此，为突破三超平台关键技术，实现三超平台工程化样机在轨应用及三超控制应用效果评估，提出一种超精超稳超敏捷控制在轨验证方法，实现三超控制技术的在轨试验验证。Based on this, in order to break through the key technologies of the three-super platform, realize the on-orbit application of the engineering prototype of the three-super platform and the evaluation of the application effect of the three-super platform, an on-orbit verification method of ultra-precision, ultra-stable and ultra-agile control is proposed to realize the realization of the three-super control technology. On-orbit test verification.
发明内容SUMMARY OF THE INVENTION
本发明解决的技术问题是：针对航天器超精超稳超敏捷控制在轨验证的问题，提出了一种超精超稳超敏捷控制在轨验证方法，设计在轨验证系统的软硬件部分，最终通过在轨试验测试流程和方案设计，验证“三超”控制指标。The technical problem solved by the invention is: aiming at the problem of on-orbit verification of ultra-precision, ultra-stable and ultra-agile control of spacecraft, a method for on-orbit verification of ultra-precision, ultra-stable and ultra-agile control is proposed, and the software and hardware parts of the on-orbit verification system are designed, Finally, through the on-orbit test test process and program design, the "three super" control indicators are verified.
本发明的技术解决方案是：一种超精超稳超敏捷控制在轨验证方法，包括如下步骤：The technical solution of the present invention is: an on-orbit verification method for ultra-precision, ultra-stable and ultra-agile control, comprising the following steps:
(1)确定超精超稳超敏捷控制在轨验证所需的功能和性能指标；(1) Determine the functions and performance indicators required for on-orbit verification of ultra-precision, ultra-stable, and ultra-agile control;
性能指标要包括待验证三超作动控制平台、三超作动控制单元的控制性能指标，待验证三超作动控制平台、三超作动控制单元、星体安装板、第一测微陀螺安装、第二测微陀螺重量约束，待验证三超作动控制平台、三超作动控制单元、星体安装板、第一测微陀螺安装、第二测微陀螺功耗约束，待验证三超作动控制平台、三超作动控制单元、星体安装板、第一测微陀螺安装、第二测微陀螺寿命；The performance indicators should include the control performance indicators of the three-super-action control platform and the three-super-action control unit to be verified, the three-super-action control platform, the three-super action control unit, the star mounting plate, and the first micrometer gyro installation to be verified. , The weight constraint of the second micrometer gyroscope, to be verified, the three super action control platform, the three super action control unit, the star mounting plate, the first micrometer gyro installation, and the power consumption constraint of the second micrometer gyroscope, to be verified that the three super action Motion control platform, three super motion control unit, star mounting plate, first micrometer gyro installation, second micrometer gyro life;
(2)将星体安装板安装于卫星上，三超作动控制平台、三超作动控制单元、第一测微陀螺安装在星体安装板上，第二测微陀螺安装在三超作动控制平台；(2) Install the star mounting plate on the satellite, install the three super action control platform, three super action control unit, the first micrometer gyro on the star mounting plate, and install the second micrometer gyro on the three super action control platform;
其中，三超作动控制平台包括六个并联的作动器、平台结构、压紧解锁装置，六个并联作动器连接于平台结构和星体安装板之间，压紧解锁装置一端连接于星体安装板，另一端连接于平台结构中心位置，压紧解锁装置在发射段将平台结构与星体安装板锁定，入轨后解锁使平台结构与压紧解锁装置分离，实现六个并联作动器在三超作动控制单元的控制下正常工作；Among them, the three-super-action control platform includes six parallel actuators, a platform structure, and a pressing and unlocking device. The six parallel actuators are connected between the platform structure and the star mounting plate, and one end of the pressing and unlocking device is connected to the star. The other end of the mounting plate is connected to the center of the platform structure. The pressing and unlocking device locks the platform structure and the star mounting plate in the launch section. After entering the orbit, the platform is unlocked to separate the platform structure from the pressing and unlocking device, and the six parallel actuators are Work normally under the control of the three super action control unit;
三超作动控制单元实现三超作动控制平台中电涡流位移传感器、第二测微陀螺测量信号的采集，实时解算得到控制信号，实现对于第二测微陀螺的超精超稳超敏捷控制；The three-super-action control unit realizes the acquisition of the measurement signals of the eddy-current displacement sensor and the second micro-measuring gyroscope in the three-super-action control platform, and obtains the control signal through real-time calculation, realizing the ultra-precision, ultra-stable and super-agility of the second micro-measuring gyroscope. control;
第一测微陀螺、第二测微陀螺分别实时测量自身位置处的角速度；The first micro-measuring gyroscope and the second micro-measuring gyroscope measure the angular velocity at its own position in real time respectively;
