CN112896556B - Array type satellite intelligent attitude control assembly and working method thereof - Google Patents
Array type satellite intelligent attitude control assembly and working method thereof Download PDFInfo
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- CN112896556B CN112896556B CN202110305983.XA CN202110305983A CN112896556B CN 112896556 B CN112896556 B CN 112896556B CN 202110305983 A CN202110305983 A CN 202110305983A CN 112896556 B CN112896556 B CN 112896556B
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- 230000036544 posture Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/283—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using reaction wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
- B64G1/369—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors using gyroscopes as attitude sensors
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
An array-type satellite intelligent attitude control assembly, comprising: each side wall of the box body is provided with four groups of positioning holes, eight X-axis reaction flywheels (21) are arranged on the positioning holes of the left side wall and the right side wall, and eight Y-axis reaction flywheels (22) are arranged on the positioning holes of the front side wall and the rear side wall; the control board is arranged at the center of the bottom wall of the box body, and eight Z-axis reaction flywheels (23) are arranged on the control board; the magnetic torquer is used for magnetically unloading the reaction flywheel, is arranged on the bottom wall of the box body and comprises an X-axis magnetic torquer (31) and a Y-axis magnetic torquer (32); the magnetic torquer coil is arranged between the magnetic torquer and the control board and is in the Z-axis direction; the number of gyroscopes is three and are mounted together at the centre of the control board. There is also a working method.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to an array type satellite intelligent attitude control component and a working method of the array type satellite intelligent attitude control component.
Background
With the development of technology, spacecraft technologies such as satellites, earth observation platforms, spacecraft, space telescopes and the like are becoming mature. The attitude control system of the spacecraft is an important component of the spacecraft, and the attitude, the speed and other information of the spacecraft are obtained by acquiring and resolving the information of the sensor, so that the flight of the spacecraft is controlled.
Currently, a system as attitude control of a spacecraft includes: reaction flywheel, magnetic torquer, nine-axis sensor actuator, etc. Three reaction flywheels are generally adopted as a group to respectively control the three axial postures of the X axis, the Y axis and the Z axis of the spacecraft. With the development of aerospace technology, the volume of a satellite is smaller, functions are more and more, the maneuverability is stronger, more functions and maneuverability are realized under the limited volume, the reaction flywheel needs larger angular momentum, and the larger the reaction flywheel angular momentum is, the larger the volume is; therefore, how to provide greater angular momentum within a limited volume is a problem that is currently in need of solution.
It is apparent that in three directions of space, a plurality of reaction flywheels are used in each direction, angular momentum required by the satellite is satisfied by the angular momentum provided by the plurality of reaction flywheels, and an array reaction flywheel set is adopted, and when one of the flywheels loses communication, the other reaction flywheels can also work, and normal use of the satellite can be ensured while the mobility is reduced, and the service life of the satellite is prolonged. However, the weight and the volume of parts of the spacecraft launched into the sky are key indexes of the spacecraft design, and the manufacturing cost is obviously increased even if the number of the parts is 1 g or 1 cubic centimeter, so that the spacecraft attitude control system can be given in the spacecraft design, and the reaction flywheel, the magnetic torquer and other parts can be designed and laid out only in the given size, and under the condition that the volume and the weight of a single reaction flywheel are certain, the design layout is required to ensure the reliability of the spacecraft attitude control, and balance the weight and the volume requirements as much as possible. In addition, the placement positions of the reaction flywheel and the magnetic torquer are also very important, the vibration suffered by the main body of the satellite intelligent attitude control assembly is very large for adjusting and controlling the reaction flywheel and the magnetic torquer of the satellite, and the important consideration of scientific researchers is also how to reduce the vibration suffered by the reaction flywheel and the magnetic torquer.
