阅读说明：本技术 卫星姿态控制方法及系统 (Satellite attitude control method and system ) 是由 阳应权 谢祥华 杨光 王磊 陈宏宇 付碧红 黄志伟 张锐 严玲玲 赵璟 本立言 于 2020-12-08 设计创作，主要内容包括：本发明提供了一种卫星姿态控制方法及系统,包括：根据星上运动部件的运动规律和干扰特性,设置前馈补偿力矩,计算提前补偿时间；根据星上运动部件的运动规律,获取换向过程结束时刻；根据换向过程结束时刻、提前补偿时间和理论运动曲线选取前馈补偿力矩角速度结束阈值和角度开始阈值；实时读取所述星上运动部件的角度和角速度信息,在到达所述减速时刻时,对卫星施加所述前馈补偿力矩并持续至第一阈值时间,以使卫星获得阈值补偿角动量；所述阈值补偿角动量与所述星上运动部件换向过程中产生的干扰角动量大小相等。(The invention provides a satellite attitude control method and a satellite attitude control system, which comprise the following steps: setting a feedforward compensation moment according to the motion rule and the interference characteristic of the on-satellite motion part, and calculating the advance compensation time; acquiring the end time of the reversing process according to the motion rule of the on-satellite motion part; selecting a feedforward compensation moment angular speed ending threshold and an angle starting threshold according to the reversing process ending moment, the advance compensation time and the theoretical motion curve; reading the angle and angular speed information of the satellite moving part in real time, and applying the feedforward compensation moment to the satellite when the deceleration moment is reached and continuing to a first threshold time so that the satellite obtains a threshold compensation angular momentum; the threshold compensation angular momentum is equal to the interference angular momentum generated in the reversing process of the on-satellite moving part.)

1. A satellite attitude control method, comprising:

setting a feedforward compensation moment according to the motion rule and the interference characteristic of the on-satellite motion part, and calculating the advance compensation time; according to the motion rule of the on-satellite motion component, acquiring the end time of the reversing process of the on-satellite motion component; selecting a feedforward compensation moment angular speed ending threshold and an angle starting threshold according to the reversing process ending time, the advance compensation time and the theoretical motion curve of the on-satellite motion component;

reading the angle and angular speed information of the satellite moving part in real time, and applying the feedforward compensation moment to the satellite when the deceleration moment is reached and continuing to a first threshold time so that the satellite obtains a threshold compensation angular momentum;

the threshold compensation angular momentum is equal to the interference angular momentum generated in the reversing process of the on-satellite moving part.

2. The satellite attitude control method according to claim 1, wherein the law of motion of the on-satellite moving parts includes:

the satellite moving part sequentially passes through an angular speed acceleration stage, an angular speed constant stage, an angular speed deceleration stage, an angular speed reverse acceleration stage, an angular speed reverse constant stage and an angular speed reverse deceleration stage in a moving cycle;

the angular velocity acceleration phase, the angular velocity deceleration phase, the angular velocity reverse acceleration phase, and the angular velocity reverse deceleration phase all last for a second threshold time;

the constant angular velocity phase and the inversely constant angular velocity phase last for a third threshold time;

the reversing process of the satellite moving part is defined as the sum of an angular speed deceleration stage and an adjacent angular speed reverse acceleration stage or the sum of the angular speed acceleration stage and the adjacent angular speed reverse deceleration stage, and the duration of the process is defined as the reversing time.

3. The satellite attitude control method according to claim 2, wherein the law of motion of the on-satellite moving parts further includes:

setting the inertia of the satellite to J_SatInertia of the rotating shaft of the satellite moving part is J_MoveThe second threshold time is T₁Then, in the process of reversing the moving parts on the satellite, the maximum angular velocity change amount of the satellite platform is caused as follows:

the interference angular momentum generated in the reversing process of the satellite moving part is changed as follows:

△H＝J_Move·2ω₀；

the average disturbance moment in the reversing process of the on-board moving part is as follows:

4. the satellite attitude control method according to claim 3, wherein acquiring the advance compensation time of the on-satellite moving part includes:

aligning the end time of the reversing process of the satellite moving part with the end time of the feedforward compensation torque, and setting the feedforward compensation torque to be M_compensateMeter for measuringCalculating the time of feedforward compensation moment advance compensation of the on-satellite moving part as follows:

dt is specifically the time for advance compensation relative to the commutation process, and the satisfied constraint conditions are as follows:

and dt<T₂Wherein T is₂Is a third time threshold;

the time for advance compensation relative to the end time of the commutation process is:

△T＝dt+2T₁。

5. the satellite attitude control method according to claim 4, wherein calculating the feedforward compensation torque includes:

when the time dt of the advance compensation is known, the magnitude of the feedforward compensation torque is:

6. the satellite attitude control method according to claim 5, further comprising:

according to the time dt of the advance compensation and the magnitude M of the feedforward compensation moment_compensateSelecting a first compensation ending angular velocity threshold value and a second compensation ending angular velocity threshold value according to the motion angular velocity curve of the satellite motion component;

according to the time dt of the advance compensation and the magnitude M of the feedforward compensation moment_compensateAnd calculating a first compensation starting angle threshold value and a second compensation starting angle threshold value according to the motion angle curve of the on-satellite motion component.

7. The satellite attitude control method according to claim 6, further comprising: a first compensation ending angular speed threshold value omega according to the control error of the on-board moving component₁Close to and less than a first constant angular velocity-omega₀Second compensation end angular velocity threshold ω₂Close to and less than the second constant angular velocity ω₀；

At the end of the first compensation, respectively, the angular speed threshold ω₁And a second end-of-compensation angular velocity threshold ω₂Corresponding time lead dt +2T₁And acquiring the rotation angle of the satellite motion part corresponding to the moment as a first compensation starting angle threshold value alpha₁And a second compensation start angle threshold alpha₂。

8. The satellite attitude control method according to claim 7, characterized in that α is₁And alpha₂And ω₁And ω₂Under the determined condition, when the polarity direction of the on-satellite moving part is consistent with the direction of a certain axis of the satellite, the feedforward compensation moment is as follows:

9. the satellite attitude control method according to claim 7, further comprising:

the satellite motion component broadcasts the motion angle and the motion angular velocity of the satellite motion component to the satellite attitude control system at a fixed frequency,

the satellite attitude control system calculates PID control torque according to a conventional attitude control method,

the satellite attitude control system calculates the feedforward compensation torque by using the latest moment angle and angular speed information of the satellite motion part acquired by measurement, and the feedforward compensation torque and the latest moment angle are superposed to be used as torque instruction input of the satellite-borne reaction wheel set.

10. A satellite attitude control system, comprising:

the feedforward compensation torque module is configured to set a feedforward compensation torque according to the motion rule and the interference characteristic of the on-satellite motion component and calculate the advance compensation time; according to the motion rule of the on-satellite motion component, acquiring the end time of the reversing process of the on-satellite motion component; and selecting a feedforward compensation moment angular speed ending threshold value and an angle starting threshold value according to the ending time of the reversing process of the on-satellite moving part, the advance compensation time and the theoretical motion curve.

The threshold compensation angular momentum module is configured to read the angle and angular speed information of the on-satellite moving component in real time, and when the deceleration moment is reached, the feedforward compensation moment is applied to the satellite and lasts for a first threshold time so that the satellite obtains the threshold compensation angular momentum; wherein:

the threshold compensation angular momentum is basically equal to the interference angular momentum generated in the reversing process of the on-satellite moving component.

Technical Field

The invention relates to the technical field of spacecraft attitude control, in particular to a satellite attitude control method and a satellite attitude control system.

Background

The remote sensing satellite is often provided with moving parts such as a scanning mirror, a swing mirror, a rotary table and the like, and the movement of the moving parts on the satellite influences the precision and stability of the attitude control of the satellite, so that the pointing precision and pointing stability of the moving parts and the load are influenced.

