CN118651440B - Rotational speed maintaining method and device for satellite reaction flywheel power-off restarting - Google Patents
Rotational speed maintaining method and device for satellite reaction flywheel power-off restarting Download PDFInfo
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- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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Abstract
一种卫星反作用飞轮断电重启的转速保持方法及装置，能够解决现有反作用飞轮掉电重新上电后初始化时速度归零而导致卫星姿态控制不稳定的问题。方法包括：（1）反作用飞轮上电后，系统初始化，开始自检；（2）自检期间判断反作用飞轮是否接收到正确的遥控指令，是则关闭飞轮断电重启转速保持功能并执行步骤（4），否则打开飞轮断电重启转速保持功能并执行步骤（3）；（3）读取当前转速，然后将当前转速设置为目标转速，进入转速模式，将反作用飞轮转速稳定在当前转速，实现卫星姿态的稳定，跳转步骤（5）；（4）反作用飞轮响应正确的遥控指令；（5）结束。
A method and device for maintaining the speed of a satellite reaction flywheel after power failure and restart can solve the problem that the speed of the existing reaction flywheel returns to zero during initialization after power failure and power is restored, resulting in unstable satellite attitude control. The method comprises: (1) after the reaction flywheel is powered on, the system is initialized and self-checking begins; (2) during the self-checking period, it is determined whether the reaction flywheel receives a correct remote control command, if so, the speed maintenance function of the flywheel after power failure and restart is turned off and step (4) is executed, otherwise, the speed maintenance function of the flywheel after power failure and restart is turned on and step (3) is executed; (3) the current speed is read, and then the current speed is set as the target speed, the speed mode is entered, the speed of the reaction flywheel is stabilized at the current speed, the satellite attitude is stabilized, and the step (5) is jumped; (4) the reaction flywheel responds to the correct remote control command; (5) ends.
Description
Technical Field
The invention relates to the technical field of attitude control of aerospace vehicles, in particular to a rotating speed maintaining method for power-off restarting of a satellite reaction flywheel and a rotating speed maintaining device for power-off restarting of the satellite reaction flywheel.
Background
With the explosive development of the commercial aerospace industry, the number of commercial satellites is increasing. The reaction flywheel is one of important executive components of the satellite attitude and orbit control system, and controls the satellite attitude according to the angular momentum exchange principle, and torque is generated by acceleration or deceleration of the flywheel, so that the satellite attitude is controlled. The reaction flywheel product is a high-precision space application product integrating precision machinery, power electronics, automatic control, space reliability design and the like.
When the reaction flywheel works normally in the satellite, the reaction flywheel is always in a power-on state, but if special conditions, such as single-particle latch-up effect, occur in the flywheel, the reaction flywheel needs to be powered off and restarted when normal communication with a satellite computer is not possible. At present, after the reaction flywheel is restarted after power failure, the flywheel controller can perform power-on initialization operation, and the rotating speed of the flywheel can be set to be an initial value of 0 rotating speed. If the rotating speed of the reaction flywheel before power failure is omega 0, the rotating speed variation is omega 0, the rotating inertia of the flywheel is J, and the flywheel angular momentum variation caused by the change of the rotating speed of the flywheel is J.omega 0 after the power failure of the reaction flywheel is restarted. The change in angular momentum of the flywheel will affect the angular momentum of the satellite to change as j·ω 0. According to the principle of conservation of angular momentum, the change of the angular momentum of the satellite is-J.omega 0, the change of the angular momentum of the satellite causes the change of the attitude of the satellite, and the higher the rotating speed omega 0 before the flywheel is powered off, the larger the change of the attitude of the satellite is caused.
Such a change in the attitude of the satellite due to a reactive flywheel power outage restart is undesirable in practical applications of the satellite, which can affect the proper operation of the satellite.
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 a rotating speed maintaining method for restarting a satellite reaction flywheel after power failure, which can solve the problem of unstable satellite attitude control caused by speed return to zero when the existing reaction flywheel is initialized after power failure and power-up again.