(4)获取当前超精超稳超敏捷控制算法，并控制三超作动控制单元根据电涡流位移传感器、第二测微陀螺测量信号，使用超精超稳超敏捷控制算法计算得到第二测微陀螺控制信号，使用第二测微陀螺控制信号控制三超作动控制平台调节第二测微陀螺位置和姿态；(4) Obtain the current ultra-precision, ultra-stable, and ultra-agile control algorithm, and control the three-super-action control unit to calculate the second measurement using the ultra-precision, ultra-stable, and ultra-agile control algorithm according to the eddy current displacement sensor and the measurement signal of the second micro-measuring gyroscope. Micro gyro control signal, use the second micro gyro control signal to control the three super action control platform to adjust the position and attitude of the second micro gyro;
(5)得到第二测微陀螺控制性能指标数据，如果得到的第二测微陀螺性能指标数据符合步骤(1)得到的超精超稳超敏捷控制在轨验证所需的性能指标，则转入步骤(6)，否则重新设计超精超稳超敏捷控制算法、三超作动控制平台；(5) Obtain the control performance index data of the second micro-measuring gyroscope, if the obtained second micro-measuring gyroscope performance index data conforms to the performance index required for the on-orbit verification of the ultra-precision, ultra-stable and ultra-agile control obtained in step (1), then turn to Enter step (6), otherwise redesign the ultra-precise, ultra-stable, and ultra-agile control algorithm and the three-super-action control platform;
(6)如果验证三超作动控制平台、三超作动控制单元：在压紧模式下实现发射主动段的锁紧，且在停控模式实现在轨时的停控，且在自标定模式下完成电涡流位移传感器零位和当量系数的标定，且在扫频模式下能够实现音圈电机的工作状态和结构频率变化，且在稳态控制模式下实现稳态控制，且在指向控制模式下实现指向调节和稳定控制，且在故障稳态控制模式下实现故障状态下的稳态控制，且在故障指向控制模式下实现故障状态下的指向调节控制和稳定；(6) If the three-super-action control platform and the three-super-action control unit are verified: the locking of the launch active segment is realized in the compression mode, and the stop control when on-orbit is realized in the stop control mode, and the self-calibration mode is realized. The calibration of the zero position and equivalence coefficient of the eddy current displacement sensor is completed in the swept frequency mode, and the working state and structural frequency change of the voice coil motor can be realized in the frequency sweep mode, and the steady state control can be realized in the steady state control mode, and the pointing control mode can be realized. It realizes directional regulation and stability control under the fault steady state control mode, and realizes the steady state control under the fault state in the fault steady state control mode, and realizes the directional regulation control and stability under the fault state under the fault directional control mode;
(7)得到第二测微陀螺控制功能，如果得到的控制功能符合步骤(1)得到的超精超稳超敏捷控制在轨验证所需的功能，则超精超稳超敏捷控制在轨验证通过，否则重新设计超精超稳超敏捷控制算法、三超作动控制平台。(7) Obtain the second micrometer gyro control function. If the obtained control function meets the functions required for the on-orbit verification of the ultra-precision, ultra-stable, and ultra-agile control obtained in step (1), the ultra-precision, ultra-stable and ultra-agile control is verified on-orbit. Pass, otherwise redesign the ultra-precision, ultra-stable, and ultra-agile control algorithm and three-super-action control platform.
所述的功能包括主动段及入轨后根据遥控指令解锁前压紧锁紧装置为压紧状态、根据遥控指令控制压紧锁紧装置解锁、在轨试验期间第二测微陀螺低频抑制及高频隔振功能、在轨试验期间第二测微陀螺指向调节能力、调节精度、稳定能力。The described functions include the active segment and after entering the orbit, the pressing and locking device is in the pressed state before unlocking according to the remote control command, the pressing and locking device is controlled to be unlocked according to the remote control command, and the second micrometer gyro is low-frequency suppression and high-frequency during the on-orbit test. Frequency vibration isolation function, the second micrometer gyro pointing adjustment ability, adjustment accuracy, and stability ability during the on-orbit test.
所述的性能指标要包括待验证三超作动控制平台、三超作动控制单元的控制性能包括三轴10ms内稳定度小于0.04″、三轴指向精度优于0.1″、指向调节稳定时间小于1s；待验证三超作动控制平台、三超作动控制单元、星体安装板、第一测微陀螺安装、第二测微陀螺功耗约束包括长期功耗、短期功耗。The performance indicators should include the three-super-action control platform to be verified, and the control performance of the three-super-action control unit, including the three-axis stability within 10ms of less than 0.04″, the three-axis pointing accuracy better than 0.1″, and the pointing adjustment stabilization time less than 1s; To be verified, the three-super-action control platform, the three-super-action control unit, the star mounting plate, the first micrometer gyro installation, and the second micrometer gyro power consumption constraints include long-term power consumption and short-term power consumption.
