三轴稳定微卫星姿态控制系统设计及仿真
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摘要
微小卫星具有重量轻、体积小、研制成本低等特点,在完成空间任务中起着独特的作用。姿态控制系统是微小卫星完成各种任务的基本前提,是微小卫星的关键技术之一和研究重点。
卫星姿态测控系统包括姿态的确定和具体的姿态控制两部分,姿态的确定是根据姿态传感器来获得卫星实时的姿态参数,而姿态控制是指卫星从当前姿态向某一个目标姿态的定向过程。
本文系统地研究了三轴稳定卫星的姿态确定及姿态控制系统,提出了基于粒子滤波的姿态参数处理方法,同时,对各主要控制模式进行了详尽的理论分析和具体的仿真研究,并在仿真研究的基础上对姿态控制的软件设计方面进行了较为深入的研究。
首先,文章采用太阳敏感器、磁强计定姿方案,并结合新兴的粒子滤波算法对实时的姿态参数进行处理,给出了不同粒子数目下粒子滤波的性能比较。并将粒子滤波算法与EKF滤波算法进行了性能对照,验证了粒子滤波算法对于低精度微小卫星姿态控制的可行性。
其次,本文对姿态控制过程中涉及各控制模式进行了仿真研究,并给出了基于磁力矩器的动量轮卸载以及稳态控制模式中的章、进动控制的仿真结果。同时,对卫星姿态机动模式进行了初步的探讨,并对卫星小角度姿态机动进行了仿真,仿真效果良好。
最后,本文对姿态控制的软件设计进行了深入研究,根据是否有地面遥控的不同情况,详细的讨论了两种不同的软件设计方法以及具体的实现过程,同时给出了软件运行的最终结果。
总之,文章较深入的研究了微卫星姿态控制系统,并对姿态控制系统的软件设计给出了具体的设计方案,对一般卫星姿态控制系统设计及其软件实现具有很好的指导意义。
Micro-satellite, a kind of modern small satellite, has advantages of light weight, small size, low cost and so on. It plays a more and more important role in various space missions. The attitude control system is the precondition of fulfilling all kinds of tasks, is the key technology and emphasis of interrelated research.
Attitude determination and control system of a satellite contains two parts, one is the attitude determination system and the other is the attitude control system. The determination of attitude is the process of getting attitude parameter of satellite by certain sense organ while the control of attitude is the research about attitude orientation to a target attitude.
Based on the research of the attitude determination and control system, the author uses particle filter to deal with the attitude parameters and simulates the main control models with the detailed theory analyse.besides, this paper still studies the software design of the attitude determination system.
This article established a model with magnetometers as well as sun sensors and used Particle Filter to complete the attitude estimate. The final result compared the filter capability in two different mumble of particles. Besides this, the article also compares Particle Filter to EKF algorithm, the estimate result validates that Particle Filter can fulfill the control desire of low precision Micro-satellite.
After this, this paper simulate the main modes contained in attitude control process and analyses the simulation result of the unloading of momentum wheel by magnetic torque, however ,the simulation result of nutation and precession damping is also given. Meanwhile, this paper analyses the attitude maneuver of micro-satellite with a little angle and also gives the simulation result.
Finally, the paper studies the software design of the attitude determination system and supplies two different actualize methods based on whether there exits a telecontrol come from ground.
This article researches the attitude determination and control methods of micro-satellite and analyses the software design of the attitude control system. It can be used as reference in other micro-satellite.
卫星姿态测控系统包括姿态的确定和具体的姿态控制两部分,姿态的确定是根据姿态传感器来获得卫星实时的姿态参数,而姿态控制是指卫星从当前姿态向某一个目标姿态的定向过程。
本文系统地研究了三轴稳定卫星的姿态确定及姿态控制系统,提出了基于粒子滤波的姿态参数处理方法,同时,对各主要控制模式进行了详尽的理论分析和具体的仿真研究,并在仿真研究的基础上对姿态控制的软件设计方面进行了较为深入的研究。
首先,文章采用太阳敏感器、磁强计定姿方案,并结合新兴的粒子滤波算法对实时的姿态参数进行处理,给出了不同粒子数目下粒子滤波的性能比较。并将粒子滤波算法与EKF滤波算法进行了性能对照,验证了粒子滤波算法对于低精度微小卫星姿态控制的可行性。
其次,本文对姿态控制过程中涉及各控制模式进行了仿真研究,并给出了基于磁力矩器的动量轮卸载以及稳态控制模式中的章、进动控制的仿真结果。同时,对卫星姿态机动模式进行了初步的探讨,并对卫星小角度姿态机动进行了仿真,仿真效果良好。
最后,本文对姿态控制的软件设计进行了深入研究,根据是否有地面遥控的不同情况,详细的讨论了两种不同的软件设计方法以及具体的实现过程,同时给出了软件运行的最终结果。
总之,文章较深入的研究了微卫星姿态控制系统,并对姿态控制系统的软件设计给出了具体的设计方案,对一般卫星姿态控制系统设计及其软件实现具有很好的指导意义。
Micro-satellite, a kind of modern small satellite, has advantages of light weight, small size, low cost and so on. It plays a more and more important role in various space missions. The attitude control system is the precondition of fulfilling all kinds of tasks, is the key technology and emphasis of interrelated research.