The technical scheme of the invention is that the rotating speed maintaining method for restarting the satellite reaction flywheel after power failure comprises the following steps:
(1) After the reaction flywheel is electrified, initializing a system and starting self-checking;
(2) Judging whether the reaction flywheel receives a correct remote control instruction during the self-checking period, if so, closing the flywheel power-off restarting speed maintaining function and executing the step (4), otherwise, opening the flywheel power-off restarting speed maintaining function and executing the step (3);
(3) Reading the current rotating speed, setting the current rotating speed as a target rotating speed, entering a rotating speed mode, stabilizing the rotating speed of the reaction flywheel at the current rotating speed, and realizing the stabilization of the satellite attitude, and jumping to the step (5);
(4) The reaction flywheel responds to the correct remote control instruction;
(5) And (5) ending.
The invention can ensure that the rotating speed of the reaction flywheel is basically kept unchanged or the rotating speed variation is very small before and after the power failure, so that the influence of the power failure restarting operation of the reaction flywheel on the whole satellite attitude is negligible, and the satellite can always keep normal work in the whole process of the power failure restarting of the reaction flywheel.
Still another method for maintaining the rotational speed of a satellite reaction flywheel powered off and restarted is provided, which comprises the following steps:
(I) The reaction flywheel is electrified, and a control system is initialized;
(II) the controller detecting the rotational speed of the reaction flywheel;
(III) if the rotational speed of the reaction flywheel is within a preset range, performing step (IV), otherwise performing step (II);
(IV) starting a counter and normally timing, wherein the communication module works normally;
(V) judging whether the communication module receives the target rotating speed signal, if so, executing the step (VIII), otherwise, executing the step (VI);
(VI) judging whether the timing time reaches the preset duration, if so, executing the step (VII), otherwise, executing the step (V);
(VII) the controller starts a power-off restarting rotating speed maintaining function, and takes the current rotating speed as a target rotating speed;
(VIII) the controller performs PI control and outputs a control signal;
and (IX) the motor runs according to the control signal to complete the rotation speed control.
The utility model also provides a rotational speed retaining device that satellite reaction flywheel outage restarted, it includes:
The initialization module is configured after the reaction flywheel is electrified, and the system is initialized and self-checking is started;
the judging module is configured with a self-checking period to judge whether the reaction flywheel receives a correct remote control instruction, if so, the flywheel power-off restarting rotating speed maintaining function is closed and the response module is executed, and if not, the flywheel power-off restarting rotating speed maintaining function is opened and the rotating speed setting module is executed;
the rotating speed setting module is configured to read the current rotating speed, then set the current rotating speed as a target rotating speed, enter a rotating speed mode, and stabilize the rotating speed of the reaction flywheel at the current rotating speed so as to realize the stabilization of the satellite attitude;
And the response module is configured to enable the reaction flywheel to respond to the correct remote control command.
Drawings
FIG. 1 illustrates a flow chart of one embodiment of a method of maintaining rotational speed for a satellite reaction flywheel power-down restart in accordance with the present invention.
Fig. 2 shows a flow chart of another embodiment of a method of maintaining rotational speed for a satellite reaction flywheel power-down restart in accordance with the present invention.
FIG. 3 is a block diagram of a reaction flywheel speed control module.
FIG. 4 is a plot of a reaction flywheel de-energized speed maintenance state test.
FIG. 5 is a plot of a reactive flywheel power-off receive speed control signal test line.
Detailed Description
As shown in fig. 1, the method for maintaining the rotation speed of the satellite reaction flywheel during power-off restarting comprises the following steps:
(1) After the reaction flywheel is electrified, initializing a system and starting self-checking;
(2) Judging whether the reaction flywheel receives a correct remote control instruction during the self-checking period, if so, closing the flywheel power-off restarting speed maintaining function and executing the step (4), otherwise, opening the flywheel power-off restarting speed maintaining function and executing the step (3);
(3) Reading the current rotating speed, setting the current rotating speed as a target rotating speed, entering a rotating speed mode, stabilizing the rotating speed of the reaction flywheel at the current rotating speed, and realizing the stabilization of the satellite attitude, and jumping to the step (5);
(4) The reaction flywheel responds to the correct remote control instruction;
(5) And (5) ending.
The invention can ensure that the rotating speed of the reaction flywheel is basically kept unchanged or the rotating speed variation is very small before and after the power failure, so that the influence of the power failure restarting operation of the reaction flywheel on the whole satellite attitude is negligible, and the satellite can always keep normal work in the whole process of the power failure restarting of the reaction flywheel.