所述的待验证三超作动控制平台、三超作动控制单元的在轨测试流程为：压紧解锁装置在轨解锁后，通过地面遥控指令依次进行扫频测试、自标定模式、稳态控制模式、指向控制模式；当三超作动控制平台发生故障时，进行故障稳态控制模式、故障指向控制模式；最后进行正常无故障情况下的稳态控制模式、指向控制或故障情况下的故障稳态控制模式和故障指向控制模式。The on-orbit test process of the three-super-action control platform and the three-super-action control unit to be verified is as follows: after the pressing and unlocking device is unlocked on the rail, the frequency sweep test, self-calibration mode, steady state are sequentially performed through ground remote control commands. Control mode, pointing control mode; when the three-super-action control platform fails, the fault steady state control mode and fault pointing control mode are carried out; finally, the steady state control mode, pointing control or fault point control mode under normal fault-free conditions is carried out. Fault steady state control mode and fault directed control mode.
所述的作动器包括音圈电机、电涡流位移传感器、膜簧、柔性铰、位移机械限位，电涡流位移传感器位于六个作动器中，膜簧提供作动器的轴向刚度，柔性铰实现作动器轴向运动到第二测微陀螺六自由度方向运动的传递，位移机械限位限制作动器的最大轴向运动，保护电涡流位移传感器；作动器通过电涡流位移传感器测量位置偏差并根据三超作动控制单元输出的控制信号，驱动音圈电机施加对第二测微陀螺的控制力和控制力矩，通过六个作动器协同工作，最终实现对于第二测微陀螺的超精超稳超敏捷控制；The actuator includes a voice coil motor, an eddy current displacement sensor, a membrane spring, a flexible hinge, and a mechanical displacement limit. The eddy current displacement sensor is located in the six actuators, and the membrane spring provides the axial stiffness of the actuator. The flexible hinge realizes the transmission of the axial movement of the actuator to the six-degree-of-freedom movement of the second micrometer gyro, and the displacement mechanical limit limits the maximum axial movement of the actuator to protect the eddy current displacement sensor; the actuator is displaced by the eddy current The sensor measures the position deviation and drives the voice coil motor to apply the control force and control torque to the second micro-measuring gyroscope according to the control signal output by the three-super-action control unit. Ultra-precision, ultra-stable and ultra-agile control of micro-gyroscope;
一种计算机可读存储介质，所述的计算机可读存储介质存储有计算机程序，所述的计算机程序被处理器执行时实现如权利要求1-权利要求5任一所述方法的步骤。A computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.
一种超精超稳超敏捷控制在轨验证测试终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述的处理器执行所述的计算机程序时实现如权利要求1-权利要求5任一所述方法的步骤。An ultra-precise, ultra-stable and ultra-agile control on-orbit verification test terminal device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor executes the The computer program implements the steps of the method according to any one of claims 1-5.
一种超精超稳超敏捷控制系统，包括三超作动控制平台、三超作动控制单元、星体安装板、第一测微陀螺、第二测微陀螺；星体安装板安装卫星上，三超作动控制平台、三超作动控制单元、第一测微陀螺安装在星体安装板上，第二测微陀螺安装在三超作动控制平台；其中：An ultra-precise, ultra-stable, and ultra-agile control system, comprising a three-super-action control platform, a three-super-action control unit, a star mounting plate, a first micrometer gyro, and a second micrometer gyro; The super action control platform, the three super action control unit, the first micrometer gyro are installed on the star mounting plate, and the second micrometer gyro is installed on the three super action control platform; wherein:
三超作动控制平台包括六个并联的作动器、平台结构、压紧解锁装置，六个并联作动器连接于平台结构和星体安装板之间，压紧解锁装置一端连接于星体安装板，另一端连接于平台结构中心位置，压紧解锁装置在发射段将平台结构与星体安装板锁定，入轨后解锁使平台结构与压紧解锁装置分离，实现六个并联作动器在三超作动控制单元的控制下正常工作；The three-super-action control platform includes six parallel actuators, a platform structure, and a pressing and unlocking device. The six parallel actuators are connected between the platform structure and the star mounting plate, and one end of the pressing and unlocking device is connected to the star mounting plate. , the other end is connected to the center of the platform structure, the pressing and unlocking device locks the platform structure and the star mounting plate in the launch section, and unlocks after entering the orbit to separate the platform structure from the pressing and unlocking device, realizing the six parallel actuators in the three super Work normally under the control of the action control unit;
三超作动控制单元实现三超作动控制平台中电涡流位移传感器、第二测微陀螺测量信号的采集，实时解算得到控制信号，实现对于第二测微陀螺的超精超稳超敏捷控制；The three-super-action control unit realizes the acquisition of the measurement signals of the eddy-current displacement sensor and the second micro-measuring gyroscope in the three-super-action control platform, and obtains the control signal through real-time calculation, realizing the ultra-precision, ultra-stable and super-agility of the second micro-measuring gyroscope. control;
第一测微陀螺、第二测微陀螺分别实时测量自身位置处的角速度；The first micro-measuring gyroscope and the second micro-measuring gyroscope measure the angular velocity at its own position in real time respectively;
所述的作动器包括音圈电机、电涡流位移传感器、膜簧、柔性铰、位移机械限位，电涡流位移传感器位于六个作动器中，膜簧提供作动器的轴向刚度，柔性铰实现作动器轴向运动到第二测微陀螺六自由度方向运动的传递，位移机械限位限制作动器的最大轴向运动，保护电涡流位移传感器；作动器通过电涡流位移传感器测量位置偏差并根据三超作动控制单元输出的控制信号，驱动音圈电机施加对第二测微陀螺的控制力和控制力矩，通过六个作动器协同工作，最终实现对于第二测微陀螺的超精超稳超敏捷控制。The actuator includes a voice coil motor, an eddy current displacement sensor, a membrane spring, a flexible hinge, and a mechanical displacement limit. The eddy current displacement sensor is located in the six actuators, and the membrane spring provides the axial stiffness of the actuator. The flexible hinge realizes the transmission of the axial movement of the actuator to the six-degree-of-freedom movement of the second micrometer gyro, and the displacement mechanical limit limits the maximum axial movement of the actuator to protect the eddy current displacement sensor; the actuator is displaced by the eddy current The sensor measures the position deviation and drives the voice coil motor to apply the control force and control torque to the second micro-measuring gyroscope according to the control signal output by the three-super-action control unit. Ultra-precision, ultra-stable and ultra-agile control of micro gyro.
