CN110502038B - High-stability control method for antenna presetting in maneuvering process - Google Patents
High-stability control method for antenna presetting in maneuvering process Download PDFInfo
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- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
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Abstract
A high-stability control method for antenna presetting in a maneuvering process comprises the following steps: (1) sending an angle preset instruction to an antenna when the satellite attitude maneuver starts; (2) during the satellite attitude maneuver and during the stable control after the attitude maneuver, the theoretical target rotation angle of the antenna is calculated in real time according to the attitude maneuver target angle, the current orbit position of the satellite and the position of the antenna receiving station, and the theoretical target rotation angle is sent to the antenna for presetting and tracking after the presetting is finished. According to the method, the satellite antenna presetting process is completed in the attitude maneuver stage according to the characteristics that the interference torque is large when the antenna is subjected to large-angle presetting movement and the interference torque is small when the antenna is stably tracked, the high control bandwidth and the quick adjustment capability of the satellite attitude maneuver stage are fully utilized, the attitude disturbance caused by the antenna preset interference torque is quickly stabilized, and the adverse effect of the antenna preset interference torque on the attitude stability is avoided.
Description
Technical Field
The invention relates to the field of spacecraft attitude determination and control, in particular to a high-stability control method for antenna presetting in a maneuvering process.
Background
When the satellite is provided with components with rotating mechanisms, such as a movable data transmission antenna, a relay antenna and the like, interference torque caused by antenna movement is an important disturbance factor for high-stability control of the attitude, and particularly the interference torque is more obvious when the antenna moves at a large angle in a preset manner. The interference of the antenna large-angle presetting process on the whole satellite is complex, the large rotation angular velocity exists in the quick maneuvering stage, the bias angular momentum having the reaction on the satellite body needs to be quickly absorbed by an angular momentum exchange mechanism of an attitude control system; the rapid change of the rotation angular speed exists in the starting stage and the in-place stage, the reaction moment generated to the star body is close to the impulse interference moment, the magnitude of the reaction moment is related to the magnitude, the direction and the change rate of the rotation angular speed, the reaction moment is coupled with the dynamic process controlled by the rotating mechanism, and the accurate estimation is difficult. The attitude disturbance caused by closed-loop feedback control of the existing attitude control system cannot be effectively counteracted, and the interference torque is difficult to accurately estimate by using a feedforward estimation compensation method, so that high-stability control of the attitude cannot be guaranteed. In order to solve such problems, a new control method needs to be proposed for high-stability control in the antenna presetting process.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method for controlling the preset high stability of the antenna in the maneuvering process is characterized in that the preset process of the satellite antenna is completed in the attitude maneuvering stage according to the characteristics that the interference torque is large when the antenna is in large-angle preset movement and the interference torque is small when the antenna is stably tracked, the high control bandwidth and the quick adjustment capacity of the satellite attitude maneuvering stage are fully utilized, the attitude disturbance caused by the preset interference torque of the antenna is quickly stabilized, and the adverse effect of the preset interference torque of the antenna on the attitude stability is avoided.
The technical solution of the invention is as follows: a high-stability control method for antenna presetting in a maneuvering process comprises the following steps:
(1) sending an angle preset instruction to an antenna when the satellite attitude maneuver starts;
(2) during the satellite attitude maneuver and during the stabilization control after the end of the attitude maneuver, maneuvering the target angle [ phi ] according to the attitudet,θt,ψt]TCurrent orbital position of satellite
And antenna receiving station location
Real-time calculation of theoretical target rotation angle alpha of antennat,βt]TAnd the tracking signal is sent to an antenna for presetting and tracking after the presetting is finished.