Disclosure of Invention
In order to overcome the defects of the prior art, the technical problem to be solved by the invention is to provide the intelligent attitude control assembly for the array satellite, which can provide angular momentum required by the satellite under the condition of a certain satellite volume, furthest ensure the service life of the spacecraft, balance the weight and volume requirements as much as possible, maintain the integral balance of the assembly on assembly, greatly reduce the vibration of a reaction flywheel and ensure the attitude control accuracy.
The technical scheme of the invention is as follows: the intelligent attitude control assembly of the array satellite comprises: the box body (1), the reaction flywheel (2), the magnetic torquer (3), the magnetic torquer coil (4), the control board (5) and the gyroscope (6),
Four groups of positioning holes are formed in each side wall of the box body, eight X-axis reaction flywheels (21) are arranged on the positioning holes of the left side wall and the right side wall, and eight Y-axis reaction flywheels (22) are arranged on the positioning holes of the front side wall and the rear side wall;
the control board is arranged at the center of the bottom wall of the box body, and eight Z-axis reaction flywheels (23) are arranged on the control board;
the magnetic torquer is used for magnetically unloading the reaction flywheel, is arranged on the bottom wall of the box body and comprises an X-axis magnetic torquer (31) and a Y-axis magnetic torquer (32);
The magnetic torquer coil is arranged between the magnetic torquer and the control board and is in the Z-axis direction;
The number of gyroscopes is three and are mounted together at the centre of the control board.
The invention comprises eight groups of reaction flywheels, eight X-axis reaction flywheels and eight Y-axis reaction flywheels which are arranged on four side walls of the box body, wherein the eight Z-axis reaction flywheels are arranged in the middle of the box body to form an array, so that the angular momentum required by a satellite can be provided under the condition that the satellite has a certain volume, the service life of the spacecraft is ensured to the greatest extent, the weight and the volume requirements are balanced as much as possible, and the integral balance of the assembly is maintained on assembly; the X-axis reaction flywheel and the Y-axis reaction flywheel are arranged on the side wall of the box body, so that vibration of the reaction flywheel can be greatly reduced, and the accuracy of attitude control can be ensured.
The working method of the intelligent attitude control assembly of the array satellite is also provided, and the working method comprises the following steps:
(1) Acquiring current attitude data through an integrated inertial navigation assembly inside a satellite;
(2) The intelligent attitude control assembly is communicated with a satellite-borne computer in a satellite through a control board to acquire current target attitude data;
(3) The reaction flywheel and the magnetic torquer in the intelligent attitude control component are controlled through an algorithm in the control panel;
(4) The initial posture adjustment is carried out through the interaction of a magnetic field generated by the magnetic torquer and a geomagnetic field, and meanwhile, magnetic unloading is carried out when the rotation speed of the reaction flywheel is saturated;
(5) The gesture is accurately regulated through the reaction flywheel, so that the satellite gesture is effectively controlled.
Drawings
Fig. 1 shows a schematic structural diagram of an array-type satellite intelligent attitude control assembly according to the invention.
Fig. 2 shows a top view of the array satellite intelligent attitude control assembly of fig. 1.
Fig. 3 illustrates a bottom view of the array satellite intelligent attitude control assembly of fig. 1.
Fig. 4 shows a partially exploded schematic view of the intelligent attitude control assembly of the array satellite of fig. 1.
Detailed Description
As shown in fig. 1, the intelligent attitude control assembly for the array satellite comprises: a box body 1, a reaction flywheel 2, a magnetic torquer 3, a magnetic torquer coil 4, a control board 5 and a gyroscope 6,
Four groups of positioning holes are formed in each side wall of the box body, eight X-axis reaction flywheels 21 are arranged on the positioning holes of the left side wall and the right side wall, and eight Y-axis reaction flywheels 22 are arranged on the positioning holes of the front side wall and the rear side wall;
the control board is arranged at the center of the bottom wall of the box body, and eight Z-axis reaction flywheels 23 are arranged on the control board;
the magnetic torquer is used for magnetically unloading the reaction flywheel, is arranged on the bottom wall of the box body and comprises an X-axis magnetic torquer 31 and a Y-axis magnetic torquer 32;
The magnetic torquer coil is arranged between the magnetic torquer and the control board and is in the Z-axis direction;
The number of gyroscopes is three and are mounted together at the centre of the control board.