所述的三超作动控制平台还包括位于平台结构和星体安装板之间的电涡流位移传感器，作为作动器中电涡流位移传感器的备份The three super action control platform also includes an eddy current displacement sensor located between the platform structure and the star mounting plate, as a backup of the eddy current displacement sensor in the actuator
本发明与现有技术相比的优点在于：The advantages of the present invention compared with the prior art are:
(1)本发明提出一种超精超稳超敏捷控制在轨验证方法，实现了对三超平台和三超控制的在轨验证。在原有卫星姿态控制系统基础上安装具有振动隔离、扰振抑制和精确指向调节的三超平台，通过三超平台的被动隔振，实现高频抖动隔离；通过三超平台的主动控制实现载荷光轴的高精度高稳定度指向控制。最终实现航天器超精超稳超敏捷控制。(1) The present invention proposes an on-orbit verification method for ultra-precision, ultra-stable, and ultra-agile control, which realizes the on-orbit verification of the three-super platform and the three-super control. On the basis of the original satellite attitude control system, a three-super platform with vibration isolation, vibration suppression and precise pointing adjustment is installed. Through the passive vibration isolation of the three-super platform, high-frequency jitter isolation is realized; through the active control of the three-super platform, the load light is realized. High-precision and high-stability pointing control of the axis. Ultimately, the ultra-precise, ultra-stable and ultra-agile control of the spacecraft is realized.
(2)本发明提出一种超精超稳超敏捷控制在轨验证方法，实现对三超控制性能进行测试验证。通过三超作动控制平台柔性环节的设计实现六自由度方向高频振动衰减，验证在轨验证系统高频振动被动隔离能力；通过三超作动控制平台指向偏差测量及作动器分配律计算形成闭环控制系统，验证在轨验证系统低频扰振主动抑制能力；通过地面指向调节指令控制，验证在轨验证系统主动指向调节能力并评估指向精度和快速稳定能力。(2) The present invention proposes an on-orbit verification method for ultra-precise, ultra-stable, and ultra-agile control, so as to test and verify the performance of the three-override control. The high-frequency vibration attenuation in the six-degree-of-freedom direction is realized by the design of the flexible link of the three-super-action control platform, and the passive isolation capability of the high-frequency vibration of the on-orbit verification system is verified; the pointing deviation measurement of the three-super-action control platform and the calculation of the actuator distribution law A closed-loop control system is formed to verify the low-frequency disturbance active suppression capability of the on-orbit verification system; through the ground pointing adjustment command control, the active pointing adjustment ability of the on-orbit verification system is verified and the pointing accuracy and fast stabilization ability are evaluated.
(3)本发明通过在三超作动控制平台上、下平台安装高精度高带宽的测微陀螺，并对比上、下平台测微陀螺的测试结果，为“三超”控制性能指标的在轨验证提供了一种有效并可靠的评估方法。(3) In the present invention, the micro-measuring gyroscope with high precision and high bandwidth is installed on the upper and lower platforms of the three-super action control platform, and the test results of the micro-measuring gyroscope on the upper and lower platforms are compared. Orbital verification provides an efficient and reliable evaluation method.
(4)本发明提出了柔性元件(膜簧和柔性铰)发射压紧锁定及在轨释放方法。在主动段将三超作动控制平台压紧，入轨后解锁使三超作动控制平台正常工作，成功解决了在轨验证系统中柔性元件过发射主动段和在轨功能实现的问题。(4) The present invention proposes a method for firing, pressing, locking and releasing on rails of the flexible element (membrane spring and flexible hinge). The three-super-action control platform is pressed in the active section, and unlocked after entering the orbit to make the three-super action control platform work normally, which successfully solved the problem of the flexible element over-launching the active section and the realization of the on-orbit function in the on-orbit verification system.
