卫星储能/姿控两用飞轮在能量回馈状态下的姿态控制问题研究
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摘要
在现今世界上大多数国家发射的长寿命、高精度、高稳定度三轴姿态稳定卫星中,飞轮都是一个重要的必不可少的执行部件。利用飞轮进行姿态控制有着原始的喷气式姿态控制无法比拟的优越性,它不仅节省燃料、减小卫星体重、可靠性高,而且无污染、长寿命,现在越来越多的国家采用飞轮对卫星进行姿态控制。飞轮储能是一种高效的新型储能技术,它已经在电力系统、UPS、混合动力机车等领域获得了成功的应用。随着飞轮技术、电力电子技术、智能控制技术的飞速发展,利用高速飞轮系统同时实现卫星的能量储存和姿态控制成为可能。这对于提高卫星的总体性能有着显著的意义,因而得到了航空航天部门的高度重视,并且成为该研究方向的前沿课题。本课题涉及到国家“863”项目——“轻型储能/姿控一体化飞轮技术研究”,是一个探索性的预研课题。
本课题主要是对卫星储能/姿控两用飞轮的控制系统进行探讨,研究在飞轮储能系统能量回馈状态下,储能系统对卫星的姿态控制系统产生的扰动以及在该扰动作用下的卫星的姿态控制问题。
本文采用无刷直流电机驱动飞轮系统,分析了飞轮储能、能量回馈、姿态控制和姿态测量的原理;建立了在飞轮储能作用下的无刷直流电机的数学模型、惯性姿态敏感器陀螺的数学模型、刚体卫星的姿态控制动力学和运动学模型、在飞轮储能扰动下的卫星的姿态控制模型;研究了无刷直流电机的双闭环调速控制系统、飞轮储能能量回馈线路系统和陀螺系统的驱动电源。由于目前采用的三轴双向飞轮储能/姿态控制系统是一个复杂的非线性、强耦合、多输入多输出和参数不确定系统,因此我们应用经典的PID控制理论结合智能控制算法—模糊逻辑控制建立了飞轮储能系统运行时对卫星的姿态控制系统产生扰动作用下的姿态控制模型,通过模型的建立和研究,利用仿真软件Matlab对系统进行了模拟仿真。结果证明了通过控制理论新方法可以减小飞轮储能系统对卫星姿态的扰动作用。
通过对本课题的研究,使得在卫星上应用飞轮储能系统成为可能,这样
Nowadays , flywheel is an important and absolutely necessary implement part in long-life、 high precision、 high stabilization tri-axes attitude stabilization satellites which were launched in most countries. Making use of flywheel doing attitude control has unassimilated superiority to the original jet attitude control. It is not only saving fuek minishing satellite avoirdupois、 high-reliability, but also unpollution、 long-life. Then ,more and more countries have made use of flywheel doing attitude control. Flywheel energy storage which was applied successfully in many fields (such as electric power system、 UPS、 mix-power motorcycle, etc) is a high effect and new type energy storage technology. With the flying development of flywheel technology、 power electronics technology、 intelligent control technology, integrating satellite energy storage and attitude control which making use of high speed flywheel system grows to maturity. This has remarkable meaning to advancing satellite performance in the mass, then attached high importance by the aviation and spaceflight departments and become a preceding problem in the way of this research. This problem whichcomes down to national "863"item--"the research of light-duty flywheel inenergy storage and attitude control technology", is a search before-study task.The master task of this paper is to discussing the control system of satellite energy storage and attitude control double-duty flywheel, researching the troubles arose by energy storage system in satellite attitude control system and the satellite attitude control problem in the state of flywheel energy feedback. This task adopts flywheel system which is droved by BLDCM (brushless direct current motor), analyses the theory of flywheel energy storage、 energy feedback、 attitude control and attitude measure, based the math model of flywheel energy
storage system、 the math model of gyro、 the model of rigid body satellite attitude control dynamics and kinematics 、 the model of satellite attitude control in the state of troubles, studying the double-closed loop timing control system of BLDCM、 energy feedback circuitry system and the drive power supply of gyro system. Because tri-axes double-direction flywheel energy storage & attitude control system is a complicated、 nonlinearity 、 strong-coupling、 MIMO and uncertainty parameter system, then this paper bases the model of satellite attitude control in the state of flywheel energy feedback troubles applying classical PID control system and fuzzy logic control, analyses the model, emulates system by Matlab. The result proves that the troubles aroused by flywheel energy storage system are minished by control theory new ways.By researching the paper, flywheel energy storage system is applied in satellite will to be true. That Flywheel energy storage system substitutes for accumulator will minish volume and weight of satellite and advance performance and payload capability of satellite. That is significance to the development of satellite technology.