The invention comprises eight groups of reaction flywheels, eight X-axis reaction flywheels and eight Y-axis reaction flywheels which are arranged on four side walls of the box body, wherein the eight Z-axis reaction flywheels are arranged in the middle of the box body to form an array, so that the angular momentum required by a satellite can be provided under the condition that the satellite has a certain volume, the service life of the spacecraft is ensured to the greatest extent, the weight and the volume requirements are balanced as much as possible, and the integral balance of the assembly is maintained on assembly; the X-axis reaction flywheel and the Y-axis reaction flywheel are arranged on the side wall of the box body, so that vibration of the reaction flywheel can be greatly reduced, and the accuracy of attitude control can be ensured.
Preferably, as shown in fig. 1 and 2, the X-axis magnetic torquers 31 are arranged on the left side and the right side of the control board, and the Y-axis magnetic torquers 32 are arranged on the front side and the rear side of the control board. In this way, the whole balance of the whole assembly is maintained on assembly, and the use of two sets of magnetic torquers enables better magnetic unloading of the reaction flywheel.
Preferably, as shown in fig. 4, each magnetic torquer is covered with one magnetic torquer coil cover 33. Therefore, the magnetic torquer can be protected, and dust and the like are prevented from entering the magnetic torquer coil to influence the normal work of the magnetic torquer.
Preferably, as shown in fig. 1, the eight Z-axis reaction flywheels 23 are divided into three rows, the first three rows, the second two rows, and the third three rows, enclosing a square. Because X, Y-axis reaction flywheels are all eight, the Z-axis reaction flywheels are also arranged in eight, two rows of four, one row of eight, or other forms, and the applicant finds that the arrangement is square, the first row is three, the second row is two, and the third row is three through long-time consideration and multiple experiments, so that the occupied space is small, and the whole balance of the whole assembly is maintained on assembly.
Preferably, as shown in fig. 1, the gyroscope is at the center of the square. This maintains the overall balance of the entire assembly on assembly.
Preferably, as shown in fig. 1 and 2, the three gyroscopes share a protective cover, which is mounted on a control board. Therefore, the gyroscope can be protected from electromagnetic interference, and dust and the like are prevented from entering the gyroscope to influence the normal operation of the gyroscope.
Preferably, each magnetic torquer comprises: the coil is sleeved on the magnetic core, the wire is connected with the coil, the heat-shrinkable sleeve wraps the coil and the wire, the end cover is arranged at one end of the magnetic core, the wire is led out at one end where the end cover is located, the end cover covers the wire, as shown in fig. 1 and 2, the other ends of the end cover and the magnetic core are fixed on the bottom wall of the box body, the end covers of the two X-axis magnetic torquers 31 are non-opposite, and the end cover of the Y-axis magnetic torquers 32 is non-opposite. This maintains the overall balance of the weight of the entire assembly in assembly.
Preferably, as shown in fig. 1, the height of the reaction flywheel is less than the diameter of the reaction flywheel. The height of the box body is only slightly higher than the diameter of the reaction flywheel, otherwise, because the Z-axis reaction flywheel is arranged on the control plate, the height of the box body is not only higher than the diameter of the reaction flywheel, but also higher than the height of the reaction flywheel plus the thickness of the control plate, and the overall size of the box body is increased.
Preferably, each set of locating holes comprises four locating holes arranged in a 2 x2 matrix, as shown in figure 1. This enables a more secure mounting of the reaction flywheel on each side wall.