附图说明Description of drawings
图1为本发明方法的流程图；Fig. 1 is the flow chart of the method of the present invention;
图2为本发明方法在轨验证系统硬件部分组成示意图；2 is a schematic diagram of the hardware components of the on-orbit verification system of the method of the present invention;
图3为本发明方法在轨验证系统硬件部分组成三维结构图；3 is a three-dimensional structural diagram of the hardware components of the on-orbit verification system of the method of the present invention;
图4为本发明方法在轨验证系统三超作动控制平台结构图；Fig. 4 is the structure diagram of the three-super-action control platform of the on-orbit verification system of the method of the present invention;
图5为本发明方法在轨验证系统三超作动控制平台中作动器结构图；5 is a structural diagram of the actuator in the three-super-action control platform of the on-orbit verification system of the method of the present invention;
图6为本发明方法在轨验证系统软件部分中控制算法框图；6 is a block diagram of a control algorithm in the software part of the on-orbit verification system of the method of the present invention;
图7为本发明方法在轨验证系统地面试验稳态控制测试结果图；FIG. 7 is a diagram showing the steady-state control test result of the ground test of the on-orbit verification system of the method of the present invention;
图8为本发明方法在轨验证系统地面试验指向控制测试结果图；FIG. 8 is a result diagram of a pointing control test result of a ground test of the on-orbit verification system of the method of the present invention;
图9为本发明方法在轨验证系统地面试验指向控制测试结果局部放大图；FIG. 9 is a partial enlarged view of the result of the ground test of the on-orbit verification system of the method of the present invention and the pointing control test;
图10为本发明方法在轨验证系统地面试验指向控制快速稳定时间测试结果图。FIG. 10 is a graph showing the test result of the fast stabilization time of the pointing control on the ground test of the on-orbit verification system of the method of the present invention.
具体实施方式Detailed ways
本发明方法提出了一种超精超稳超敏捷控制在轨验证方法，采用图1所示的流程完成在轨验证系统设计，具体步骤如下：The method of the present invention proposes an on-orbit verification method for ultra-precise, ultra-stable and ultra-agile control, and adopts the process shown in FIG. 1 to complete the design of the on-orbit verification system. The specific steps are as follows:
(1)确定超精超稳超敏捷在轨验证系统的功能和性能指标要求；(1) Determine the function and performance index requirements of the ultra-precision, ultra-stable, and ultra-agile on-orbit verification system;
在轨验证系统具有如下功能要求：The on-orbit verification system has the following functional requirements:
“三超”搭载验证系统具有如下性能指标要求：The "Three Super" on-board verification system has the following performance requirements:
在轨验证系统具有如下性能指标要求：The on-orbit verification system has the following performance requirements:
1)三轴10ms内短期稳定度小于0.04″(3σ)；1) The short-term stability of the three axes within 10ms is less than 0.04″ (3σ);
2)三轴指向精度优于0.1″(3σ)；2) The three-axis pointing accuracy is better than 0.1″ (3σ);
3)敏捷机动后稳定时间小于1s；3) The stabilization time after agile maneuver is less than 1s;
总重量≤42kg(含内部自带电缆)；Total weight ≤ 42kg (including internal cables);
长期功耗(一次电源)：≤100W；Long-term power consumption (primary power supply): ≤100W;
短期功耗(一次电源)：≤150W；Short-term power consumption (primary power supply): ≤150W;
(2)根据步骤(1)所述的超精超稳超敏捷在轨验证系统的功能和性能指标要求，设计在轨验证系统。主要包括：在轨验证系统硬件部分和在轨验证系统软件部分。(2) Design an on-orbit verification system according to the function and performance index requirements of the ultra-precision, ultra-stable, and ultra-agile on-orbit verification system described in step (1). It mainly includes: the hardware part of the on-orbit verification system and the software part of the on-orbit verification system.
(3)如图2和图3所示，步骤(2)所述的在轨验证系统硬件部分主要包括：星体安装板、三超作动控制平台、三超作动控制单元、两套测微陀螺；(3) As shown in Figures 2 and 3, the hardware part of the on-orbit verification system described in step (2) mainly includes: a star mounting plate, a three-super-action control platform, a three-super-action control unit, and two sets of micrometers gyro;
如图4所示，三超作动控制平台主要包括：由六个并联的作动器、压紧解锁装置和平台结构组成；如图5所示，每个作动器包括音圈电机，电涡流位移传感器，弹性膜簧，柔性球铰，位移机械限位；压紧解锁装置，在主动段将上平台压紧，入轨后解锁使上平台与锁紧机构分离。As shown in Figure 4, the three-super-action control platform mainly includes: it consists of six parallel actuators, a pressing and unlocking device and a platform structure; as shown in Figure 5, each actuator includes a voice coil motor, an electrical Eddy current displacement sensor, elastic membrane spring, flexible spherical hinge, mechanical displacement limit; press the unlocking device, press the upper platform in the active section, and unlock the upper platform after entering the rail to separate the upper platform from the locking mechanism.
