Satellite attitude and orbit integrated control device and method of step-length control thruster

Abstract

The invention is applied to the technical field of aerospace, and particularly discloses a satellite attitude and orbit integrated control device for step-length control thrusters, the satellite attitude and orbit integrated control device comprises a body, the mass center coordinate system of the body is 0-XYZ, a third thruster and a fourth thruster are rotatably mounted on the XOZ face of the body, a rotating meshing mechanism is arranged on the outer surface of the body, and the third thruster and the fourth thruster are meshed with each other through the rotating meshing mechanism. The posture of the body can be accurately adjusted by rotating the meshing mechanism. According to the satellite attitude and orbit integrated control device for controlling the thruster through the step length, when the body needs to be subjected to orbit adjustment, a nozzle in a certain axial direction is adjusted, so that the thrust direction of the nozzle is perpendicular to the axial direction of the advancing direction, the speed is provided, and orbit transfer is conducted according to the Kepler law; when the satellite needs to be subjected to attitude adjustment around a certain axis, the nozzles are adjusted to be parallel to the bottom surface, the two engines on the same plane are started to generate torque, the satellite is made to roll to adjust the attitude, and when the body needs attitude and orbit control, the engine step length can be adjusted to control thrust working time adjustment.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a satellite attitude and orbit integrated control device and method for a step-length control thruster. Background Art

[0002] With the development of science and technology, the scope of human activities is no longer limited to the ground, but has developed towards the air and even outer space. The development of science and technology and machines has brought great convenience to people. Among them, the machines in outer space are satellites. Satellites play a vital role in modern communications, navigation, meteorology, earth observation and other fields. In terms of communications, they provide people with telephone, Internet, radio and television services. In terms of navigation, they play a vital role in positioning in transportation, navigation, military and daily life. They also provide people with convenient capabilities such as predicting weather, monitoring climate change and natural disasters, and play a vital role in agriculture, aviation, marine transportation and other fields.

[0003] Satellites fly in a weightless environment in space and are very susceptible to external factors and tumbling and rotating. If their attitude is not adjusted, the satellite orbit will change and the satellite will not be able to meet the required usage requirements. Therefore, satellites need to make micro-adjustments to their attitude from time to time when orbiting the earth. Currently, there are many methods for adjusting the attitude and orbit of satellites, usually using reaction wheels, magnetic torquers, small attitude thrusters and other equipment. Satellite attitude and orbit control with thrusters as actuators has the characteristics of fast response and high pointing accuracy. However, most of the variable nozzles on satellites are fixed. When adjusting the attitude of the satellite, many operating steps are required to complete the adjustment of the satellite's attitude, which is inconvenient to use. Summary of the invention

[0004] The object of the present invention is to provide a satellite attitude and orbit integrated control device and method for a step-controlled thruster, so as to solve the problem in the above-mentioned background technology that the nozzle for adjusting the attitude on the satellite is fixed and it is difficult to adjust the attitude of the satellite.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a satellite attitude and orbit integrated control device of a step-controlled thruster, comprising a body, the center of mass coordinate system of the body is 0-XYZ, and the YOZ surface of the body is respectively rotatably mounted with a first thruster and a second thruster, and the nozzle directions of the first thruster and the second thruster are opposite, the XOZ surface of the body is respectively rotatably mounted with a third thruster and a fourth thruster, and the nozzle directions of the third thruster and the fourth thruster are opposite, the XOY surface of the body is respectively rotatably mounted with a fifth thruster and a sixth thruster, and the nozzle directions of the third thruster and the fourth thruster are opposite, and the outer surface of the body is provided with a rotating meshing mechanism, and the body can accurately adjust its attitude through the rotating meshing mechanism.

[0006] Preferably, the rotating engagement mechanism includes: a fixed block, a plurality of the fixed blocks are fixedly installed inside the body, a plurality of racks are slidably installed on the outer surface of the body, and the racks are engaged with a fifth rotating gear, a stepping drive motor is fixedly installed on the outer surface of the fixed block, a fixed gear is rotatably installed inside the fixed block, and the fixed gear is connected to the stepping drive motor, the stepping drive motor and the fixed gear are concentrically designed, and the fixed gear is engaged with the rack.