Attitude determination and control system of a satellite contains two parts, one is the attitude determination system and the other is the attitude control system. The determination of attitude is the process of getting attitude parameter of satellite by certain sense organ while the control of attitude is the research about attitude orientation to a target attitude.
Based on the research of the attitude determination and control system, the author uses particle filter to deal with the attitude parameters and simulates the main control models with the detailed theory analyse.besides, this paper still studies the software design of the attitude determination system.
This article established a model with magnetometers as well as sun sensors and used Particle Filter to complete the attitude estimate. The final result compared the filter capability in two different mumble of particles. Besides this, the article also compares Particle Filter to EKF algorithm, the estimate result validates that Particle Filter can fulfill the control desire of low precision Micro-satellite.
After this, this paper simulate the main modes contained in attitude control process and analyses the simulation result of the unloading of momentum wheel by magnetic torque, however ,the simulation result of nutation and precession damping is also given. Meanwhile, this paper analyses the attitude maneuver of micro-satellite with a little angle and also gives the simulation result.
Finally, the paper studies the software design of the attitude determination system and supplies two different actualize methods based on whether there exits a telecontrol come from ground.
This article researches the attitude determination and control methods of micro-satellite and analyses the software design of the attitude control system. It can be used as reference in other micro-satellite.
引文
[1]詹亚峰,马正新,曹志刚,现代微小卫星技术以及发展趋势,电子学报,2000.7,28(7): 112~125
[2]林来兴,小卫星当今发展水平及其关键技术,863航天技术通讯,1997.7,22(4): 212~225
[3]徐信,孙涤清,“清华一号”微小卫星,航天技术与民品,2000.6,32(4):142~145
[4]章仁为,卫星轨道姿态动力学与控制,北京,北京航空航天大学出版社,1998.8: 312~325
[5] B.J.KIM, H.LEE, S.D.CHOI, Three~Axis Reaction Wheel Attitude Control System for KITSAT-3 Micro~satellite, Satellite Technology Research Center,2001.7 ,24(5): 537~542
[6]贾世楼,曹喜滨,发展微小卫星迎接21世纪挑战,科学前沿与学术评论,2001.6,34(5): 412~425
[7]我国一箭双星成功发射两颗科学实验小卫星,中国航天,2004,12(5):3~4
[8]黄圳圭,航天器姿态动力学,长沙,国防科技大学出版社,1997.11: 512~525
[9] M.D.Shuster, A Survey of Attitude Representations,Journal of Astronautical Sciences, 1993, 4(4): 134~139
[10] Heidt L, Markeley F L, Predictive Filtering for Attitude Estimation Without Rate Sensors, Journal of Guidance Control and Dynamics, 1997, 20(3): 522~523
[11]张帆,曹喜滨,皱经湘,一种新的全角度四元数与欧拉角的转换算法,南京理工大学学报,2002.8,26(4): 215~218
[12] Kristian Svartveit, Attitude determination of the NCUBE satellite, Norwegian University of Science and Technology, 2003,56(5): 354~360
[13] Panagiotis Tsiotras, James M.Longuski, A New Parameterization of the Attitude kinematics, Journal of Astronautical Sciences,1995,43(3):122~126
[14] Maybeck.P,S.Stochastic, Models Estimation and Control, Academic Press, 1997 ,2(3): 532~536
[15] Carl Christian Liebe, Sohrab Mobasser, MEMS Based Sun sensor, IEEE Proceedings Aerospace Conference, 2001: 1565~1572
[16] Jaroslav C, Jaroslav V, Jiri B Frantisek,A simple low cost digital sun sensor for micro~satellites, The 4th IAA Symposium on Small Satellites for Earth Observation Berlin, 2005: 1~4
[17] Shoji K, Christoph M, Michael S, et al.A 2-D CMOS Microfluxgate Sensor System for Digital Detection of Weak Magnetic Fields, IEEE Journal of Solid~State Circuits, 1999, 34(12) :1843~1851
[18]练军想,吴文启,李涛,UKF滤波技术在AUV组合导航中的应用研究,中国惯性技术学报,2005,13(1): 30~34
[19] Lefferts E J, Markely F L, Kalman filtering for spacecraft attitude estimation ,Journal of Guidance Control and Dynamics,1982,5(5): 417~429
[20]胡士强,敬忠良,粒子滤波算法综述,控制与决策,2005,20(4): 361~365
[21] Zhang Hong~mei, Deng Zheng~long, A UKF~based attitude determination method for gyroless satellite, Journal of Systems Engineering and Electronics, 2004, 15(2): 105~109
[22]杨旭,程杨,曹喜兵,粒子滤波在卫星轨道确定中的应用,控制理论与应用, 2005,22(5): 1~4
[23] Julier S Uhlmann J K, A new method for the nonlinear transformation of means and covariance in filters and estimations,IEEE Trans. A. C, 2000, 45(3): 477~482.