The working method of the intelligent attitude control assembly of the array satellite is also provided, and the working method comprises the following steps:
(1) Acquiring current attitude data through an integrated inertial navigation assembly inside a satellite;
(2) The intelligent attitude control assembly is communicated with a satellite-borne computer in a satellite through a control board to acquire current target attitude data;
(3) The reaction flywheel and the magnetic torquer in the intelligent attitude control component are controlled through an algorithm in the control panel;
(4) The initial posture adjustment is carried out through the interaction of a magnetic field generated by the magnetic torquer and a geomagnetic field, and meanwhile, magnetic unloading is carried out when the rotation speed of the reaction flywheel is saturated;
The posture adjustment of the magnetic torquer is carried out according to the formula (1):
T＝B×M (1)
wherein, the T magnetic moment, the B external magnetic field intensity (such as geomagnetic field) and the M magnetic moment (which are fixed values related to the design of a magnetic torquer product) are included; when the external magnetic field B forms 90 degrees with the magnetic moment M of the magnetic torquer, the generated magnetic moment Tmax.
(5) The gesture is accurately regulated through the reaction flywheel, so that the satellite gesture is effectively controlled.
Wherein the reaction flywheel is adjusted according to formula (2):
T＝△W·J (2)
Wherein T is moment, deltaW is rotation speed increment, J is rotation inertia (related to design of a reaction flywheel, is a fixed value); the larger the delta W rotation speed increment, the larger the torque generated.
The present invention is not limited to the preferred embodiments, but can be modified in any way according to the technical principles of the present invention, and all such modifications, equivalent variations and modifications are included in the scope of the present invention.
Claims (8)
1. An array-type satellite intelligent attitude control assembly, comprising: box (1), reaction flywheel (2), magnetic torquer (3), magnetic torquer coil (4), control panel (5), gyroscope (6), its characterized in that:
four groups of positioning holes are formed in each side wall of the box body, four X-axis reaction flywheels (21) are respectively arranged on the positioning holes of the left side wall and the right side wall, and four Y-axis reaction flywheels (22) are respectively arranged on the positioning holes of the front side wall and the rear side wall;
The control board is arranged at the center of the bottom wall of the box body, and eight Z-axis reaction flywheels (23) are arranged on the control board;
The magnetic torquer is used for magnetically unloading the reaction flywheel, is arranged on the bottom wall of the box body and comprises an X-axis magnetic torquer (31) and a Y-axis magnetic torquer (32);
The magnetic torquer coil is arranged between the magnetic torquer and the control board and is in the Z-axis direction;
the number of gyroscopes is three and the gyroscopes are integrated together and installed at the center of the control board;
the X-axis magnetic torquers (31) are respectively arranged on the left side and the right side of the control board, and the Y-axis magnetic torquers (32) are respectively arranged on the front side and the rear side of the control board;
Eight Z-axis reaction flywheels (23) are divided into three rows, the first row is three, the second row is two, and the third row is three, and a square is formed by surrounding.
2. The array satellite intelligent attitude control assembly according to claim 1, wherein: each magnetic torquer is covered with a magnetic torquer coil cover (33).
3. The array satellite intelligent attitude control assembly according to claim 2, wherein: the gyroscope is at the center of the square.
4. An array satellite intelligent attitude control assembly according to claim 3, wherein: the three gyroscopes share a protective cover which is arranged on a control panel.
5. The array satellite intelligent attitude control assembly according to claim 2, wherein: each magnetic torquer comprises: the magnetic core, coil, heat shrinkage bush, wire, end shield, the coil cover is on the magnetic core, and the wire links to each other with the coil, and heat shrinkage bush parcel coil and wire, the end shield is installed in the one end of magnetic core, the wire draws forth in the one end at end shield place, and the end shield covers the wire, and the other end of end shield and magnetic core is all fixed on the diapire of box, and the end shield of two X axle magnetic torquers (31) is non-opposite, and the end shield of Y axle magnetic torquers (32) is non-opposite.
6. The array satellite intelligent attitude control assembly according to claim 1, wherein: the reaction flywheel has a height less than the diameter of the reaction flywheel.
