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为了在硬件有限的条件下测试微纳卫星姿态控制软件的实时控制性能,建立了微纳卫星姿态控制软件实时测试系统,并使用该系统对微纳卫星姿态控制软件进行了测试实验。根据卫星姿态动力学与运动学、轨道环境信息与姿态控制算法数学模型,在PC机上设计开发了微纳卫星模拟飞行平台。使用控制器局域网络(CAN)和串口建立了连接星载计算机与PC机微纳卫星模拟飞行平台的高效通讯链路,并对姿态控制软件主程序进行必要的修改。最后,基于该实时测试系统完成了星载计算机上姿态控制软件的实时控制性能测试实验。实验结果表明:姿态控制软件在星箭分离后18 446s完成初始控制阶段并进入偏置对地三轴稳定模式,实现了微纳卫星的稳态控制目标。偏置对地三轴稳定模式中卫星最低单轴姿态精度与角速度稳定度分别优于±1.86°和±0.048(°)/s,满足该模式控制精度与收敛时间的要求。
In order to test the real-time control performance of the micro / nano satellite attitude control software under the condition of limited hardware, a real-time test system of the micro / nano satellite attitude control software is established. The micro-nano satellite attitude control software is tested by the system. According to the mathematics model of satellite attitude dynamics and kinematics, orbit environment information and attitude control algorithm, a micro / nano satellite simulation flight platform is designed and developed on a PC. The controller LAN (CAN) and serial port are used to establish an efficient communication link between the satellite-borne computer and the PC micro-nano satellite flight simulator. The main program of the attitude control software is modified as necessary. Finally, based on the real-time test system, real-time control performance test of attitude control software is completed on the onboard computer. The experimental results show that the attitude control software completes the initial control phase at 18446s after the separation of the Astrolabeach and enters the triaxial stability mode of bias to ground, achieving the goal of steady state control of the micro / nano satellite. The accuracy of the minimum single-axis attitude and the angular velocity stability of the satellite in bias-to-ground triaxial stability mode are better than ± 1.86 ° and ± 0.048 ° / s, respectively, which meets the requirements of control precision and convergence time of this mode.