[24] Edgar Kraft, A Quaternion~based Unscented Kalman Filter for Orientation Tracking. In "Proceedings of the 6th International Conference on Information Fusion", Australia: Cairns, 2003:178~184
[25] Juergen Schlutz, Attitude and Orbit Control of Small Satellites using Thruster System, Australian Centre for Field Robotics, 2005,22(5):345~350
[26] Stian Sondersrod Ose, Attitude determination for the Norwegian student satellite nCube, Norwegian University of Science and Technology, 2004:112~125
[27] Kristian Svartveit, Attitude determination of the NCUBE satellite, Norwegian University of Science and Technology, 2003:112~125
[28]屠善澄,陈义庆,邹广瑞,卫星姿态动力学与控制,北京,宇航出版社,2001: 112~125
[29] Bang H C, Eun Y E, Lee H, Attitude Control of Bias Momentum Spacecraft by Multiple Pulse Inputs, JSASS 17th International Sessions in 41st Aircraft Symposium,Nagano, Japan, 2003: 1~4
[30] Chang Y K, Lee B H, Kim S J, Momentum wheel start~up method for HAUSAT~2ultra small satellite, Aerospace Science and Technology, 2006,10(3): 168~174
[31] Jensen H B, Wisniewski R, Quaternion Feedback Control for Rigid~Body Spacecraft, AIAA Guidance Navigation and Control Conference and Exhibit, 2005: 2001~4338
[32] Creamer G, Spacecraft attitude determination using gyros and quarternion measurements, The Journal of the Astronautical Sciences, 1996,44(3):357~371
[33] Kim B J, Jahn H, Choi S D, Three~axis reaction wheel attitude control system for KITSAT~3 mirco~satellite, Space Technology, 1996 ,16(5):291~296
[34] Alhichri H.S, Kamel M.Image registration using the Hausdorff fraction and virtual circles. Image Processing, 2001. Proceedings.2001 International Conference on, 2001.10(2): 367~370
[35] Barry S, Leonard, NPSAT1 Magnetic Attitude Control System, 16th annual AIAA Small Sat Conference,2001:105~108
[36] M.D.Shuster, A Survey of Attitude Representations, Journal of Astronautical Sciences, 1993,41(4):256~265
[37] Schaub H, Junkins J L, A Generalization of the Rodrigues Parameters, the Journal of the Astronautical Sciences,1996,44(1):1~19
[38] Tsiotras P, Jihao L, Control of underactuated spacecraft with bounded inputs, Automatica, 2000,36(1):1153~1169
[39]徐燕,微小卫星三轴稳定姿态控制系统设计,[硕士学位论文],南京,南京航空航天大学,2005.2
[40] Matthew R B, Angular Momentum Precession, Acquisition Maneuver and Attitude Estimation Design for SILA PhD, Department of Mechanical and Aerospace Engineering Carleton University Ottawa, 1996,12(5):451~468
[41]李涛,实时容错嵌入式小卫星操作系统设计的研究,[博士学位论文],上海,中国科学院上海冶金研究所,2000.6
[42]高买花,卫星姿轨控系统软件体系结构设计的方案研究,[硕士学位论文],北京,中国科学院空间科学与应用研究中心,2003.1
[43] Jean J.Labrosse,嵌入式实时操作系统μC/OS~Ⅱ,北京,北京航空航天大学出版社,2003.5: 325~364
[44]侯业勤,张菁,分布式嵌入式实时操作系统QNX,北京,宇航出版社,1999.1: 257~456