[0007] By adopting the above technical solution, when the main body needs to perform orbital attitude control, the appropriate thruster can be selected according to the target orbit or attitude, and the fixed gear can be driven to rotate by the rotation of the stepper drive motor, so that the rack meshing with the fixed gear moves, the exact position of the rack is adjusted, and the direction of the nozzle is changed to facilitate the adjustment of the attitude and position of the main body.

[0008] Preferably, the first thruster and the second thruster are installed diagonally, the third thruster and the fourth thruster are installed diagonally, and the fifth thruster and the sixth thruster are installed diagonally.

[0009] By adopting the above technical solution, the diagonal installation of the first thruster, the second thruster, the third thruster, the fourth thruster, the fifth thruster and the sixth thruster can effectively keep the body balanced when rotating.

[0010] Preferably, a fifth rotating gear is rotatably installed on the YOZ surface of the body, and the rotating shaft of the fifth rotating gear is connected to the rotating shaft of the second thruster, a sixth rotating gear is rotatably installed on the YOZ surface of the body, and the rotating shaft of the sixth rotating gear is connected to the rotating shaft of the first thruster, the YOZ surface of the body is penetrated by a rack, and the rack is diagonally designed, the fifth rotating gear is meshed with the rack, and another rack is meshed with the sixth rotating gear.

[0011] By adopting the above technical solution, the fixed gear can be driven by the rotation of the stepper drive motor fixed on the outer surface of the fixed block, so that the rack meshing with the fixed gear can move together, and the fifth rotating gear and the sixth rotating gear can be driven to rotate together, so as to adjust the angle of the first thruster and the second thruster, and enable the first thruster and the second thruster to generate thrust in the same direction as the X-axis, and enable the main body to rotate in the direction of the X-axis.

[0012] Preferably, a second rotating gear is rotatably installed on the XOZ surface of the body, and the rotating shaft of the second rotating gear is connected to the rotating shaft of the fourth thruster, a third rotating gear is rotatably installed on the XOZ surface of the body, and the rotating shaft of the third rotating gear is connected to the rotating shaft of the third thruster, the XOZ surface of the body is penetrated by a rack, and the rack is diagonally designed, the second rotating gear is meshed with the rack, and the other rack is meshed with the third rotating gear.

[0013] By adopting the above technical solution, the angles of the third thruster and the fourth thruster can be changed, and the third thruster and the fourth thruster can generate thrust in the same direction as the X-axis, and the body can be rotated in the Y-axis direction.

[0014] Preferably, a first rotating gear is rotatably installed on the XOY surface of the main body, and the rotating shaft of the first rotating gear is connected to the rotating shaft of the sixth thruster, a fourth rotating gear is rotatably installed on the XOY surface of the main body, and the rotating shaft of the fourth rotating gear is connected to the rotating shaft of the fifth thruster, the XOY surface of the main body is penetrated by a rack, and the rack is of a diagonal design, the first rotating gear is meshed with the rack, and the other rack is meshed with the fourth rotating gear.

[0015] By adopting the above technical solution, the angles of the fifth thruster and the sixth thruster can be changed, and the fifth thruster and the sixth thruster can generate thrust in the same direction as the Z axis, and the body can be rotated in the Z axis direction.

[0016] Preferably, the fixed gear has the same diameter as the first rotating gear, the second rotating gear, the third rotating gear, the fourth rotating gear, the fifth rotating gear and the sixth rotating gear, respectively.

