高分辨率遥感卫星隔振与姿态控制一体化设计
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摘要
安装在高分辨率遥感卫星上的空间相机对振动十分敏感。星上姿态控制飞轮等扰振源产生的振动会使相机视线发生抖动，导致其获取的图像产生扭曲、模糊等现象，无法达到预期的分辨能力。针对飞轮与相机采取隔振措施是减小相机视线抖动、提高成像质量的有效途径。降低隔振频率可以提高隔振效果，但同时会对姿态控制性能产生不利影响。本文的主要研究目的是在考虑姿态控制系统性能需求的前提下，寻找隔振频率的下限，以达到最佳的振动隔离效果。当隔振效果仍不能满足要求时，将通过隔振与姿态控制的协同设计实现更理想的隔振效果。
研究了用于评估扰振对遥感卫星图像质量影响的结构-控制-光学一体化建模方法。分析了飞轮产生振动的原因，并通过实验测试验证了谐波叠加模型的有效性。研究了通过隔振装置连接的子结构模态综合方法，提高了修改隔振装置设计时对整体结构进行模态重分析的效率。研究了用于评估扰振影响的光学评价指标。
研究了考虑对姿态控制系统影响时选取飞轮隔振参数的方法。推导了安装隔振装置后飞轮的动力学方程，分析了飞轮隔振装置六自由度扰振载荷传递特性，研究了飞轮在隔振装置上的进动与章动现象以及卫星姿态调整引起的飞轮进动规律。结果表明，降低隔振频率时，飞轮进动衰减时间会大幅延长并对卫星姿态形成低频扰动，对进动衰减时间的要求决定了飞轮隔振频率与阻尼比的下限。
研究了考虑控制系统需求时选取相机隔振参数的方法以及相机隔振与姿态控制的协同设计方法。研究了相机隔振导致的异位控制问题，推导了一种形式简洁的异位控制系统稳定条件，即为了保证系统的稳定性，隔振装置的响应时间应短于控制系统的响应时间，这对相机隔振频率及阻尼比的下限也提出了要求。采用回路相位分析方法对控制与结构的相互作用规律进行了研究，发现异位控制系统易于失稳的原因是控制回路对结构模态形成了负阻尼。研究了隔振与姿态控制协同设计方法，结果表明用时采取低频相机隔振与控制律规修改措施可以在保证姿态控制性能的同时实现更好的隔振效果。
采用优化方法对飞轮、相机隔振参数的选取进行了研究，通过设定控制规律修改策略实现了隔振与姿态控制的联合优化设计。优化结果表明，综合采用飞轮隔振、低频相机隔振及相应的控制规律修改措施可以在保证姿态控制性能的同时实现最佳的隔振效果。
The space camera onboard the high resolution remote sensing satellite is extremelysensitive to disturbances, which can degrade the performance by resulting in blurred ordistorted image. To reduce the line-of-sight jitter caused by disturbances, passiveisolators can be added between the satellite bus and the reaction wheel, or between thesatellite bus and the space camera. To achieve better disturbance attenuation, isolatorswith lower cut-off frequencies should be used, which, however, may degrade theattitude control performance. This paper will focused on finding the lower limit of theisolation frequency with its impacts on the attitude control performance taken intoaccount. If the requirement for isolation performance cannot be satisfied, an integrateddesign of the isolator and attitude control will be performed to achieve better vibrationattenuation.
The integrated modeling of structures-controls-optics is studied, which is necessaryto evaluate the impact of disturbances on the image quality. The disturbance generatedby the reaction wheel is characterized and demonstrated through disturbance tests. Acomponent mode synthesis method is studied for structures connected with isolators,which can reduce the eigenvalue re-analysis costs when tuning the isolator parameters.The image formation principles, the optical sensitivity and the performance metricsderived from the modulation transfer function are introdued which are useful inevaluating the impact of disturbances on the image.
The selection of wheel isolation parameters is studied with the impact on theattitude control performance taken into account. The motion of equation of the reactionwheel mounted on an isolator is derived and the disturbance transmissibilities in6degree of freedoms are analysed. The precession and nutation phenomena of a wheel onan isolator as well as the wheel percession excited by the base motion are studied. It isshown that the lower limit of the frequency and damping ratio of the wheel isolator ismainly determined by the required precession decay time.
The integrated design method of camera isolation and attitude control is studied.The non-collocated control problem induced by the camera isolation is investigated andan analytical stability condition is derived, which indicates that the settling time of theisolator should be shorter than the controller to ensure the system stability. A loop phase based analysis method is proposed and applied in the controls-structures interactionstudy, which shows that it is the negative damping added to the sturctural mode by thecontrol loop that makes the non-collocated control system easily be destablized. Anintegrated design method of camera isolation and attitude control is studied, which canachieve better disturbance attenuation compared to separate design.