The specific steps of the step (2) are as follows:
maneuvering a target angle [ phi ] according to the attitudet,θt,ψt]TCalculating a transformation matrix C of the attitude of the maneuvering target relative to the orbital coordinate system of the satelliteTO＝Euler2Mat(φt,θt,ψt) Wherein, Euler2Mat () is a conversion function from Euler angle to direction cosine matrix related to appointed rotation sequence; phi is at,θt,ψtRespectively representing a target rolling angle, a target pitch angle and a target yaw angle of the attitude maneuver;
according to the coordinates of the current orbit position of the satellite in an inertial system
And coordinates of antenna receiving station position in inertial system
Calculating a relative vector from the current orbital position of the satellite to the position of the antenna receiving station
Representation in the inertial system
A transformation matrix C of a satellite orbit coordinate system relative to an inertial system is given according to orbit calculationoiAnd a transformation matrix C of the antenna mounting coordinate system with respect to the satellite body coordinate systemabCalculating a relative vector from the current orbital position of the satellite to the position of the antenna receiving station
Representation in antenna installation coordinate system
The representation of the three-axis component is
Calculating theoretical target rotation angle alpha of antennat＝arctan2(-ray,raz),
And sending the data to an antenna, and controlling the antenna to be in accordance with the antenna theoretical targetThe rotation angle is rotated.
The position of the antenna receiving station in the step (2)
The data transmission antenna is the appointed ground receiving station position, the relay antenna is the appointed relay satellite position, and the ground receiving station geographic coordinates or the relay antenna orbit parameters bound on the satellite are obtained through orbit calculation and conversion.
The definition of the antenna mounting coordinate system is: the origin is located at the center of the antenna and the satellite body installation surface, the three axes are fixedly connected with an orthogonal coordinate system of a satellite body coordinate system, wherein the Z axis is the theoretical target rotation angle alpha of the antennat＝0,βtWhen the direction is 0, the X axis is the theoretical target rotation angle alpha of the antennat＝0,βtThe direction pointed when the angle is 90 degrees and the Y axis is the theoretical target rotation angle alpha of the antennat＝-90°,βtWhen it is 0, the direction is pointed.
A high stability control system for antenna initialization in a motorized process, comprising:
the first module is used for sending an angle preset instruction to the antenna when the satellite attitude maneuver starts;
a second module for maneuvering a target angle [ phi ] according to the attitude during the attitude maneuver of the satellite and during a stabilization control period after the end of the attitude maneuvert,θt,ψt]TCurrent orbital position of satellite
And antenna receiving station location
Real-time calculation of theoretical target rotation angle alpha of antennat,βt]TAnd the tracking signal is sent to an antenna for presetting and tracking after the presetting is finished.
The specific method of the second module is as follows:
maneuvering a target angle [ phi ] according to the attitudet,θt,ψt]TComputer moving eyesTransformation matrix C of standard attitude relative to satellite orbit coordinate systemTO＝Euler2Mat(φt,θt,ψt) Wherein, Euler2Mat () is a conversion function from Euler angle to direction cosine matrix related to appointed rotation sequence; phi is at,θt,ψtRespectively representing a target rolling angle, a target pitch angle and a target yaw angle of the attitude maneuver;
according to the coordinates of the current orbit position of the satellite in an inertial system
And coordinates of antenna receiving station position in inertial system
Calculating a relative vector from the current orbital position of the satellite to the position of the antenna receiving station
Representation in the inertial system
A transformation matrix C of a satellite orbit coordinate system relative to an inertial system is given according to orbit calculationoiAnd a transformation matrix C of the antenna mounting coordinate system with respect to the satellite body coordinate systemabCalculating a relative vector from the current orbital position of the satellite to the position of the antenna receiving station
Representation in antenna installation coordinate system
The representation of the three-axis component is
Calculating antenna theoretical targetAngle of rotation alphat＝arctan2(-ray,raz),
And the antenna is controlled to rotate according to the antenna theoretical target rotation angle.
Compared with the prior art, the invention has the advantages that:
(1) according to the invention, the satellite antenna presetting process is completed in the attitude maneuver stage, the high control bandwidth and the quick adjustment capability of the satellite attitude maneuver stage are fully utilized, the attitude disturbance caused by the antenna preset interference moment is quickly stabilized, and the adverse effect of the antenna preset interference moment on the attitude stability is avoided;
(2) the invention uses the attitude maneuver target angle as input through the calculation of the antenna preset angle, avoids the coupling between the antenna maneuver and the attitude maneuver, and solves the problem that the antenna preset maneuver affects the high stability of the attitude.