[0017] By adopting the above technical solution, the fixed gear can maintain the same moving distance when rotating to drive the rack to move, so that the fixed gear and the first rotating gear, the second rotating gear, the third rotating gear, the fourth rotating gear, the fifth rotating gear and the sixth rotating gear can rotate synchronously when adjustment is needed.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: the satellite attitude and orbit integrated control device of the step-length control thruster:

[0019] 1. The fixed gear can be driven to rotate together by the rotation of the stepper drive motor, so that the rack meshing with the fixed gear can move, and the rack can slide inside the body to adjust the direction of the thruster nozzle according to the track that the body needs to travel, so that the posture and track of the body can be easily changed during travel;

[0020] 2. The fifth rotating gear and the sixth rotating gear are driven to rotate by the rotation of the stepping driving motor to adjust the nozzle directions of the first thruster and the second thruster, so that the first thruster and the second thruster generate thrust in the same direction as the X-axis. When the body is to rotate around the X-axis so that its roll angle changes, the nozzle directions of the first thruster and the second thruster are adjusted to be parallel to the YOZ plane and thrust is applied to generate a torque to roll the body, so that the body can be pushed and moved along the direction of the X-axis and can roll;

[0021] 3. Through the movement of the rack, the second rotating gear and the third rotating gear meshing with the rack can be rotated, and the third thruster and the fourth thruster can be driven to rotate, so that the body can change the rolling angle around the Y axis, and the third thruster and the fourth thruster can be made parallel to the XOZ plane and apply thrust to change the navigation angle, thereby changing the navigation angle of the body, and accelerating the body in the Y axis direction;

[0022] 4. Along with the adjustment of the course, the rack will move and drive the first rotating gear and the fourth rotating gear to rotate together, so that the angles of the fifth thruster and the sixth thruster can be changed and generate thrust in the same direction as the Z axis, and the roll angle can be changed when the body rotates around the Z axis by changing the angles of the fifth thruster and the sixth thruster, and the fifth thruster and the sixth thruster can be parallel to the XOZ plane and apply thrust, so that the angle of the body changes to generate torque, and the body can pitch and accelerate along the Z axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the body and the rack of the present invention;

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure of the third thruster and the fourth thruster of the present invention;

[0025] Figure 3 It is a schematic diagram of the cross-sectional three-dimensional structure of the main body and the fixing block of the present invention;

[0026] Figure 4 It is a schematic diagram of the three-dimensional structure of the fixing block and the stepping drive motor of the present invention;

[0027] Figure 5 It is a schematic diagram of the cross-sectional three-dimensional structure of the fixing block and the rack of the present invention;

[0028] Figure 6 It is a schematic diagram of the cross-sectional three-dimensional structure of the main body and the fourth rotating gear of the present invention;

[0029] Figure 7 It is a schematic diagram of the three-dimensional structure of the fourth rotating gear and the fifth rotating gear of the present invention;

[0030] Figure 8It is a three-dimensional structural diagram of the position of the first thruster for axial acceleration when the main body of the present invention changes its track;

[0031] Fig. 9 It is a schematic diagram of the three-dimensional structure of the engine position when the main body of the present invention rotates around the Z axis;

[0032] Fig.10 It is a schematic diagram of the exploded three-dimensional structure of the second rotating gear and the stepping drive motor of the present invention;

[0033] Fig.11 It is a schematic diagram of the calculation formula of the present invention;

[0034] Fig.12 It is a schematic diagram of the complete process of satellite attitude and orbit control integration of the present invention.

[0035] In the figure: 1. body; 2. first thruster; 3. second thruster; 4. third thruster; 5. fourth thruster; 6. fifth thruster; 7. sixth thruster; 8. rack; 9. first rotating gear; 10. second rotating gear; 11. third rotating gear; 12. fourth rotating gear; 13. fifth rotating gear; 14. sixth rotating gear; 15. fixed block; 16. stepping drive motor; 17. fixed gear. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1-12 The present invention provides a technical solution: a satellite attitude and orbit integrated control device and method of a step-controlled thruster, comprising a body 1, the center of mass coordinate system of the body 1 is 0-XYZ, and the YOZ surface of the body 1 is respectively rotatably mounted with a first thruster 2 and a second thruster 3, and the nozzle directions of the first thruster 2 and the second thruster 3 are opposite, the XOZ surface of the body 1 is respectively rotatably mounted with a third thruster 4 and a fourth thruster 5, and the nozzle directions of the third thruster 4 and the fourth thruster 5 are opposite, the XOY surface of the body 1 is respectively rotatably mounted with a fifth thruster 6 and a sixth thruster 7, and the nozzle directions of the third thruster 4 and the fourth thruster 5 are opposite, and the outer surface of the body 1 is provided with a rotating meshing mechanism, and the body 1 can accurately adjust its attitude through the rotating meshing mechanism.