[45]陈智育,温彦军,陈琪,VxWorks程序开发实践,北京,人民邮电出版社,2004.5: 156~245
[46]陆寅,基于VxWorks的1553B总线通讯系统的设计与实现,[硕士学位论文],西安,西北工业大学,2004.3
[47]陈炯,一个嵌入式实时操作系统内核的设计与实现,微型计算机,1995,15(6): 235~238
[48]孔祥营,嵌入式实时操作系统VxWorks及其开发环境Tornado,中国电力出版社,2002.3: 325~423
[49]王欢,VxWorks操作系统研究及其在鱼雷制导系统中的应用,[硕士学位论文],西安,西北工业大学,2006.3
[50]卢东昕,星载嵌入式可重构软件系统及其调度机制的研究,[博士学位论文],哈尔滨,哈尔滨工业大学,2000.6
[2]林来兴,小卫星当今发展水平及其关键技术,863航天技术通讯,1997.7,22(4): 212~225
[3]徐信,孙涤清,“清华一号”微小卫星,航天技术与民品,2000.6,32(4):142~145
[4]章仁为,卫星轨道姿态动力学与控制,北京,北京航空航天大学出版社,1998.8: 312~325
[5] B.J.KIM, H.LEE, S.D.CHOI, Three~Axis Reaction Wheel Attitude Control System for KITSAT-3 Micro~satellite, Satellite Technology Research Center,2001.7 ,24(5): 537~542
[6]贾世楼,曹喜滨,发展微小卫星迎接21世纪挑战,科学前沿与学术评论,2001.6,34(5): 412~425
[7]我国一箭双星成功发射两颗科学实验小卫星,中国航天,2004,12(5):3~4
[8]黄圳圭,航天器姿态动力学,长沙,国防科技大学出版社,1997.11: 512~525
[9] M.D.Shuster, A Survey of Attitude Representations,Journal of Astronautical Sciences, 1993, 4(4): 134~139
[10] Heidt L, Markeley F L, Predictive Filtering for Attitude Estimation Without Rate Sensors, Journal of Guidance Control and Dynamics, 1997, 20(3): 522~523
[11]张帆,曹喜滨,皱经湘,一种新的全角度四元数与欧拉角的转换算法,南京理工大学学报,2002.8,26(4): 215~218
[12] Kristian Svartveit, Attitude determination of the NCUBE satellite, Norwegian University of Science and Technology, 2003,56(5): 354~360
[13] Panagiotis Tsiotras, James M.Longuski, A New Parameterization of the Attitude kinematics, Journal of Astronautical Sciences,1995,43(3):122~126
[14] Maybeck.P,S.Stochastic, Models Estimation and Control, Academic Press, 1997 ,2(3): 532~536
[15] Carl Christian Liebe, Sohrab Mobasser, MEMS Based Sun sensor, IEEE Proceedings Aerospace Conference, 2001: 1565~1572
[16] Jaroslav C, Jaroslav V, Jiri B Frantisek,A simple low cost digital sun sensor for micro~satellites, The 4th IAA Symposium on Small Satellites for Earth Observation Berlin, 2005: 1~4
[17] Shoji K, Christoph M, Michael S, et al.A 2-D CMOS Microfluxgate Sensor System for Digital Detection of Weak Magnetic Fields, IEEE Journal of Solid~State Circuits, 1999, 34(12) :1843~1851
[18]练军想,吴文启,李涛,UKF滤波技术在AUV组合导航中的应用研究,中国惯性技术学报,2005,13(1): 30~34
[19] Lefferts E J, Markely F L, Kalman filtering for spacecraft attitude estimation ,Journal of Guidance Control and Dynamics,1982,5(5): 417~429
[20]胡士强,敬忠良,粒子滤波算法综述,控制与决策,2005,20(4): 361~365
[21] Zhang Hong~mei, Deng Zheng~long, A UKF~based attitude determination method for gyroless satellite, Journal of Systems Engineering and Electronics, 2004, 15(2): 105~109
[22]杨旭,程杨,曹喜兵,粒子滤波在卫星轨道确定中的应用,控制理论与应用, 2005,22(5): 1~4
[23] Julier S Uhlmann J K, A new method for the nonlinear transformation of means and covariance in filters and estimations,IEEE Trans. A. C, 2000, 45(3): 477~482.