7. The array satellite intelligent attitude control assembly according to claim 1, wherein: each set of locating holes comprises four locating holes arranged in a 2 x 2 matrix.
8. A method of operating an array satellite intelligent attitude control assembly according to claim 1, wherein: which comprises the following steps:
(1) Acquiring current attitude data through an integrated inertial navigation assembly inside a satellite;
(2) The intelligent attitude control assembly is communicated with a satellite-borne computer in a satellite through a control board to acquire current target attitude data;
(3) The reaction flywheel and the magnetic torquer in the intelligent attitude control component are controlled through an algorithm in the control panel;
(4) The initial posture adjustment is carried out through the interaction of a magnetic field generated by the magnetic torquer and a geomagnetic field, and meanwhile, magnetic unloading is carried out when the rotation speed of the reaction flywheel is saturated;
(5) The gesture is accurately regulated through the reaction flywheel, so that the satellite gesture is effectively controlled.
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| CN202110305983.XA CN112896556B (en) | 2021-03-23 | 2021-03-23 | Array type satellite intelligent attitude control assembly and working method thereof |
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| CN215155783U (en) * | 2021-03-23 | 2021-12-14 | 湖南揽月机电科技有限公司 | Array type satellite intelligent attitude control assembly |
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| DE3606636C1 (en) * | 1986-02-28 | 1987-11-05 | Messerschmitt Boelkow Blohm | Method for determining geomagnetic field components with reference to a satellite-fixed coordinate system |
| US6311931B1 (en) * | 1999-12-17 | 2001-11-06 | The Boeing Company | Bi-directional momentum bias spacecraft attitude control |
| US6285928B1 (en) * | 2000-01-06 | 2001-09-04 | Space Systems/Loral, Inc. | Onboard attitude control using reaction wheels |
| US9199746B2 (en) * | 2009-05-19 | 2015-12-01 | University Of Florida Research Foundation, Inc. | Attitude control system for small satellites |
| CN101554926B (en) * | 2009-05-20 | 2012-05-23 | 上海微小卫星工程中心 | Attitude control system and method for spacecraft |
| CN101934863B (en) * | 2010-09-29 | 2013-04-03 | 哈尔滨工业大学 | Satellite posture all-round controlling method based on magnetic moment device and flywheel |
| US9612117B2 (en) * | 2014-07-10 | 2017-04-04 | Honeywell International Inc. | Integrated reaction wheel assembly arrays and multi-rotor chassis suitable for usage therein |
| FR3026858B1 (en) * | 2014-10-02 | 2016-12-09 | Airbus Defence & Space Sas | METHOD FOR CONTROLLING ATTITUDE OF SATELLITE IN SURVIVAL MODE, ADAPTED SATELLITE AND METHOD FOR REMOTELY CONTROLLING SATELLITE OF SATELLITE |
| CN105691637B (en) * | 2016-04-08 | 2018-05-25 | 上海微小卫星工程中心 | A kind of modularization satellite |
| CN106542120B (en) * | 2016-09-30 | 2018-11-02 | 上海航天控制技术研究所 | In conjunction with the satellite three-axis attitude control method of magnetic torquer when flywheel drive lacking |
| CN106742072B (en) * | 2016-11-25 | 2019-07-12 | 深圳航天东方红海特卫星有限公司 | A kind of high density miniature monoblock flywheel and magnetic torque configuration |
| CN107368092A (en) * | 2017-08-20 | 2017-11-21 | 南京理工大学 | A kind of integrated cube of star posture control system platform |
| CN111835136A (en) * | 2019-04-22 | 2020-10-27 | 湖南揽月机电科技有限公司 | Reaction flywheel |
| CN110562495B (en) * | 2019-08-15 | 2021-04-13 | 南京理工大学 | Cube star offset momentum attitude control system |
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| CN215155783U (en) * | 2021-03-23 | 2021-12-14 | 湖南揽月机电科技有限公司 | Array type satellite intelligent attitude control assembly |
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