[0038] The six thrusters on the outer surface of the body 1 are respectively installed on the bottom surface parallel to the three surfaces XOY, XOZ and YOZ, and can be rotated by rotating the engagement mechanism so that the thruster nozzles can generate thrust in different directions to achieve the purpose of adjusting the orbit and attitude.

[0039] The rotating meshing mechanism includes: a fixed block 15, multiple fixed blocks 15 are fixedly installed inside the body 1, multiple racks 8 are slidably installed on the outer surface of the body 1, and the racks 8 are meshed with the fifth rotating gear 13, a stepping drive motor 16 is fixedly installed on the outer surface of the fixed block 15, a fixed gear 17 is rotatably installed inside the fixed block 15, and the fixed gear 17 is connected to the stepping drive motor 16, the stepping drive motor 16 and the fixed gear 17 are concentrically designed, and the fixed gear 17 is meshed with the rack 8, the first thruster 2 and the second thruster 3 are diagonally installed, the third thruster 4 and the fourth thruster 5 are diagonally installed, and the fifth thruster 6 and the sixth thruster 7 are diagonally installed.

[0040] When the main body 1 is to perform orbital attitude control, a suitable thruster is selected according to the target orbit or attitude, and the fixed gear 17 is driven by the stepping drive motor 16 on the surface of the fixed block 15 to adjust the position of the rack 8 to adjust the direction of the thruster nozzle, so that the first thruster 2, the second thruster 3, the third thruster 4, the fourth thruster 5, the fifth thruster 6 and the sixth thruster 7 can be directed to the predetermined position, and the orbit change or attitude adjustment is completed by controlling the step length of the stepping drive motor 16.

[0041] The fifth rotating gear 13 is rotatably installed on the YOZ surface of the main body 1, and the rotating shaft of the fifth rotating gear 13 is connected to the rotating shaft of the second thruster 3. The sixth rotating gear 14 is rotatably installed on the YOZ surface of the main body 1, and the rotating shaft of the sixth rotating gear 14 is connected to the rotating shaft of the first thruster 2. The YOZ surface of the main body 1 is penetrated by the rack 8, and the rack 8 is a diagonal design. The fifth rotating gear 13 is meshed with the rack 8, and the other rack 8 is meshed with the sixth rotating gear 14.

[0042] When the main body 1 is to be accelerated in the X-axis direction to change its trajectory, the rotation angle of the sixth rotating gear 14 and the fifth rotating gear 13 can be driven by the movement of the rack 8, and the nozzle direction of the first thruster 2 and the second thruster 3 can be adjusted, so that the first thruster 2 and the second thruster 3 generate thrust in the same direction as the X-axis. When the main body 1 is to be rotated around the X-axis to change its roll angle, the nozzle direction of the first thruster 2 and the second thruster 3 is adjusted to be parallel to the YOZ plane and thrust is applied to generate a torque to make the main body 1 roll.

[0043] A second rotating gear 10 is rotatably installed on the XOZ surface of the main body 1, and the rotating shaft of the second rotating gear 10 is connected to the rotating shaft of the fourth thruster 5. A third rotating gear 11 is rotatably installed on the XOZ surface of the main body 1, and the rotating shaft of the third rotating gear 11 is connected to the rotating shaft of the third thruster 4. The XOZ surface of the main body 1 is penetrated by a rack 8, and the rack 8 is a diagonal design. The second rotating gear 10 is meshed with the rack 8, and the other rack 8 is meshed with the third rotating gear 11.