Preferably, in the step (1), the system initialization includes clock initialization, IO initialization, serial port initialization, CAN initialization, timer initialization, ADC/DAC initialization, wherein the clock is used for providing a signal with a certain frequency for the controller chip to enable the controller chip to work according to a fixed rhythm, the timer provides timing, the IO initialization is used for initializing the pin function of the controller chip, the serial port and the CAN are used for the controller chip to communicate with an external control device, the ADC collects motor current and feeds the motor current back to the controller chip, and the controller chip outputs the current to the motor through the DAC.
Preferably, in the step (3), the current rotation speed is stable in the rotation speed range of the flywheel control as the detected rotation speed signal, otherwise, the rotation speed signal is unstable, if the rotation speed signal is stable, the reaction flywheel enters a rotation speed mode, if the rotation speed signal is unstable, the current is supplied to the motor 0 by default after power-on, and the reaction flywheel enters a sliding mode.
Preferably, as shown in fig. 3, in the step (3), after entering the rotational speed mode, the timer starts to count, after reaching the preset time period, the flywheel enters the flywheel power-off restart rotational speed maintaining function, the current rotational speed value is read first, then the current rotational speed is set as the target rotational speed, the rotational speed enters the rotational speed mode control loop, the output current of the device is controlled by the PI control method in the rotational speed mode control loop, and the rotational speed of the flywheel is stabilized at the current rotational speed.
Preferably, in the step (3), the preset time period is 1 second.
It can be understood that the speed of the flywheel of different models is different after the power failure, the preset duration of the flywheel of different models is also different to be configured in theory, the 1 second duration in the scheme is the longest safe time of the actual measurement of all the flywheels, the uniformity of the program function module is considered, the industrialization is convenient, and the preset duration in the scheme is set to be 1 second.
As shown in fig. 2, another method for maintaining the rotation speed of the satellite reaction flywheel during power-off restart is also provided, which comprises the following steps:
(I) The reaction flywheel is electrified, and a control system is initialized;
(II) the controller detecting the rotational speed of the reaction flywheel;
(III) if the rotational speed of the reaction flywheel is within a preset range, performing step (IV), otherwise performing step (II);
(IV) starting a counter and normally timing, wherein the communication module works normally;
(V) judging whether the communication module receives the target rotating speed signal, if so, executing the step (VIII), otherwise, executing the step (VI);
(VI) judging whether the timing time reaches the preset duration, if so, executing the step (VII), otherwise, executing the step (V);
(VII) the controller starts a power-off restarting rotating speed maintaining function, and takes the current rotating speed as a target rotating speed;
(VIII) the controller performs PI control and outputs a control signal;
and (IX) the motor runs according to the control signal to complete the rotation speed control.
It will be appreciated by those of ordinary skill in the art that implementing all or part of the steps of the methods of the above embodiments may be accomplished by a program that is stored in a computer readable storage medium that, when executed, comprises the steps of the methods of the above embodiments, and that the storage medium may be a ROM/RAM, magnetic disk, optical disk, memory card, etc. Accordingly, the invention also includes a rotational speed maintenance device for a satellite reaction flywheel power-down restart, corresponding to the method of the invention, which device is generally represented in the form of functional modules corresponding to the steps of the method. The device comprises:
The initialization module is configured after the reaction flywheel is electrified, and the system is initialized and self-checking is started;
the judging module is configured with a self-checking period to judge whether the reaction flywheel receives a correct remote control instruction, if so, the flywheel power-off restarting rotating speed maintaining function is closed and the response module is executed, and if not, the flywheel power-off restarting rotating speed maintaining function is opened and the rotating speed setting module is executed;
the rotating speed setting module is configured to read the current rotating speed, then set the current rotating speed as a target rotating speed, enter a rotating speed mode, and stabilize the rotating speed of the reaction flywheel at the current rotating speed so as to realize the stabilization of the satellite attitude;
And the response module is configured to enable the reaction flywheel to respond to the correct remote control command.
Preferably, in the initialization module, the system initialization comprises clock initialization, IO initialization, serial port initialization, CAN initialization, timer initialization and ADC/DAC initialization, wherein the clock is used for providing signals with certain frequency for the controller chip to enable the controller chip to work according to a fixed rhythm, the timer is used for providing timing, the IO initialization is used for initializing the pin function of the controller chip, the serial port and the CAN are used for communicating the controller chip with an external control device, the ADC acquires motor current and feeds the motor current back to the controller chip, and the controller chip outputs the current to the motor through the DAC.
