球舱方位通道动力学建模及参数辨识

李一健; 周江华; 张晓军

doi:10.13700/j.bh.1001-5965.2022.0547

球舱方位通道动力学建模及参数辨识

doi: 10.13700/j.bh.1001-5965.2022.0547

李一健^{1, 2},
周江华^{1, 2, ,},
张晓军¹

1.
中国科学院空天信息创新研究院，北京 100094
2.
中国科学院大学航空宇航学院，北京 100049

基金项目: 国家自然科学基金(61733017)；中科院重大工程项目(E2K62002)；中国科学院战略性先导专项(KJSP2020020201)

详细信息

通讯作者:
E-mail：zhoufma@aoe.ac.cn

中图分类号: V212
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- 被引次数: 0
出版历程
- 收稿日期: 2022-06-29
- 录用日期: 2022-09-25
- 网络出版日期: 2022-11-08
- 整期出版日期: 2024-06-27

Dynamic modeling and parameter identification of balloon-borne gondola azimuth channel

LI Yijian^{1, 2},
ZHOU Jianghua^{1, 2
, ,},
ZHANG Xiaojun¹

1.
Aerospace Information Research Institute，Chinese Academy of Sciences，Beijing 100094，China
2.
School of Aeronautics and Astronautics，University of Chinese Academy of Sciences，Beijing 100049，China

Funds: National Natural Science Foundation of China (61733017); Major Engineering Projects of Chinese Academy of Sciences (E2K62002); Strategic Priority Research Program of the Chinese Academy of Sciences (KJSP2020020201)

More Information

Corresponding author: E-mail：zhoufma@aoe.ac.cn

摘要

摘要:
用于天文观测的高空气球姿态控制系统是一种软联结控制系统，其控制稳定性与气球吊舱的运动特性有重要关系。使用拉格朗日方程对球舱方位通道的运动学特性进行建模，并使用基于最小递推二乘的算法对球舱方位通道模型中的扭转刚度和阻尼系数进行离线辨识。与传统的稳定性分析方法相比，所提方法进一步揭示了系统控制稳定性与系统的关系和球舱方位控制运动特性，为高空气球吊舱姿控系统的设计及优化提供了重要参考。
- 高空气球 /
- 方位控制 /
- 拉格朗日建模 /
- 递推最小二乘 /
- 参数辨识
Abstract:
A balloon borne telescope is one of the space observation methods by carrying a telescope with a high-altitude balloon flying in the stratosphere. In order to slew and orient the telescope to the intended targets during the observation, an attitude control system is needed to provide high-resolution images. The attitude control system consists of azimuth and elevation channels, respectively. In this paper, the dynamic of balloon borne gondola and control law are discussed, Lagrange equation is introduced to modelling the kinematic characteristics of the azimuth channel. A minimum recursive doubled based parameter identification algorithm is developed to identify the torsional stiffness and damping coefficients in the azimuth channel offline. The results of simulations and experiments demonstrate that, in contrast to the conventional stability analysis method, the proposed method further reveals the azimuth channel motion characteristics of balloon-borne gondolas and serves as a valuable guide for the design and optimization of the platform's attitude control system.
- high-altitude balloon /
- azimuth control /
- Lagrangian modeling /
- recursive least-squares /
- parameter identification

HTML全文

图 1 气球升空外形变化

Figure 1. Change of balloon lift-off shape

下载: 全尺寸图片幻灯片

图 2 吊绳载重下的扭曲常数

Figure 2. Torsion constant of lifting rope under load

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图 3 气球吊绳扭转示意图

Figure 3. Schematic diagram of balloon sling twisting

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图 4 扭摆实验数据

Figure 4. Torsion pendulum experiment data

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图 5 原始数据曲线和拟合曲线

Figure 5. Original data curve and fitting curve

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图 6 辨识方差变化曲线

Figure 6. Variance variation curve of identification

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图 7 6次实验结果曲线

Figure 7. Curve of six experiment results

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表 1 组合惯导主要精度指标

Table 1. Main accuracy indexes of integrated inertial navigation

航向/(°) 姿态/(°) 数据更新/Hz

0.1（1σ） 0.05（1σ） 1

下载: 导出CSV

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