三超作动控制平台具体包括：：The three super action control platform specifically includes:
三超作动控制单元主要包括：运算处理模块、模拟信号处理模块、音圈电机驱动模块、二次电源模块、数据存储模块；The three super action control unit mainly includes: an arithmetic processing module, an analog signal processing module, a voice coil motor drive module, a secondary power supply module, and a data storage module;
测微陀螺为具有高精度高带宽的光纤陀螺。Micrometric gyroscopes are fiber optic gyroscopes with high precision and high bandwidth.
本发明方法选择在轨验证所需的硬件部分包括星体安装板、三超作动控制平台、三超作动控制单元、两套测微陀螺，整个在轨验证系统通过星体安装板安装于卫星上，三超作动控制平台、三超作动控制单元、一套测微陀螺安装于星体安装板不同位置上，另一套测微陀螺安装于三超作动控制平台上；The method of the invention selects the hardware parts required for on-orbit verification, including a star mounting plate, a three-super-action control platform, a three-super-action control unit, and two sets of micro-measuring gyroscopes. The entire on-orbit verification system is installed on the satellite through the star mounting plate. , Three super action control platform, three super action control unit, a set of micrometer gyro are installed on different positions of the star mounting plate, and another set of micrometer gyro is installed on the three super action control platform;
星体安装板用于连接卫星和在轨验证系统的各硬件部分；The star mounting plate is used to connect the satellite and various hardware parts of the in-orbit verification system;
三超作动控制平台主要包括六个并联的作动器、平台结构、压紧解锁装置，六个并联作动器连接于平台结构和星体安装板之间，平台结构通过中心圆盘设计提供测微陀螺2载荷的安装接口，并通过六个翼展结构连接六个作动器，压紧解锁装置一端连接于星体安装板，另一端连接于平台结构中心位置，压紧解锁装置发射段将平台结构与星体安装板锁定，承受发射时力学环境，保护作动器，入轨后解锁使平台结构与压紧解锁装置分离，释放运动空间，实现作动器正常工作。作动器包括音圈电机、电涡流位移传感器、膜簧、柔性铰、位移机械限位。电涡流位移传感器包括两种形式，分别位于6个作动器中以及平台结构和星体安装板之间，两者互为备份，膜簧提供作动器的轴向刚度，并且还具有铰链的功能。柔性铰释放约束自由度，实现作动器轴向运动到载荷六自由度方向运动的传递，位移机械限位用于限制作动器的最大轴向运动，保护电涡流位移传感器。作动器通过电涡流位移传感器测量结果与给定目标的测量偏差，通过一定的控制算法输出控制信号，驱动音圈电机施加对载荷的控制力和控制力矩，通过六个作动器协同工作，最终实现对于载荷的超精超稳超敏捷控制；The three-super-action control platform mainly includes six parallel actuators, a platform structure, and a pressing and unlocking device. The six parallel actuators are connected between the platform structure and the star mounting plate. The installation interface of the micro-gyroscope 2 load is connected to the six actuators through the six span structures. One end of the pressing and unlocking device is connected to the star mounting plate, and the other end is connected to the center of the platform structure. The firing section of the pressing and unlocking device releases the platform. The structure is locked with the star mounting plate to withstand the mechanical environment during launch and protect the actuator. After entering the orbit, it is unlocked to separate the platform structure from the pressing and unlocking device, releasing the movement space and realizing the normal operation of the actuator. The actuator includes a voice coil motor, an eddy current displacement sensor, a membrane spring, a flexible hinge, and a mechanical displacement limit. The eddy current displacement sensor includes two forms, which are located in the 6 actuators and between the platform structure and the star mounting plate, the two backup each other, the diaphragm spring provides the axial stiffness of the actuator, and also has the function of a hinge . The flexible hinge releases the constraint degrees of freedom, and realizes the transmission of the axial movement of the actuator to the movement in the six-degree-of-freedom direction of the load. The mechanical displacement limit is used to limit the maximum axial movement of the actuator and protect the eddy current displacement sensor. The actuator measures the deviation between the measurement result of the eddy current displacement sensor and the given target, outputs a control signal through a certain control algorithm, drives the voice coil motor to exert control force and control torque on the load, and works together through the six actuators. Ultimately realize ultra-precise, ultra-stable and ultra-agile control of the load;
三超作动控制单元主要用于实现传感器测量信号的采集，高速实时控制解算，控制信号的输出，数据存储等功能，主要包括：运算处理模块、模拟信号处理模块、音圈电机驱动模块、二次电源模块、数据存储模块；The three super action control unit is mainly used to realize the acquisition of sensor measurement signals, high-speed real-time control and calculation, control signal output, data storage and other functions, mainly including: operation processing module, analog signal processing module, voice coil motor drive module, Secondary power module, data storage module;
两套测微陀螺结构形式和性能指标一致，均由三个斜装光纤陀螺头以及机械连接结构组成，具有高测量精度和高测量带宽，安装于三超作动控制平台上的一套测微陀螺用于模拟载荷，并且测量结果用于在轨验证系统的闭环控制以及在轨验证系统中指向调节能力、调节精度、稳定能力等指标的定量评估，安装于星体安装板的另一套测微陀螺通过与三超作动控制平台上测微陀螺的测量结果对比，验证在轨验证系统低频抑制及高频隔振功能。The two sets of micrometer gyroscopes have the same structure and performance indicators, and are composed of three inclined-mounted fiber optic gyroscope heads and mechanical connection structures, with high measurement accuracy and high measurement bandwidth. The gyroscope is used to simulate the load, and the measurement results are used for the closed-loop control of the on-orbit verification system and the quantitative evaluation of the pointing adjustment ability, adjustment accuracy, stability ability and other indicators in the on-orbit verification system. Another set of micrometers installed on the star mounting plate By comparing the gyroscope with the measurement results of the micro-measuring gyroscope on the three-super actuation control platform, the low-frequency suppression and high-frequency vibration isolation functions of the on-orbit verification system are verified.