For the disturbance of the moving part moving according to a specific rule, typically, the scanning mirror and the oscillating mirror perform a periodic reciprocating motion according to a certain designed motion curve, and the methods that can be adopted include moving part motion compensation, feed-forward torque compensation and the like.

The existing compensation of the moving part needs to additionally increase a balance wheel or a special moment compensation wheel set, so that the cost for developing the satellite is increased, and the compensation control of the compensation wheel of the moving part needs to additionally design and invest hardware and also increases the time and fund investment for developing the satellite because the control frequency of the moving part is high (50-500 Hz) and the attitude control output frequency of the satellite is generally 1-10 Hz.

The existing feedforward torque compensation control mainly utilizes the information of the reversing time of a moving part to calculate the feedforward compensation control torque, the reversing time of the moving part needs to be strictly output, the requirement on a hardware bottom layer is high, then the reversing time is utilized to perform angular momentum compensation calculation, the corresponding compensation torque is calculated to be output, and when the reversing time information is inaccurate, the effect of compensation is greatly influenced.

Disclosure of Invention

The invention aims to provide a satellite attitude control method and a satellite attitude control system, which aim to solve the problem of high difficulty of the existing control method for eliminating the influence of on-satellite moving parts on satellite attitudes.

In order to solve the above technical problem, the present invention provides a satellite attitude control method, including:

setting a feedforward compensation moment according to the motion rule and the interference characteristic of the on-satellite motion part, and calculating the advance compensation time; according to the motion rule of the on-satellite motion component, acquiring the end time of the reversing process of the on-satellite motion component; and selecting a feedforward compensation moment angular speed ending threshold value and an angle starting threshold value according to the reversing process ending time, the advance compensation time and the theoretical motion curve of the on-satellite motion component.

Reading the angle and angular speed information of the satellite moving part in real time, and applying the feedforward compensation moment to the satellite when the deceleration moment is reached and continuing to a first threshold time so that the satellite obtains a threshold compensation angular momentum;

the threshold compensation angular momentum is equal to the interference angular momentum generated in the reversing process of the on-satellite moving part.

And reading the angle and angular speed information of the satellite moving part in real time, and applying corresponding feedforward compensation torque to the satellite when the angle and angular speed threshold values are met so that the satellite obtains compensation angular momentum. Ideally, the compensation angular momentum is equal to the interference angular momentum generated in the reversing process of the satellite moving component.

Optionally, in the satellite attitude control method, a motion law of the on-satellite moving component includes:

the satellite moving part sequentially passes through an angular speed acceleration stage, an angular speed constant stage, an angular speed deceleration stage, an angular speed reverse acceleration stage, an angular speed reverse constant stage and an angular speed reverse deceleration stage in a moving cycle;

the angular velocity acceleration phase, the angular velocity deceleration phase, the angular velocity reverse acceleration phase, and the angular velocity reverse deceleration phase all last for a second threshold time;

the constant angular velocity phase and the inversely constant angular velocity phase last for a third threshold time;

the reversing process of the satellite moving part is defined as the sum of an angular speed deceleration stage and an adjacent angular speed reverse acceleration stage or the sum of the angular speed acceleration stage and the adjacent angular speed reverse deceleration stage, and the duration of the process is defined as the reversing time.

Optionally, in the satellite attitude control method, the law of motion of the on-satellite moving component further includes:

setting the inertia of the satellite to J_SatInertia of the rotating shaft of the satellite moving part is J_MoveThe second threshold time is T₁Then, in the process of reversing the moving parts on the satellite, the maximum angular velocity change amount of the satellite platform is caused as follows:

the interference angular momentum generated in the reversing process of the satellite moving part is changed as follows:

△H＝J_Move·2ω₀；

the average disturbance moment in the reversing process of the on-board moving part is as follows:

optionally, in the satellite attitude control method, acquiring the advance compensation time of the on-satellite moving component includes:

aligning the end time of the reversing process of the satellite moving part with the end time of the feedforward compensation moment, and setting the feedforward compensationThe moment is assumed to be M_compensateCalculating the time of feedforward compensation moment advance compensation of the satellite moving part as follows:

here, M_compensateIt is generally required to satisfy:

dt is specifically the time for advance compensation relative to the commutation process, and the satisfied constraint conditions are as follows:

and dt<T₂Wherein T is₂Is a third time threshold;

the time for advance compensation relative to the end time of the commutation process is:

△T＝dt+2T₁。

optionally, in the satellite attitude control method, calculating the feedforward compensation moment includes:

when the time dt of the advance compensation is known, the magnitude of the feedforward compensation torque is:

optionally, in the satellite attitude control method, the method further includes:

according to the time dt of the advance compensation and the magnitude M of the feedforward compensation moment_compensateSelecting a first compensation ending angular velocity threshold value and a second compensation ending angular velocity threshold value according to the motion angular velocity curve of the satellite motion component;

according to the time dt of the advance compensation and the magnitude M of the feedforward compensation moment_compensateAnd calculating a first complement of the motion angle curve of the on-board moving elementA gratuitous start angle threshold and a second compensated start angle threshold.

Optionally, in the satellite attitude control method, the method further includes: according to the control error of the satellite moving component, a first compensation ending angular speed threshold value omega₁Should be close to and less than the first constant angular velocity-omega₀Second compensation end angular velocity threshold ω₂Should be close to and less than the second constant angular velocity ω₀；

At the end of the first compensation, respectively, the angular speed threshold ω₁And a second end-of-compensation angular velocity threshold ω₂Corresponding time lead dt +2T₁Acquiring a rotation angle corresponding to the theoretical motion curve of the on-satellite motion component corresponding to the moment, and taking the rotation angle as a first compensation starting angle threshold value alpha₁And a second compensation start angle threshold alpha₂。

Optionally, in the satellite attitude control method, α is₁And alpha₂And ω₁And ω₂Under the determined condition, when the polarity direction of the on-satellite moving part is consistent with the direction of a certain axis of the satellite, the calculation mode of the feedforward compensation moment corresponding to the axis is as follows:

optionally, in the satellite attitude control method, the method further includes:

the satellite motion component broadcasts the motion angle and the motion angular velocity of the satellite motion component to the satellite attitude control system at a fixed frequency,

the satellite attitude control system calculates PID control torque according to a conventional attitude control method,

the satellite attitude control system calculates the feedforward compensation torque by using the latest moment angle and angular speed information of the satellite motion part acquired by measurement, and the feedforward compensation torque and the latest moment angle are superposed to be used as torque instruction input of the satellite-borne reaction wheel set.

The present invention also provides a satellite attitude control system, comprising:

the feedforward compensation torque module is configured to set a feedforward compensation torque according to the motion rule and the interference characteristic of the on-satellite motion component and calculate the advance compensation time; according to the motion rule of the on-satellite motion component, acquiring the end time of the reversing process of the on-satellite motion component; and selecting a feedforward compensation moment angular speed ending threshold value and an angle starting threshold value according to the ending time of the reversing process of the on-satellite moving part, the advance compensation time and the theoretical motion curve.

And the compensation angular momentum module is configured to read the angle and angular velocity information of the on-satellite moving component in real time, apply corresponding feedforward compensation torque to the satellite when the angle and angular velocity threshold values are met, so that the satellite obtains compensation angular momentum, and under the ideal conditions that sampling time delay of the moving component is not considered and the output frequency of satellite attitude control is limited, the compensation angular momentum is equal to the interference angular momentum generated in the reversing process of the on-satellite moving component.

In the satellite attitude control method and the satellite attitude control system, aiming at the interference of a satellite moving part moving according to a specific rule, the angular momentum feedforward compensation control method based on the moving part information is provided, the method does not need an independent balance compensation wheel, does not need the reversing time information of the moving part, only needs the moving angle and the angular speed information of the moving part and the conventional satellite attitude control reaction wheel set to carry out the angular momentum compensation of the moving part, finally improves the stability of the satellite attitude control, does not need the torque output time to be strictly aligned with the theoretical output time in the compensation process, and is simpler and easier to implement in engineering.