(3) According to the method, the satellite antenna presetting process is completed in the attitude maneuver stage according to the characteristics that the interference torque is large when the antenna is subjected to large-angle presetting movement and the interference torque is small when the antenna is stably tracked, the high control bandwidth and the quick adjustment capability of the satellite attitude maneuver stage are fully utilized, the attitude disturbance caused by the antenna preset interference torque is quickly stabilized, and the adverse effect of the antenna preset interference torque on the attitude stability is avoided. And after the antenna is preset, the antenna enters a stable tracking stage, and the interference moment in the stable tracking stage is small, so that the attitude stability is not obviously influenced.
Drawings
FIG. 1 is a flow chart of a method for controlling high stability of antenna presettings in a mobile process according to the present invention;
FIG. 2 is a graph of satellite attitude roll and pitch angles in an embodiment of the invention;
fig. 3 is a graph showing theoretical target rotation angle (dotted line) and actual rotation angle (solid line) of the antenna in the embodiment of the present invention.
Detailed Description
The invention is described below with reference to the accompanying drawings and examples.
The invention provides a high-stability control method for antenna presetting in a maneuvering process, as shown in figure 1, the method comprises the following specific implementation flows:
(1) and sending an angle preset instruction to the antenna when the attitude maneuver starts.
(2) During attitude maneuver and during stabilization control after the end of the maneuver, maneuvering a target angle [ phi ] according to the attitudet,θt,ψt]TCurrent orbital position of satellite
And antenna receiving station location
Real-time calculation of theoretical target rotation angle alpha of antennat,βt]TAnd the data is sent to an antenna for quick presetting and stable tracking after the presetting is finished. The method specifically comprises the following steps:
maneuvering a target angle [ phi ] according to the attitudet,θt,ψt]TConversion matrix C of computer maneuvering target attitude relative to satellite orbit coordinate systemTO＝Euler2Mat(φt,θt,ψt) Wherein Euler2Mat () is a transfer function from Euler angle to directional cosine matrix related to convention transposition; phi is at,θt,ψtRespectively representing a target rolling angle, a target pitch angle and a target yaw angle of the attitude maneuver;
according to the coordinates of the current orbit position of the satellite in an inertial system
And coordinates of antenna receiving station position in inertial system
Computing a representation of a relative vector from a current orbital position of a satellite to a position of an antenna receiving station in an inertial system
A transformation matrix C of a satellite orbit coordinate system relative to an inertial system is given according to orbit calculationoiAnd a transformation matrix C of the antenna mounting coordinate system with respect to the satellite body coordinate systemabCalculating a representation of a relative vector from the current orbital position of the satellite to the position of the antenna receiving station in the antenna mounting coordinate system
The three-axis component is expressed in the form of
Calculating theoretical target rotation angle alpha of antennat＝arctan2(-ray,raz),
And sent to the antenna where arctan2() is an arctangent function and arcsin () is an arcsine function.
The definition of the antenna mounting coordinate system is: the origin is located at the center of the antenna and the satellite body installation surface, the three axes are fixedly connected with an orthogonal coordinate system of a satellite body coordinate system, wherein the Z axis is the antenna located at the expansion zero position, namely the theoretical target rotation angle alphat＝0,βtWhen the direction is 0, the X axis is the theoretical target rotation angle alpha of the antennat＝0,βtThe direction pointed when the angle is 90 degrees and the Y axis is the theoretical target rotation angle alpha of the antennat＝-90°,βtWhen it is 0, the direction is pointed.
Antenna receiving station location
The data transmission antenna is the appointed ground receiving station position, the relay antenna is the appointed relay satellite position, and the ground receiving station geographic coordinates or the relay antenna orbit parameters bound on the satellite are obtained through orbit calculation and conversion.
A high stability control system for antenna initialization in a motorized process, comprising:
the first module is used for sending an angle preset instruction to the antenna when the satellite attitude maneuver starts;
a second module for maneuvering a target angle [ phi ] according to the attitude during the attitude maneuver of the satellite and during a stabilization control period after the end of the attitude maneuvert,θt,ψt]TCurrent orbital position of satellite
And antenna receiving station location
Real-time calculation of theoretical target rotation angle alpha of antennat,βt]TAnd the tracking signal is sent to an antenna for presetting and tracking after the presetting is finished.
