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摘要:
将反作用轮实时输出力矩值由力矩测量系统采集引入卫星半物理闭环仿真试验是一种更为优越的闭环仿真新方法。但由于仿真过程中，存在持续的外力矩干扰引入仿真控制闭环，导致半物理仿真试验无法长时间准确运行。为解决这一问题，结合实验数据分析，确定了力矩测量系统为半物理仿真试验外力矩干扰来源，并结合小波阈值滤波原理分别使用实时小波滤波方法和基于小波去噪的均值滤波算法对力矩测量系统初始及过程中产生的外力矩干扰进行消除，使测量系统得以准确校准。最后，将此方法应用于半物理闭环仿真试验中，取得了良好的效果。
Abstract:It is a superior new closed-loop simulation method to introduce reaction wheels' real-time torque acquired by a torque measuring system into satellite semi-physical simulation. However, due to the sustained external torque introduced into the simulation closed loop, the semi-physical simulation could not run accurately in a long time. To solve this problem, with experimental data analysis, it was determined that the reaction wheel measuring system was the external torque interference source. Then, based on the wavelet threshold filtering method, we eliminated the initial bias by using the real-time wavelet filtering method and cancelled the process deviations by moving average method incorporating with wavelet de-noising method, and thus the measuring system can be calibrated accurately. Finally, with these methods applied, the satisfactory result was achieved in the semi-physical closed-loop simulation.
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图 1 典型过往仿真中外力矩引入
Figure 1. Typical external torque introduction in previous simulations
图 5 小波初始校准外力矩引入
Figure 5. External torque introduction based onwavelet initial calibration
图 6 小波初始校准反作用轮转速
Figure 6. Reaction wheels’ speed based on wavelet initial calibration
图 7 基于小波去噪的移动平均滤波法外力矩引入
Figure 7. External torque introduction based on moving averagefiltering method incorporated with wavelet de-noising
图 8 基于小波去噪的移动平均滤波法反作用轮转速
Figure 8. Reaction wheels’ speed based on moving averagefiltering method incorporated with wavelet de-noising
图 9 半物理仿真试验外力矩引入
Figure 9. External torque introduction in semi-physical simulation experiment
图 10 半物理仿真试验反作用轮转速
Figure 10. Reaction wheels’ speed in semi-physicalsimulation experiment
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