Drawings

FIG. 1 is a schematic diagram of a motion curve of an on-satellite moving part of a satellite attitude control method according to an embodiment of the invention;

FIG. 2 is a schematic diagram of interference compensation control introduced by the satellite attitude control method according to an embodiment of the present invention to angular information of a satellite moving component;

FIG. 3 is a schematic diagram of a satellite attitude control system incorporating a feedforward compensation control of a moving part according to an embodiment of the invention;

FIG. 4 is a schematic diagram of a theoretical motion curve of a moving component on a satellite according to an embodiment of the invention;

FIG. 5 is a diagram illustrating the actual motion curve of the moving parts on the satellite according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a three-axis attitude control curve of a satellite according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a three-axis attitude angular velocity control curve of a satellite according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a ground uniaxial air bearing table test validation according to an embodiment of the invention;

FIG. 9 is a schematic diagram of stability control effects of coupling test introduction compensation and cancellation compensation according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of the angle control effect of the coupling test introduction compensation and cancellation compensation according to an embodiment of the present invention.

Detailed Description

The satellite attitude control method and system proposed by the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.

Furthermore, features from different embodiments of the invention may be combined with each other, unless otherwise indicated. For example, a feature of the second embodiment may be substituted for a corresponding or functionally equivalent or similar feature of the first embodiment, and the resulting embodiments are likewise within the scope of the disclosure or recitation of the present application.

The invention provides a satellite attitude control method and a satellite attitude control system, which aim to solve the problem of high difficulty of the existing control method for eliminating the influence of on-satellite moving components on satellite attitudes.

In order to realize the idea, the invention provides a satellite attitude control method and a system, comprising the following steps: the feedforward compensation torque module is configured to set a feedforward compensation torque according to the motion rule and the interference characteristic of the on-satellite motion component and calculate the advance compensation time; a threshold compensation angular momentum module configured to read the bits in real timeThe angle and angular speed information of the star moving parts are advanced dt +2T before the end time of the reversing process₁Applying the feedforward compensation moment to the satellite for a first threshold time so that the satellite obtains a threshold compensation angular momentum; wherein: the threshold compensation angular momentum is basically equal to the interference angular momentum generated in the reversing process of the on-satellite moving component.

The typical motion law of the star moving parts is shown in fig. 1. FIG. 1 shows the course of the angular velocity over 1 cycle of movement of the moving part, at each T₁The moving part is accelerated or decelerated to a certain angular velocity omega in a semi-sinusoidal manner within a time interval₀Or-omega₀(some moving parts move according to uniform acceleration or uniform deceleration), i.e. the reversing time of the moving parts is 2 XT₁(ii) a T in the first half period₂During the time interval, the moving part follows the angular velocity omega₀Performing a movement, T, in the second half cycle₂During the time interval, the moving part follows the angular velocity-omega₀The movement is performed.

Satellite inertia consideration is J_SatInertia of the axis of rotation of the moving part is J_MoveThe moving part causes the maximum angular velocity change (2 × T) of the satellite platform₁Internal) is:

2×T₁the amount of internally induced angular motion varies: Δ H ═ J_Move·2ω₀

2×T₁The inner average disturbance moment is:

the working feedforward compensation design of the moving part comprises the following steps: an interference suppression control scheme for introducing angle information of a moving part is shown in a schematic diagram in fig. 2, the angle and angular velocity information of the moving part are read in real time, the angle and angular velocity of the moving part are selected as shown in the lower half part of fig. 2, and a feed-forward compensation moment with a fixed magnitude is implemented in advance and continues for a certain time when the moving part is about to reach a motion boundary, namely, at the moment when the reversing process is finished, so that the generated compensation angular momentum has a magnitude equal to the interference angular momentum generated by reversing of the moving part, and the two components are mutually counteracted in most of the time, thereby reducing the influence of the reversing of the moving part on the.