Preferably, in the rotation speed setting module, the current rotation speed is stable in the rotation speed range of the flywheel control, otherwise, the rotation speed signal is unstable, if the rotation speed signal is stable, the reaction flywheel enters a rotation speed mode, if the rotation speed signal is unstable, the current is supplied to the motor 0 by default, and the reaction flywheel enters a sliding mode.
Preferably, in the rotation speed setting module, a timer starts to count after entering the working mode, a flywheel power-off restarting rotation speed maintaining function is entered after a preset time period is reached, a current rotation speed value is read first, then the current rotation speed is set as a target rotation speed, the target rotation speed enters a rotation speed mode control loop, the rotation speed mode control loop controls the output current of equipment through a PI control method, the rotation speed of the flywheel is stabilized at the current rotation speed, and the preset time period is 1 second.
FIG. 4 is a plot of a reaction flywheel de-energized speed maintenance state test. Wherein,
The first stage is a normal working stage, the target rotating speed is 1000rpm, namely the first stage rotating speed is a gentle line segment, and the speed counting times are 37.
The second stage is a power-off stage, because the power-off cannot test the rotation speed of the flywheel, the flywheel is in a sliding stage, namely, the rotation speed is in a straight-line falling stage, the rotation speed counting number is 0 (the rotation speed is 927.24rpm when the power is on, and the power-off time is 4.7 s).
The third stage is the re-electrifying stage, the control system carries out self-checking again, the flywheel is in the sliding stage continuously, namely the inclined line segment with the slow rotation speed decreasing, and the rotation speed counting times are 11.
The fourth stage is a rotation speed maintaining stage, wherein the flywheel maintains the rotation speed by taking the current rotation speed as the target rotation speed (912.71 rpm in the figure), namely the second section of rotation speed is a gentle line segment, and the rotation speed counting times are 163.
FIG. 5 is a plot of a reactive flywheel power-off receive speed control signal test line. Wherein,
The first stage is a normal working stage, the target rotating speed is 1000rpm, namely the first stage rotating speed is a gentle line segment, and the speed counting times are 13.
The second stage is a power-off stage, because the power-off cannot test the rotation speed of the flywheel, the flywheel is in a sliding stage, namely, the rotation speed is in a straight-line falling stage, the rotation speed counting number is 0 (the rotation speed is 905.95rpm when the power is on, and the power-off time is 6.1 s).
And the third stage is a re-electrifying stage, the control system receives the control signal again, the flywheel continues to control the rotating speed by taking 1000rpm as the target rotating speed, namely, the rotating speed is rapidly increased by a diagonal segment, and the rotating speed counting times are 11.
The fourth stage is a rotation speed maintaining stage, wherein the flywheel maintains the rotation speed by taking 1000rpm as the target rotation speed, namely the second section of rotation speed is a smooth line segment, and the rotation speed counting times are 43.
Wherein, when measuring flywheel rotational speed, the average count interval of controller is about 0.1s.
The beneficial technical effects of the invention are as follows:
1. the method can keep the satellite attitude stable without obtaining a remote control instruction value.
2. The method is far shorter than other technical schemes, and the stable control of the satellite attitude can be completed within 3s after the flywheel is electrified again.
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 (5)
1. A rotating speed maintaining method for restarting a satellite reaction flywheel after power failure is characterized by comprising the following steps:
(1) After the reaction flywheel is electrified, initializing a system and starting self-checking;
(2) Judging whether the reaction flywheel receives a correct remote control instruction during the self-checking period, if so, closing the flywheel power-off restarting speed maintaining function and executing the step (4), otherwise, opening the flywheel power-off restarting speed maintaining function and executing the step (3);
(3) Reading the current rotating speed, setting the current rotating speed as a target rotating speed, entering a rotating speed mode, stabilizing the rotating speed of the reaction flywheel at the current rotating speed, and realizing the stabilization of the satellite attitude, and jumping to the step (5);
(4) The reaction flywheel responds to the correct remote control instruction;
(5) Ending;
In the step (3), the current rotating speed is stable in the rotating speed control rotating speed range of the flywheel, if the rotating speed signal is stable, the rotating speed signal is unstable, the reaction flywheel enters a rotating speed mode, if the rotating speed signal is unstable, the motor 0 is powered on by default, the reaction flywheel enters a sliding mode, a timer starts to count after entering the rotating speed mode, a preset time length reaches, a flywheel power-off restarting rotating speed maintaining function is entered, the current rotating speed value is read first, then the current rotating speed is set as a target rotating speed, the target rotating speed enters a rotating speed mode control loop, the output current of equipment is controlled in the rotating speed mode control loop through a PI control method, and the rotating speed of the flywheel is stabilized at the current rotating speed.