(4)步骤(3)所述的在轨验证系统软件部分主要包括：安装于三超作动控制单元中的软件及控制算法；(4) The software part of the on-orbit verification system described in step (3) mainly includes: the software and the control algorithm installed in the three-super-action control unit;
如图6所示，所述的在轨验证系统控制算法为：As shown in Figure 6, the described on-orbit verification system control algorithm is:
对于高频段振动，通过三超作动控制平台作动器中的挠性结构实现高频振动隔离。对于低频段振动，通过三超作动控制平台上平台安装的测微陀螺2测量姿态信息(去除轨道角速度后)，根据上平台稳态指向以及地面指令确定的目标指向，计算指向偏差并通过作动器分配律控制各作动器进行运动，形成作动器运动指令。同时通过作动器中的位移传感器测量获得实际杆长，并采用PID控制器修正作动器运动指令。此外为提升三超作动控制平台运行可靠性，方案设计时在上下平台之间、作动器内均设计安装位移传感器，确保当单杆中位移传感器出现故障时，使用三超作动控制平台上下平台之间的位移传感器测量结果，仍可解算输出各作动器运动指令。For high-frequency vibration, high-frequency vibration isolation is achieved through the flexible structure in the actuator of the three-super-action control platform. For low-frequency vibration, the attitude information (after removing the orbital angular velocity) is measured by the micrometer gyroscope 2 installed on the platform on the three-super-action control platform, and the pointing deviation is calculated according to the steady-state pointing of the upper platform and the target pointing determined by the ground command. Actuator distribution law controls each actuator to move to form the actuator motion command. At the same time, the actual rod length is obtained through the measurement of the displacement sensor in the actuator, and the PID controller is used to correct the motion command of the actuator. In addition, in order to improve the operation reliability of the three-super-action control platform, displacement sensors are designed to be installed between the upper and lower platforms and in the actuator to ensure that the three-super-action control platform is used when the displacement sensor in the single rod fails. The measurement results of the displacement sensor between the upper and lower platforms can still be calculated and output the motion commands of each actuator.
(5)将步骤(3)和(4)的在轨验证系统硬件部分和软件部分组装成在轨验证系统，并通过地面试验测试获得测试结果，以此验证功能性能是否达到要求，如满足功能性能要求，则进入下一步，否则，返回(3)和(4)重新设计三超作动控制平台和控制算法。直至满足要求；(5) Assemble the hardware part and software part of the on-orbit verification system in steps (3) and (4) into an on-orbit verification system, and obtain the test results through the ground test test, so as to verify whether the functional performance meets the requirements, such as satisfying the function If the performance requirements are met, go to the next step, otherwise, return to (3) and (4) to redesign the three-super-action control platform and control algorithm. until the requirements are met;
在轨验证系统的安装形式为：三超作动控制平台下平台、三超作动控制单元、测微陀螺1安装于搭载验证系统结构支撑板，并通过支撑板直接与搭载卫星结构相连，测微陀螺2则安装在三超作动控制平台的上平台上，通过上、下平台测微陀螺的对比评估“三超”控制效果；The installation form of the on-orbit verification system is as follows: the lower platform of the three-super-action control platform, the three-super-action control unit, and the micro-measuring gyroscope 1 are installed on the structural support plate of the on-board verification system, and are directly connected to the on-board satellite structure through the support plate. The micro-gyroscope 2 is installed on the upper platform of the three-super action control platform, and the control effect of the "three-super" is evaluated by comparing the micro-measuring gyroscopes on the upper and lower platforms;
构建在轨验证系统地面测试环境，对在轨验证系统的功能和性能指标要求进行测试，测试结果如下所示。The ground test environment of the on-orbit verification system is constructed to test the functions and performance index requirements of the on-orbit verification system. The test results are as follows.