The specific method of the second module is as follows:
maneuvering a target angle [ phi ] according to the attitudet,θt,ψt]TCalculating a transformation matrix C of the attitude of the maneuvering target relative to the orbital coordinate system of the satelliteTO＝Euler2Mat(φt,θt,ψt) Wherein, Euler2Mat () is a conversion function from Euler angle to direction cosine matrix related to appointed rotation sequence; phi is at,θt,ψtRespectively representing a target rolling angle, a target pitch angle and a target yaw angle of the attitude maneuver;
according to the coordinates of the current orbit position of the satellite in an inertial system
And coordinates of antenna receiving station position in inertial system
Calculating a relative vector from the current orbital position of the satellite to the position of the antenna receiving station
Representation in the inertial system
A transformation matrix C of a satellite orbit coordinate system relative to an inertial system is given according to orbit calculationoiAnd a transformation matrix C of the antenna mounting coordinate system with respect to the satellite body coordinate systemabCalculating a relative vector from the current orbital position of the satellite to the position of the antenna receiving station
Representation in antenna installation coordinate system
The representation of the three-axis component is
Calculating theoretical target rotation angle alpha of antennat＝arctan2(-ray,raz),
And the antenna is controlled to rotate according to the antenna theoretical target rotation angle.
Example 1: a satellite is provided with a data transmission antenna, the direction of an antenna installation coordinate system of the data transmission antenna is consistent with that of a satellite body coordinate system, and a conversion matrix CabThe maximum angular speed of the antenna rotating along the rolling and pitching directions is 1.5 degrees/second. The satellite is positioned in a sun synchronous orbit with the orbit height of 500km and the orbit inclination angle of 97.5 degrees, and the target angles of attitude maneuver of the satellite are a rolling angle of 30 degrees and a pitch angle of 20 degrees. The satellite attitude roll and pitch curves are shown in figure 2. According to the high-stability control method for antenna presetting in the maneuvering process, the angle presetting instruction is sent to the antenna when maneuvering starts, the theoretical target rotation angle of the antenna is calculated in real time in each control period, and the theoretical target rotation angle is sent to the antenna. The curves of the theoretical target rotation angle (dotted line) and the actual rotation angle (solid line) of the antenna are shown in FIG. 3, and the theoretical target rotation angle of the antenna is determined according to the attitude machine when the satellite attitude maneuver is startedAnd calculating a moving target angle, obviously jumping compared with a target corner before maneuvering, quickly presetting an actual corner of the antenna to a theoretical target corner of the antenna according to the maximum corner speed, and effectively utilizing the high control bandwidth and the quick adjustment capability of the attitude maneuvering stage, wherein the presetting process is positioned at the attitude maneuvering stage.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (6)
1. A high-stability control method for antenna presetting in a maneuvering process is characterized by comprising the following steps:
(1) sending an angle preset instruction to an antenna when the satellite attitude maneuver starts;
(2) during the satellite attitude maneuver and during the stabilization control after the end of the attitude maneuver, maneuvering the target angle [ phi ] according to the attitudet,θt,ψt]TCurrent orbital position of satellite
And antenna receiving station location
Real-time calculation of theoretical target rotation angle alpha of antennat,βt]TAnd sending the data to an antenna for presetting and tracking after the presetting is finished;
the specific steps of the step (2) are as follows:
maneuvering a target angle [ phi ] according to the attitudet,θt,ψt]TCalculating a transformation matrix C of the attitude of the maneuvering target relative to the orbital coordinate system of the satelliteTO＝Euler2Mat(φt,θt,ψt) Wherein, Euler2Mat () is a conversion function from Euler angle to direction cosine matrix related to appointed rotation sequence; phi is at,θt,ψtRespectively representing a target rolling angle, a target pitch angle and a target yaw angle of the attitude maneuver;
according to the coordinates of the current orbit position of the satellite in an inertial system
And coordinates of antenna receiving station position in inertial system
Calculating a relative vector from the current orbital position of the satellite to the position of the antenna receiving station
Representation in the inertial system
A transformation matrix C of a satellite orbit coordinate system relative to an inertial system is given according to orbit calculationoiAnd a transformation matrix C of the antenna mounting coordinate system with respect to the satellite body coordinate systemabCalculating a relative vector from the current orbital position of the satellite to the position of the antenna receiving station
Representation in antenna installation coordinate system
The representation of the three-axis component is
Calculating theoretical target rotation angle alpha of antennat＝arctan2(-ray,raz),
And the antenna is controlled to rotate according to the antenna theoretical target rotation angle.