[0044] When the main body 1 is to be accelerated in the Y-axis direction to change its trajectory, the rotation angle of the third rotating gear 11 and the second rotating gear 10 can be driven by the movement of the rack 8, and the nozzle directions of the third thruster 4 and the fourth thruster 5 can be adjusted, so that the third thruster 4 and the fourth thruster 5 generate thrust in the same direction as the Y-axis. When the main body 1 is to be rotated around the Y-axis, its roll angle is changed, and the nozzle directions of the third thruster 4 and the fourth thruster 5 are adjusted to be parallel to the XOZ plane and thrust is applied, so that the yaw angle is changed to generate torque, and the main body 1 can be yawed.

[0045] A first rotating gear 9 is rotatably installed on the XOY surface of the main body 1, and the rotating shaft of the first rotating gear 9 is connected to the rotating shaft of the sixth thruster 7. A fourth rotating gear 12 is rotatably installed on the XOY surface of the main body 1, and the rotating shaft of the fourth rotating gear 12 is connected to the rotating shaft of the fifth thruster 6. The XOY surface of the main body 1 is penetrated by a rack 8, and the rack 8 is a diagonal design. The first rotating gear 9 is meshed with the rack 8, and the other rack 8 is meshed with the fourth rotating gear 12. The fixed gear 17 has the same diameter as the first rotating gear 9, the second rotating gear 10, the third rotating gear 11, the fourth rotating gear 12, the fifth rotating gear 13 and the sixth rotating gear 14 respectively.

[0046] When the main body 1 is to be accelerated in the Z-axis direction to change its trajectory, the rotation angle of the fourth rotating gear 12 and the first rotating gear 9 can be driven by the movement of the rack 8, and the nozzle directions of the fifth thruster 6 and the sixth thruster 7 can be adjusted, so that the fifth thruster 6 and the sixth thruster 7 generate thrust in the same direction as the Y-axis. When the main body 1 is to be rotated around the Z-axis to change its roll angle, the nozzle directions of the fifth thruster 6 and the sixth thruster 7 can be adjusted to be parallel to the XOZ plane and thrust can be applied, so that the angle of the main body 1 changes and a torque is generated, so that the main body 1 pitches.

[0047] A satellite attitude and orbit integrated control method for a step-length control thruster comprises the following steps:

[0048] Step 1: Assume that the satellite's center of mass coordinate system is 0-XYZ. The satellite's six thrusters are installed on the bottom surface parallel to the three planes XOY, XOZ, and YOZ. The thruster nozzles can generate thrust in different directions by rotating the meshing mechanism to achieve the purpose of orbit and attitude adjustment.

[0049] Step 2: When the satellite needs to perform orbital attitude control, according to the target orbit or attitude, select the appropriate thruster, adjust the rack position, push the gear to rotate, and drive the thruster nozzle to rotate through the key fixed to the gear to make it face the predetermined position. By controlling the power-on step length, the orbit change or attitude adjustment is completed;

[0050] Step 3: According to step 2, the number of steps of the stepping drive motor 16 is adjusted to drive the rack 8 to rotate, push the rack 8 to extend and retract, and drive the corresponding rotating gear to rotate, thereby adjusting the nozzle angle;

[0051] Step 4: When the satellite is to be accelerated in the X-axis direction to change its orbit, according to step 3, the nozzle directions of the first thruster 2 and the second thruster 3 are adjusted so that they generate thrust in the same direction as the X-axis;

[0052] Step 5: When the satellite is to be accelerated in the Y-axis direction to change its orbit, according to step 3, the nozzle directions of the third thruster 4 and the fourth thruster 5 are adjusted so that they generate thrust in the same direction as the Y-axis;

