超低轨卫星气动舵机辅助姿态控制方法设计

王涛; 焦洪臣; 刘杰; 陈乐宇; 张迎春

doi:10.13700/j.bh.1001-5965.2021.0265

超低轨卫星气动舵机辅助姿态控制方法设计

doi: 10.13700/j.bh.1001-5965.2021.0265

王涛^{1, 2},
焦洪臣^2, ,,
刘杰²,
陈乐宇³,
张迎春¹

1.
哈尔滨工业大学航天学院，哈尔滨150001
2.
中国空间技术研究院遥感卫星总体部，北京100094
3.
北京航空航天大学宇航学院，北京 100191

基金项目: 国家自然科学基金(62005015)

详细信息

作者简介:
王涛等：超低轨卫星气动舵机辅助姿态控制方法设计 13

通讯作者:
E-mail：jhccast@163.com

中图分类号: V474.2；TB553
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- 被引次数: 0
出版历程
- 收稿日期: 2021-05-20
- 录用日期: 2021-10-22
- 网络出版日期: 2021-11-02
- 整期出版日期: 2023-03-30

Design of attitude control method for ultra-low-orbit satellite with pneumatic steering gear

1.
School of Astronautics，Harbin Institute of Technology，Harbin 150001，China
2.
Institute of Remote Sensing Satellite，China Academy of Space Technology，Beijing 100094，China
3.
School of Astronautics，Beihang University，Beijing 100191，China

Funds: National Natural Science Foundation of China (62005015)

More Information

Corresponding author: E-mail：jhccast@163.com

摘要

摘要:
针对超低轨卫星姿态控制差异化需求，开展了基于气动舵机辅助的姿态控制策略研究。完成了超低轨道稀薄大气下卫星气动舵机布局设计与气动特性研究，理论气动力可达10⁻¹ N量级，气动力矩可达10⁻¹ N·m量级。在此基础上，完成了基于气动舵机辅助的姿态控制策略研究。通过仿真验证，在x轴采用动量轮控制、y轴和z轴采用气动舵机辅助控制情况下，可实现优于0.004°的三轴指向精度和优于0.0007(°)/s的三轴姿态稳定度。所设计气动舵机辅助姿态控制策略对超低轨卫星技术应用与发展具有重要技术价值和工程意义。
- 超低轨卫星 /
- 气动舵机 /
- 空气动力学 /
- 姿态控制 /
- 卫星构型
Abstract:
To meet the differentiated needs of the attitude control of ultra-low orbit satellites, this study investigates the attitude control strategy with the assistance of pneumatic steering gears. The layout of the gear is designed and its aerodynamic characteristics are analyzed under the thin atmosphere of the ultra-low orbit, with the theoretical aerodynamic force up to the order of 10⁻¹ N, and the aerodynamic torque the order of 10⁻¹ N·m. On this basis, an attitude control strategy assisted by pneumatic steering gears is designed. Simulation results show that when the x-axis is controlled by the momentum wheel and the y-axis and z-axis are controlled by pneumatic steering gears, the three-axis pointing accuracy larger than 0.004° and the three-axis attitude stability larger than 0.0007(°)/s can be achieved. The attitude control strategy designed in this paper has important technical and engineering value for the application and development of ultra-low orbit satellites.
- ultra-low-orbit satellite /
- pneumatic steering gear /
- aerodynamics /
- attitude control /
- satellite structure

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图 1 超低轨卫星气动构型示意图

Figure 1. Pneumatic structure of ultra-low-orbit satellite

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图 2 超低轨卫星初步设计尺寸

Figure 2. Preliminary design dimension of ultra-low-orbit satellite

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图 3 超低轨卫星主副翼转角定义示意图

Figure 3. Definition of rotation angles of main wings and ailerons of ultra-low-orbit satellite

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图 4 x轴气动力及力矩随姿态角变化

Figure 4. Change of aerodynamic force and moment of x-axis with satellite attitude

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图 5 y轴气动力及力矩随姿态角变化

Figure 5. Change of aerodynamic force and moment of y-axis with satellite attitude

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图 6 z轴气动力及力矩随姿态角变化

Figure 6. Change of aerodynamic force and moment of z-axis with satellite attitude

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图 7 星体姿态角度变化对气动力矩的影响

Figure 7. Change of aerodynamic moment with satellite attitude

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图 8 不同来流方向下气动力与气动力矩

Figure 8. Change of aerodynamic force and moment with air flow direction

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图 9 气动力随主翼面转角的变化

Figure 9. Change of aerodynamic force with rotation angle of main wings

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图 10 气动力矩随副翼面转角的变化

Figure 10. Change of aerodynamic moment with rotation angle of ailerons

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图 11 采用气动舵机辅助的姿态控制框图

Figure 11. Block diagram of attitude control with pneumatic steering gear

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图 12 主翼偏转不同角度时气动力矩随副翼面转角的变化

Figure 12. Change of aerodynamic moment with rotation angle of ailerons for different rotation angles of main wings

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图 13 仿真流程

Figure 13. Flowchart of simulation

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图 14 气动舵机辅助下的卫星姿态稳定过程

Figure 14. Stabilization process of satellite attitude under assistance of pneumatic steering gear

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图 15 气动舵机辅助下的卫星姿态角速度稳定过程

Figure 15. Stabilization process of satellite angular velocity under assistance of pneumatic steering gear

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图 16 气动舵机偏转角度

Figure 16. Deflection angle of pneumatic steering gear

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图 17 舵机气动力矩

Figure 17. Aerodynamic torque of steering gear

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图 18 舵机气动干扰力矩

Figure 18. Aerodynamic disturbance torque of steering gear

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图 19 动量轮输出力矩

Figure 19. Output torque of momentum wheel

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表 1 仿真参数设置

Table 1. Simulation parameters setting

参数	实际高度 h/km	来流速度 V_∞/(m·s⁻¹)	法向动量适应系数σ_n	切向动量适应系数σ_τ
数值	200	7500	0.99	0.99

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表 2 气动力矩与副翼偏转对照关系

Table 2. Relationship between aerodynamic moment and rotation angle of ailerons

主翼面转角	所需气动力矩为正	所需气动力矩为负
主翼面转角为正	(20°, 0.11 N·m)	(−20°, −0.13 N·m)
主翼面转角为零	(80°, 0.256 N·m)	(−80°, −0.256 N·m)
主翼面转角为负	(20°, 0.13 N·m)	(−20°, −0.11 N·m)

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表 3 仿真参数说明

Table 3. Description of simulation parameters

参数	数值
初始姿态角/(°)	[−10,20,10]
初始姿态角速度/((°)·s⁻¹)	[0,0,0]
x轴转动惯量J_x/(kg·m²)	600
y轴转动惯量J_y/(kg·m²)	2000
z轴转动惯量J_z/(kg·m²)	2000
动量轮转动惯量/(kg·m²)	0.008
动量轮组每根轴输出力矩上限/(N·m)	0.2
动量轮组每根轴角动量上限/(N·m·s)	3
动量轮初始动量/(N·m·s)	[0,0,0]
期望姿态角/(°)	[0,0,0]
期望姿态角速度/((°)·s⁻¹)	[0,0,0]

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表 4 仿真加入的随机干扰

Table 4. Random disturbance in simulations

误差类型	随机干扰的3σ
姿态角测量偏差/(°)	[0.01,0.01,0.01]
姿态角速度测量偏差/((°)·s⁻¹)	[0.001,0.001,0.001]
动量轮组角加速度控制偏差/((°)·s⁻²)	0.001
气动翼转角控制偏差/(°)	0.01

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