本课题主要是对卫星储能/姿控两用飞轮的控制系统进行探讨,研究在飞轮储能系统能量回馈状态下,储能系统对卫星的姿态控制系统产生的扰动以及在该扰动作用下的卫星的姿态控制问题。
本文采用无刷直流电机驱动飞轮系统,分析了飞轮储能、能量回馈、姿态控制和姿态测量的原理;建立了在飞轮储能作用下的无刷直流电机的数学模型、惯性姿态敏感器陀螺的数学模型、刚体卫星的姿态控制动力学和运动学模型、在飞轮储能扰动下的卫星的姿态控制模型;研究了无刷直流电机的双闭环调速控制系统、飞轮储能能量回馈线路系统和陀螺系统的驱动电源。由于目前采用的三轴双向飞轮储能/姿态控制系统是一个复杂的非线性、强耦合、多输入多输出和参数不确定系统,因此我们应用经典的PID控制理论结合智能控制算法—模糊逻辑控制建立了飞轮储能系统运行时对卫星的姿态控制系统产生扰动作用下的姿态控制模型,通过模型的建立和研究,利用仿真软件Matlab对系统进行了模拟仿真。结果证明了通过控制理论新方法可以减小飞轮储能系统对卫星姿态的扰动作用。
通过对本课题的研究,使得在卫星上应用飞轮储能系统成为可能,这样
Nowadays , flywheel is an important and absolutely necessary implement part in long-life、 high precision、 high stabilization tri-axes attitude stabilization satellites which were launched in most countries. Making use of flywheel doing attitude control has unassimilated superiority to the original jet attitude control. It is not only saving fuek minishing satellite avoirdupois、 high-reliability, but also unpollution、 long-life. Then ,more and more countries have made use of flywheel doing attitude control. Flywheel energy storage which was applied successfully in many fields (such as electric power system、 UPS、 mix-power motorcycle, etc) is a high effect and new type energy storage technology. With the flying development of flywheel technology、 power electronics technology、 intelligent control technology, integrating satellite energy storage and attitude control which making use of high speed flywheel system grows to maturity. This has remarkable meaning to advancing satellite performance in the mass, then attached high importance by the aviation and spaceflight departments and become a preceding problem in the way of this research. This problem whichcomes down to national "863"item--"the research of light-duty flywheel inenergy storage and attitude control technology", is a search before-study task.The master task of this paper is to discussing the control system of satellite energy storage and attitude control double-duty flywheel, researching the troubles arose by energy storage system in satellite attitude control system and the satellite attitude control problem in the state of flywheel energy feedback. This task adopts flywheel system which is droved by BLDCM (brushless direct current motor), analyses the theory of flywheel energy storage、 energy feedback、 attitude control and attitude measure, based the math model of flywheel energy
storage system、 the math model of gyro、 the model of rigid body satellite attitude control dynamics and kinematics 、 the model of satellite attitude control in the state of troubles, studying the double-closed loop timing control system of BLDCM、 energy feedback circuitry system and the drive power supply of gyro system. Because tri-axes double-direction flywheel energy storage & attitude control system is a complicated、 nonlinearity 、 strong-coupling、 MIMO and uncertainty parameter system, then this paper bases the model of satellite attitude control in the state of flywheel energy feedback troubles applying classical PID control system and fuzzy logic control, analyses the model, emulates system by Matlab. The result proves that the troubles aroused by flywheel energy storage system are minished by control theory new ways.By researching the paper, flywheel energy storage system is applied in satellite will to be true. That Flywheel energy storage system substitutes for accumulator will minish volume and weight of satellite and advance performance and payload capability of satellite. That is significance to the development of satellite technology.
引文
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