2. The method for maintaining the rotating speed of the satellite reaction flywheel in the power-off restarting process according to claim 1, wherein in the step (1), the system initialization comprises clock initialization, IO initialization, serial port initialization, CAN initialization, timer initialization and ADC/DAC initialization, wherein the clock is used for providing a signal with a certain frequency for a controller chip to enable the controller chip to work according to a fixed rhythm, the timer is used for providing timing, the IO initialization is used for initializing the pin function of the controller chip, the serial port and the CAN are used for communicating the controller chip with an external control device, the ADC acquires motor current and feeds the motor current back to the controller chip, and the controller chip outputs the current to the motor through the DAC.
3. The method for maintaining the rotational speed of the satellite reaction flywheel during power-off restarting according to claim 2, wherein in the step (3), the preset time period is 1 second.
4. The rotating speed maintaining device for restarting the satellite reaction flywheel after power failure is characterized by comprising the following components:
The initialization module is configured after the reaction flywheel is electrified, and the system is initialized and self-checking is started;
the judging module is configured with a self-checking period to judge whether the reaction flywheel receives a correct remote control instruction, if so, the flywheel power-off restarting rotating speed maintaining function is closed and the response module is executed, and if not, the flywheel power-off restarting rotating speed maintaining function is opened and the rotating speed setting module is executed;
the rotating speed setting module is configured to read the current rotating speed, then set the current rotating speed as a target rotating speed, enter a rotating speed mode, and stabilize the rotating speed of the reaction flywheel at the current rotating speed so as to realize the stabilization of the satellite attitude;
A response module configured to cause the reaction flywheel to respond to the correct remote control command;
The method comprises the steps of in a rotating speed setting module, enabling a current rotating speed to be stable in a rotating speed control rotating speed range of a flywheel, otherwise enabling the rotating speed to be unstable, enabling a reaction flywheel to enter a rotating speed mode if the rotating speed is stable, enabling a motor to be powered on by default to supply 0 current if the rotating speed is unstable, enabling the reaction flywheel to enter a sliding mode, enabling a timer to start timing after the reaction flywheel enters a working mode, enabling the reaction flywheel to enter a flywheel power-off restarting rotating speed maintaining function after a preset time length is reached, firstly reading a current rotating speed value, then enabling the current rotating speed to be set to be a target rotating speed, enabling the target rotating speed to enter a rotating speed mode control ring, controlling equipment to output current through a PI control method, and enabling the rotating speed of the flywheel to be stable at the current rotating speed for 1 second.
5. The rotating speed maintaining device for restarting the satellite reaction flywheel in power failure is characterized in that in the initializing module, system initialization comprises clock initialization, IO initialization, serial port initialization, CAN initialization, timer initialization and ADC/DAC initialization, a clock is used for providing a signal with a certain frequency for a controller chip to enable the controller chip to work according to a fixed rhythm, the timer is used for providing timing, IO initialization is used for initializing the pin function of the controller chip, the serial port and the CAN are used for communicating the controller chip with an external control device, the ADC acquires motor current and feeds the motor current back to the controller chip, and the controller chip outputs the current to the motor through the DAC.
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| CN109116739A (en) * | 2018-09-28 | 2019-01-01 | 南京工业大学 | Diagnosis and compensation method for multi-reaction flywheel fault of rigid spacecraft |
| CN113501144A (en) * | 2021-07-27 | 2021-10-15 | 北京微纳星空科技有限公司 | Flywheel rotating speed control method, device, equipment and storage medium |
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| US6845952B2 (en) * | 2003-01-10 | 2005-01-25 | Honeywell International, Inc. | Flywheel prognostic health and fault management system and method |
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| CN113815903B (en) * | 2021-09-06 | 2023-06-23 | 长光卫星技术股份有限公司 | A flywheel zero-crossing avoidance method for remote sensing satellites |
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| CN109116739A (en) * | 2018-09-28 | 2019-01-01 | 南京工业大学 | Diagnosis and compensation method for multi-reaction flywheel fault of rigid spacecraft |
| CN113501144A (en) * | 2021-07-27 | 2021-10-15 | 北京微纳星空科技有限公司 | Flywheel rotating speed control method, device, equipment and storage medium |
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