A design method based on optimization is proposed to help determine theparameters of vibration isolators. A control law modification strategy is added to theoptimization process to perform integrated design of the vibration isolator and attitudecontrol. Results show that a combination of wheel isolation, low frequency cameraisolation and the corresponding control law modification can result in optimaldisturbance attenuation while ensuring the attitude control performance.
研究了用于评估扰振对遥感卫星图像质量影响的结构-控制-光学一体化建模方法。分析了飞轮产生振动的原因，并通过实验测试验证了谐波叠加模型的有效性。研究了通过隔振装置连接的子结构模态综合方法，提高了修改隔振装置设计时对整体结构进行模态重分析的效率。研究了用于评估扰振影响的光学评价指标。
研究了考虑对姿态控制系统影响时选取飞轮隔振参数的方法。推导了安装隔振装置后飞轮的动力学方程，分析了飞轮隔振装置六自由度扰振载荷传递特性，研究了飞轮在隔振装置上的进动与章动现象以及卫星姿态调整引起的飞轮进动规律。结果表明，降低隔振频率时，飞轮进动衰减时间会大幅延长并对卫星姿态形成低频扰动，对进动衰减时间的要求决定了飞轮隔振频率与阻尼比的下限。
研究了考虑控制系统需求时选取相机隔振参数的方法以及相机隔振与姿态控制的协同设计方法。研究了相机隔振导致的异位控制问题，推导了一种形式简洁的异位控制系统稳定条件，即为了保证系统的稳定性，隔振装置的响应时间应短于控制系统的响应时间，这对相机隔振频率及阻尼比的下限也提出了要求。采用回路相位分析方法对控制与结构的相互作用规律进行了研究，发现异位控制系统易于失稳的原因是控制回路对结构模态形成了负阻尼。研究了隔振与姿态控制协同设计方法，结果表明用时采取低频相机隔振与控制律规修改措施可以在保证姿态控制性能的同时实现更好的隔振效果。
采用优化方法对飞轮、相机隔振参数的选取进行了研究，通过设定控制规律修改策略实现了隔振与姿态控制的联合优化设计。优化结果表明，综合采用飞轮隔振、低频相机隔振及相应的控制规律修改措施可以在保证姿态控制性能的同时实现最佳的隔振效果。
The space camera onboard the high resolution remote sensing satellite is extremelysensitive to disturbances, which can degrade the performance by resulting in blurred ordistorted image. To reduce the line-of-sight jitter caused by disturbances, passiveisolators can be added between the satellite bus and the reaction wheel, or between thesatellite bus and the space camera. To achieve better disturbance attenuation, isolatorswith lower cut-off frequencies should be used, which, however, may degrade theattitude control performance. This paper will focused on finding the lower limit of theisolation frequency with its impacts on the attitude control performance taken intoaccount. If the requirement for isolation performance cannot be satisfied, an integrateddesign of the isolator and attitude control will be performed to achieve better vibrationattenuation.
The integrated modeling of structures-controls-optics is studied, which is necessaryto evaluate the impact of disturbances on the image quality. The disturbance generatedby the reaction wheel is characterized and demonstrated through disturbance tests. Acomponent mode synthesis method is studied for structures connected with isolators,which can reduce the eigenvalue re-analysis costs when tuning the isolator parameters.The image formation principles, the optical sensitivity and the performance metricsderived from the modulation transfer function are introdued which are useful inevaluating the impact of disturbances on the image.
The selection of wheel isolation parameters is studied with the impact on theattitude control performance taken into account. The motion of equation of the reactionwheel mounted on an isolator is derived and the disturbance transmissibilities in6degree of freedoms are analysed. The precession and nutation phenomena of a wheel onan isolator as well as the wheel percession excited by the base motion are studied. It isshown that the lower limit of the frequency and damping ratio of the wheel isolator ismainly determined by the required precession decay time.
The integrated design method of camera isolation and attitude control is studied.The non-collocated control problem induced by the camera isolation is investigated andan analytical stability condition is derived, which indicates that the settling time of theisolator should be shorter than the controller to ensure the system stability. A loop phase based analysis method is proposed and applied in the controls-structures interactionstudy, which shows that it is the negative damping added to the sturctural mode by thecontrol loop that makes the non-collocated control system easily be destablized. Anintegrated design method of camera isolation and attitude control is studied, which canachieve better disturbance attenuation compared to separate design.
A design method based on optimization is proposed to help determine theparameters of vibration isolators. A control law modification strategy is added to theoptimization process to perform integrated design of the vibration isolator and attitudecontrol. Results show that a combination of wheel isolation, low frequency cameraisolation and the corresponding control law modification can result in optimaldisturbance attenuation while ensuring the attitude control performance.
引文
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