As shown in FIG. 2, the moment at which the moment of action of the moving part ends can be substantially aligned with the moment at which the moment of compensation ends, where the moment of compensation is assumed to be set to M_compensateThen, the time for compensating the moment of the moving part in advance can be calculated as:

the time for advance compensation relative to the end time of the commutation process is:

△T＝dt+2T₁

on the contrary, if the time for advance compensation is known to be dt, the magnitude of the compensation torque is calculated as:

the selection of the compensation time considering the moving part can be selected according to the following principle:

the ratio is not suitable to be too small or too large, and due to the fact that time delay exists in the measurement sampling time of the measurement component, time delay exists in the data measurement and processing time of the satellite attitude sensor, flywheel wheel set response, PID control calculation output and the like, the moment feedforward compensation effect can be reduced under the condition that the ratio is too small or too large.

dt+2T₁The constraint should also be satisfied:

dt+2T₁<T₂+2T₁i.e. dt<T₂。

As shown in fig. 2, the time dt when the compensation is advanced and the magnitude M of the compensation torque_compensateAfter the determination, selecting alpha according to the motion angle curve of the motion part₁And alpha₂Selecting omega according to the motion angular velocity curve₁And ω₂。

Taking into account the control effect of the moving part, a certain control error, ω₁Should be selected not to equal-omega₀But should be close to it, i.e. need omega₁>-ω₀In the same way as omega₂Should be chosen not to be equal to omega₀But should be close to it, i.e. need omega₂<ω₀；

At omega₁And ω₂In the given case dt +2T is respectively taken forward at their respective times₁The time of (a) corresponds to the rotation angle alpha of the moving part₁And alpha₂。

At α₁And alpha₂And ω₁And ω₂Under the determined condition, the feedforward compensation moment is calculated according to the following principle (when the polar direction of the motion part is consistent with the direction of a certain axis of the satellite):

after the measurement acquisition and processing of the moving part and the determination of the time delay (Tdelay, generally a range) from the calculation of the compensation torque in the attitude control process, the corresponding angular velocity at the time of the reversing end time-Tdelay can be used as omega₁And ω₂Then re-determine alpha₁And alpha₂。

The satellite attitude control feed-forward compensation comprises the following steps: the moving component broadcasts information such as a moving angle, a moving angular speed and the like of the moving component to a satellite attitude control system at a certain fixed frequency (50-500 Hz), the satellite attitude control system calculates a PID control torque according to a conventional attitude control method on one hand, and calculates a feedforward compensation torque according to the latest moment angle and angular speed information of the moving component acquired by measurement as described above, and the two torques are superposed to be used as torque instruction input of a satellite-borne reaction wheel set. The structural block diagram of the feedforward compensation control is shown in fig. 3.

The control period of the satellite attitude control system is not suitable to be higher than T₁Half of the total time delay is larger than the maximum time delay, so that the control effect of moment compensation is influenced, and in addition, the design of the satellite attitude controller also considers the relationship between the bandwidth of a control system and the vibration frequency of the sailboard and the interference frequency of the moving part, optimizes the bandwidth design of the controller and adds a structural filter so as to avoid exciting the resonance influence of the satellite and the sailboard and the satellite and the moving part.

The embodiment of the invention also provides simulation verification, which specifically comprises the following steps:

the theoretical motion curve and the actual motion curve of a satellite-borne motion part (a swing mirror) in a certain research satellite are respectively shown in fig. 4 and fig. 5. The moving part is installed on the X axis of the satellite. Its main effects are as follows:

maximum angular acceleration of the moving part: 29.7 °/s²；

Theoretical maximum disturbance torque: 31 mNm;

analyzing the disturbance moment of the satellite platform:

considering the satellite inertia (x-axis) as 430kgm2 and the moving part inertia as 0.065kgm2, the maximum angular velocity change (within 0.58 s) that the moving part causes to the satellite platform is: dw-0.065.48/430 2-0.0017 °/s.

