Software Implementation And External Angular Rate Sensing Study Of Gyrowheel System

With the continuous development of space technology in recent years,spacecraft miniaturization has attracted more attention of institutions and researchers.Gyrowheel could output three-axis control torque and measure the two-axis attitude angular velocity of spacecraft at the same time.It integrates the function of attitude measurement and control torque output,which can effectively reduce the cost,mass and power consumption of micro spacecraft.In this paper,the software implementation of gyrowheel prototype is studied.On the basis of the design and development of the test program,problems of rotor tilt control and vibration control are studied.In addition,this paper presents a calibration method of attitude measurement equation under all operating conditions,and the effectiveness of the proposed method is verified by simulation test.First of all,this paper analyzes the system composition and working principle of the gyrowheel system.On this basis,the requirements of the control program of gyrowheel is studied.Based on the requirements,the structure of test control program is designed.The program is divided into real-time and non-real-time subsystems,and different modules are distinguished in these subsystems.The software implementation of the test control program of gyro flywheel is carried out after the structure design.The software could accomplish human-computer interaction,real-time display,data storage and other tasks,and could meet the needs of daily test of gyrowheel by setting different test logic.Tilt control of the gyrowheel system is studied.Firstly,the coupling problem of two axes of rotor is studied.The coupling matrix is designed from the two-axis transfer function,and the parameters in the coupling matrix are identified through the frequency sweep test.Simulations show that the decoupling matrix could effectively reduce the coupling phenomenon of the two axes.On this basis,the main controller of the tilt control loop is designed.The simulation results show that the designed controller could achieve the proposed steady-state,dynamic and robust performance critrias,has practical value.The vibration characteristics of gyrowheel are studied.Simulations show that the main component of the vibration in the closed-loop state is on the spinning frequency.The active suppression of the spinning-frequency vibration is studied.The basic method of active vibration suppression and two optimization methods are proposed.Simulations show that both optimization methods could effectively suppress the spinning-frequency vibration of the rotor.Finally,a scheme of attitude measurement accuracy evaluation under all conditions is proposed,and the effectiveness of the scheme is verified by the simplified measurement equation.In addition,the calibration method of complete attitude measurement equation is studied.A calibration method based on sine input and triangle transformation is proposed.Simulations show the obtained complete attitude measurement equation is better than the simplified attitude measurement equation.