[24] Edgar Kraft, A Quaternion~based Unscented Kalman Filter for Orientation Tracking. In "Proceedings of the 6th International Conference on Information Fusion", Australia: Cairns, 2003:178~184
[25] Juergen Schlutz, Attitude and Orbit Control of Small Satellites using Thruster System, Australian Centre for Field Robotics, 2005,22(5):345~350
[26] Stian Sondersrod Ose, Attitude determination for the Norwegian student satellite nCube, Norwegian University of Science and Technology, 2004:112~125
[27] Kristian Svartveit, Attitude determination of the NCUBE satellite, Norwegian University of Science and Technology, 2003:112~125
[28]屠善澄,陈义庆,邹广瑞,卫星姿态动力学与控制,北京,宇航出版社,2001: 112~125
[29] Bang H C, Eun Y E, Lee H, Attitude Control of Bias Momentum Spacecraft by Multiple Pulse Inputs, JSASS 17th International Sessions in 41st Aircraft Symposium,Nagano, Japan, 2003: 1~4
[30] Chang Y K, Lee B H, Kim S J, Momentum wheel start~up method for HAUSAT~2ultra small satellite, Aerospace Science and Technology, 2006,10(3): 168~174
[31] Jensen H B, Wisniewski R, Quaternion Feedback Control for Rigid~Body Spacecraft, AIAA Guidance Navigation and Control Conference and Exhibit, 2005: 2001~4338
[32] Creamer G, Spacecraft attitude determination using gyros and quarternion measurements, The Journal of the Astronautical Sciences, 1996,44(3):357~371
[33] Kim B J, Jahn H, Choi S D, Three~axis reaction wheel attitude control system for KITSAT~3 mirco~satellite, Space Technology, 1996 ,16(5):291~296
[34] Alhichri H.S, Kamel M.Image registration using the Hausdorff fraction and virtual circles. Image Processing, 2001. Proceedings.2001 International Conference on, 2001.10(2): 367~370
[35] Barry S, Leonard, NPSAT1 Magnetic Attitude Control System, 16th annual AIAA Small Sat Conference,2001:105~108
[36] M.D.Shuster, A Survey of Attitude Representations, Journal of Astronautical Sciences, 1993,41(4):256~265
[37] Schaub H, Junkins J L, A Generalization of the Rodrigues Parameters, the Journal of the Astronautical Sciences,1996,44(1):1~19
[38] Tsiotras P, Jihao L, Control of underactuated spacecraft with bounded inputs, Automatica, 2000,36(1):1153~1169
[39]徐燕,微小卫星三轴稳定姿态控制系统设计,[硕士学位论文],南京,南京航空航天大学,2005.2
[40] Matthew R B, Angular Momentum Precession, Acquisition Maneuver and Attitude Estimation Design for SILA PhD, Department of Mechanical and Aerospace Engineering Carleton University Ottawa, 1996,12(5):451~468
[41]李涛,实时容错嵌入式小卫星操作系统设计的研究,[博士学位论文],上海,中国科学院上海冶金研究所,2000.6
[42]高买花,卫星姿轨控系统软件体系结构设计的方案研究,[硕士学位论文],北京,中国科学院空间科学与应用研究中心,2003.1
[43] Jean J.Labrosse,嵌入式实时操作系统μC/OS~Ⅱ,北京,北京航空航天大学出版社,2003.5: 325~364
[44]侯业勤,张菁,分布式嵌入式实时操作系统QNX,北京,宇航出版社,1999.1: 257~456
[45]陈智育,温彦军,陈琪,VxWorks程序开发实践,北京,人民邮电出版社,2004.5: 156~245
[46]陆寅,基于VxWorks的1553B总线通讯系统的设计与实现,[硕士学位论文],西安,西北工业大学,2004.3
[47]陈炯,一个嵌入式实时操作系统内核的设计与实现,微型计算机,1995,15(6): 235~238
[48]孔祥营,嵌入式实时操作系统VxWorks及其开发环境Tornado,中国电力出版社,2002.3: 325~423
[49]王欢,VxWorks操作系统研究及其在鱼雷制导系统中的应用,[硕士学位论文],西安,西北工业大学,2006.3
[50]卢东昕,星载嵌入式可重构软件系统及其调度机制的研究,[博士学位论文],哈尔滨,哈尔滨工业大学,2000.6