The average disturbance torque within 0.58s is: 0.065 × 5.48 × pi/180/0.29 — 0.0214 Nm;

the average impulse in 0.58s is: 0.065.48 pi/180 pi 2-0.0124 Nms;

setting simulation parameters:

inertia of the satellite: [430346559-2-337]kgm²；

Initial attitude angle to ground: [000] (iv) DEG;

initial attitude to ground angular velocity: [000] (ii) DEG/s;

satellite attitude control frequency: 8Hz (control period 125 ms);

moving part control frequency: 100 Hz;

angular velocity information broadcast frequency of moving part: 100 Hz;

the moving part measures the acquisition time delay for 100 ms;

the star-sensitive gyroscope measures the acquisition time delay for 100 ms;

the magnitude of the compensation moment is as follows: 0.015 Nm;

the moving part effects use the actual motion disturbance as an input.

The result of the control simulation of the satellite-to-ground attitude pointing accuracy is shown in fig. 6, and the result of the control simulation of the satellite-to-ground attitude stability is shown in fig. 7.

Simulation results show that: in the case of the influence of the moving parts on the satellite, the stability of the satellite attitude control is better than 0.00065 DEG/s by adopting the feedforward compensation method provided by the invention, and the stability of the satellite attitude control is deteriorated to 0.0017 DEG/s after the feedforward compensation is cancelled. The effect of introducing the feedforward control is improved by about 62% compared with that before introduction.

The air bearing table coupling test verification comprises the following steps: a certain satellite under study performs a coupling control test of an air bearing table and a moving part (swing mirror) based on a feedforward compensation control method provided by the invention, the layout of a test site is shown in figure 8, and the coupling test result is shown in figures 9 and 10.

The test result shows that the stability control precision is better than 0.0012 degree/s when compensation is introduced into the air floating table, and the inertia test average value of the air floating table is 280kgm²The stability control accuracy equivalent to the on-orbit satellite is 0.00105 × 280/430 ═ 0.00068 °/s, the stability control accuracy after canceling the compensation is better than 0.0025 °/s, and the stability control accuracy equivalent to the on-orbit satellite is 0.0026 × 280/430 ═ 0.0017 °/s. The effect of introducing the feedforward control is improved by about 60 percent compared with that before introducing.

Aiming at the interference influence of a moving part which moves according to a specific rule, the invention adopts the following method to overcome the defects of the prior art and achieve the technical effect:

the broadcasted motion angle and angular velocity information of the moving part are used as the calculation basis of the compensation moment, the reversing time information of the moving part is not used as the calculation basis of the compensation moment, the requirements on hardware bottom layers and relative time calculation are low, the moment output is not required to be strictly aligned with the theoretical output moment, and certain time delay is allowed to exist.

The superposed moment is obtained by utilizing feedforward and satellite attitude control PID calculation and is used as the control input of the satellite-borne reaction wheel, and the feedforward compensation and the attitude control of the swing mirror are carried out by utilizing the satellite attitude control reaction wheel without an independent balance compensation wheel or a compensation wheel set.

The invention has the following advantages for the interference influence of the moving parts moving according to a specific rule:

the broadcasted motion angle and angular speed information of the moving part is used as the calculation basis of the compensation moment, and the commutation moment information of the moving part is not used as the calculation basis of the compensation moment, so that the requirements on hardware bottom layers and relative time calculation are low.

The superposed moment is obtained by utilizing feedforward and satellite attitude control PID calculation and is used as the control input of the satellite-borne reaction wheel, and an independent balance compensation wheel or a compensation wheel group is not needed.

The designed angle parameter, angular velocity parameter and compensation moment parameter can be modified through a ground command, the flexibility of the control system is improved, and the angle parameter, the angular velocity parameter and the compensation moment parameter can be modified properly to improve the control stability of the satellite platform after various time delays of the satellite-borne software are evaluated.

The proposal provided by the invention carries out compensation moment calculation from another mode (utilizing angle and angular velocity information), expands the existing compensation method of the satellite-borne motion component, is successfully applied to the attitude control design of a scientific earth observation satellite, and is taken as one of key technologies of the attitude control design.

In summary, the above embodiments have described the satellite attitude control method and system in detail, but it is understood that the present invention includes but is not limited to the configurations listed in the above embodiments, and any modifications based on the configurations provided by the above embodiments are within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.

The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.