表1在轨验证系统功能要求符合性表Table 1 On-orbit verification system functional requirements compliance table
表1在轨验证系统性能指标符合性表Table 1 On-orbit verification system performance index compliance table
终上所述，通过稳态控制模式来考察在轨验证系统的指向精度、短期稳定度；通过指向调节模式来考察在轨验证系统的指向精度以及敏捷机动能力。As mentioned above, the pointing accuracy and short-term stability of the on-orbit verification system are examined through the steady-state control mode; the pointing accuracy and agile maneuverability of the on-orbit verification system are examined through the pointing adjustment mode.
如图7、图8、图9、图10所示的地面试验测试结果表明：在轨验证系统三轴指向精度指标均满足小于0.1角秒、10ms内短期稳定度均满足小于0.04角秒、50角秒指向调节后稳定时间满足小于1s的设计指标。地面测试结果表明：在轨验证系统满足设计的功能和性能要求。The ground test results shown in Figure 7, Figure 8, Figure 9, and Figure 10 show that the three-axis pointing accuracy indicators of the on-orbit verification system all meet the requirements of less than 0.1 arcseconds, and the short-term stability within 10ms all meet the requirements of less than 0.04 arcseconds and 50 arcseconds. The stability time after arc second pointing adjustment meets the design target of less than 1s. The ground test results show that the on-orbit verification system meets the designed functional and performance requirements.
(6)针对步骤(5)，设计在轨验证系统在轨验证的测试流程和方案；(6) for step (5), design the test flow and scheme of on-orbit verification system on-orbit verification;
在轨验证系统的主要工作模式及功能为：压紧模式，实现在轨验证系统发射主动段的锁紧；停控模式，实现在轨验证系统在轨时的停控；自标定模式，完成在轨验证系统中电涡流位移传感器零位和当量系数的标定；扫频模式，测试在轨验证系统中音圈电机的工作状态和在轨验证系统在轨工作时的结构频率；稳态控制模式，实现在轨验证系统的稳态控制；指向控制模式，实现在轨验证系统的指向调节和快速稳定控制；故障稳态控制模式，实现在轨验证系统故障状态下的稳态控制；故障指向控制模式，实现在轨验证系统故障状态下的指向调节控制和快速稳定；The main working modes and functions of the on-orbit verification system are: compression mode, which realizes the locking of the active section of the on-orbit verification system; stop control mode, which realizes the stop control of the on-orbit verification system when it is on-orbit; self-calibration mode, which completes the on-orbit verification system. Calibration of the zero position and equivalence coefficient of the eddy current displacement sensor in the orbit verification system; frequency sweep mode, testing the working state of the voice coil motor in the orbit verification system and the structural frequency of the on-orbit verification system when the on-orbit verification system works; steady-state control mode, Realize the steady-state control of the on-orbit verification system; the pointing control mode, realize the pointing adjustment and fast and stable control of the on-orbit verification system; the fault steady-state control mode, realize the steady-state control of the on-orbit verification system under the fault state; the fault-pointing control mode , to realize the pointing adjustment control and fast stability under the fault state of the on-orbit verification system;
在轨测试流程为：压紧解锁装置在轨解锁后，通过地面遥控指令依次进行扫频测试、自标定模式、稳态控制模式、指向控制模式；当三超作动控制平台发生故障后，可转入故障稳态控制模式和故障指向控制模式；最终通过正常无故障情况下的稳态控制模式、指向控制或故障情况下的故障稳态控制模式和故障指向控制模式的测试数据并进行数据后处理，得到在轨状态下的“三超”控制实测指标。The on-orbit test process is as follows: after the pressing and unlocking device is unlocked on the orbit, the frequency sweep test, self-calibration mode, steady-state control mode, and pointing control mode are sequentially performed through the ground remote control command; Transfer to the fault steady state control mode and the fault directed control mode; finally pass the test data of the steady state control mode under normal no-fault conditions, the fault steady state control mode under the fault condition or the fault directed control mode and the fault directed control mode and carry out the data. After processing, the measured indicators of the "three super" control in the on-orbit state are obtained.
(7)如步骤(6)的在轨状态下的“三超”控制实测指标满足性能指标要求，则结束，否则返回步骤(4)，重新调整三超作动控制单元控制算法中的控制参数，直至满足要求。(7) If the measured index of the "three super" control in the on-orbit state in step (6) meets the performance index requirements, then end, otherwise return to step (4), and re-adjust the control parameters in the control algorithm of the three super action control unit , until the requirements are met.
本发明说明书中未作详细描述的内容属本领域技术人员的公知技术。The content not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.
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