2. The method for controlling antenna preset in mobile process with high stability as claimed in claim 1, wherein the position of the antenna receiving station in step (2)
The data transmission antenna is the appointed ground receiving station position, the relay antenna is the appointed relay satellite position, and the ground receiving station geographic coordinates or the relay antenna orbit parameters bound on the satellite are obtained through orbit calculation and conversion.
3. The method for controlling the antenna preset in the maneuvering process with high stability as recited in claim 1, characterized in that the antenna installation coordinate system is defined as: the origin is located at the center of the antenna and the satellite body installation surface, the three axes are fixedly connected with an orthogonal coordinate system of a satellite body coordinate system, wherein the Z axis is the theoretical target rotation angle alpha of the antennat＝0,βtWhen the direction is 0, the X axis is the theoretical target rotation angle alpha of the antennat＝0,βtThe direction pointed when the angle is 90 degrees and the Y axis is the theoretical target rotation angle alpha of the antennat＝-90°,βtWhen it is 0, the direction is pointed.
4. A high stability control system of preset of mobile in-process antenna which characterized in that includes:
the first module is used for sending an angle preset instruction to the antenna when the satellite attitude maneuver starts;
a second module for maneuvering a target angle [ phi ] according to the attitude during the attitude maneuver of the satellite and during a stabilization control period after the end of the attitude maneuvert,θt,ψt]TCurrent orbital position of satellite
And antenna receiving station location
Real-time computing dayLine theory target rotation angle [ alpha ]t,βt]TAnd sending the data to an antenna for presetting and tracking after the presetting is finished;
the specific method of the second module is as follows:
maneuvering a target angle [ phi ] according to the attitudet,θt,ψt]TCalculating a transformation matrix C of the attitude of the maneuvering target relative to the orbital coordinate system of the satelliteTO＝Euler2Mat(φt,θt,ψt) Wherein, Euler2Mat () is a conversion function from Euler angle to direction cosine matrix related to appointed rotation sequence; phi is at,θt,ψtRespectively representing a target rolling angle, a target pitch angle and a target yaw angle of the attitude maneuver;
according to the coordinates of the current orbit position of the satellite in an inertial system
And coordinates of antenna receiving station position in inertial system
Calculating a relative vector from the current orbital position of the satellite to the position of the antenna receiving station
Representation in the inertial system
A transformation matrix C of a satellite orbit coordinate system relative to an inertial system is given according to orbit calculationoiAnd a transformation matrix C of the antenna mounting coordinate system with respect to the satellite body coordinate systemabCalculating a relative vector from the current orbital position of the satellite to the position of the antenna receiving station
Representation in antenna installation coordinate system
The representation of the three-axis component is
Calculating theoretical target rotation angle alpha of antennat＝arctan2(-ray,raz),
And the antenna is controlled to rotate according to the antenna theoretical target rotation angle.
5. A mobile in-process antenna preset high stability control system as claimed in claim 4 wherein the antenna receiving station position in the second module
The data transmission antenna is the appointed ground receiving station position, the relay antenna is the appointed relay satellite position, and the ground receiving station geographic coordinates or the relay antenna orbit parameters bound on the satellite are obtained through orbit calculation and conversion.
6. The system for controlling antenna preset high stability in maneuvering process according to claim 4, characterized in that the antenna installation coordinate system is defined as: the origin is located at the center of the antenna and the satellite body installation surface, the three axes are fixedly connected with an orthogonal coordinate system of a satellite body coordinate system, wherein the Z axis is the theoretical target rotation angle alpha of the antennat＝0,βtWhen the direction is 0, the X axis is the theoretical target rotation angle alpha of the antennat＝0,βtThe direction pointed when the angle is 90 degrees and the Y axis is the theoretical target rotation angle alpha of the antennat＝-90°,βtWhen it is 0, the direction is pointed.
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