[0053] Step 6: When the satellite is to be accelerated in the Z-axis direction to change its orbit, according to step 3, the nozzle directions of the fifth thruster 6 and the sixth thruster 7 are adjusted so that they generate thrust in the same direction as the Z-axis;

[0054] Step 7: When the satellite needs to continue to generate thrust to change its orbit, the thruster in the axial direction of the orbit change is turned on to generate thrust and generate acceleration to change the satellite's orbit;

[0055] Step 8: When the satellite is to rotate around the X-axis and its roll angle changes, according to step 3, the nozzle directions of the first thruster 2 and the second thruster 3 are adjusted to be parallel to the YOZ plane, and thrust is applied to generate torque to make the satellite roll;

[0056] Step 9: When the satellite is to rotate around the Y axis and its yaw angle changes, according to step 3, the nozzle directions of the third thruster 4 and the fourth thruster 5 are adjusted to be parallel to the XOZ plane, and thrust is applied to generate torque to make the satellite yaw;

[0057] Step 10: When the satellite is to rotate around the Z axis and its pitch angle changes, according to step 3, the nozzle directions of the fifth thruster 6 and the sixth thruster 7 are adjusted to be parallel to the XOY plane, and thrust is applied to generate torque to make the satellite pitch;

[0058] Step 11: The above steps 4-10 are all thrust angles at the angles required for large-angle maneuvers. After the attitude change, the speed needs to be unloaded. The nozzle rotation angle can be adjusted to 90°-180° for unloading;

[0059] Step 12: Adjust the angle of the nozzle according to the required course and posture, as shown in the following table:

[0060]

[0061] Step 13: When the satellite changes its orbit about a certain axis, Newton's second law gives: 2F = ma, where F is the thrust generated by a single engine, m is the mass of the satellite, and a is the acceleration of the satellite. The relationship between velocity and acceleration gives: Δv = aΔt, where Δv is the increase in velocity and Δt is the time step of the engine operation.

[0062] From the law of universal gravitation and periodic motion we know: Where V is the velocity of the satellite, G is the gravitational constant (G≈6.67×10 -11 m 3 kg -1 s -2 ), M is the mass of the Earth, R is the radius of the Earth, and r is the orbital height, so From this, the time control step length Δt required for the orbit change height Δr can be calculated;

[0063] Step 14: When the satellite rotates around a certain axis, the torque generated on the axis is: M = 2Fsinα×L, where F is the thrust generated by the engine, α is the angle at which the engine is opened, and L is the distance from the center of mass to the thrust axis plane;

[0064] From the torque control equation in the body coordinate system, we get: Among them, M T is the control torque, H I is the angular momentum in the inertial system, is the angular momentum in the body coordinate system, is the angular velocity mapping from the inertial system to the body coordinate system in the body coordinate system;

[0065] Satellite attitude kinematics based on quaternions:

[0066] in for:

[0067] and

[0068] is the quaternion attitude transfer matrix from the inertial system to the body coordinate system, is the angular velocity of the Earth.

[0069] According to the attached drawings of the specification Fig.11 and the formula therein;

[0070] where Φ, Θ, and Ψ are the angles of rotation about the axis, the quaternion q can be solved, and then integrated to obtain the time control step Δt.

[0071] Example:

[0072] According to the satellite scheduling task;

[0073] The on-board sensor reads the current attitude angle;

[0074] Solve the current satellite orbit error or attitude error;

[0075] By solving in steps 13 and 14, select the engine propulsion surface and the working step t, as well as the propulsion angle for the required working condition;

[0076] According to step 4, when the satellite needs to adjust its orbit or attitude, adjust the rotating engagement mechanism, push the fixed gear, drive the rack, and push the rotating gear to complete the steering of the attitude and orbit control engine and adjust to the angle solved in step 4;

[0077] According to the task and the attached drawings of the specification Fig.12 in the table, determine the solved angle;

[0078] The engine starts. According to the working step t in step 4, start the engine and run for the working step t;

[0079] Before completing the attitude or orbit adjustment by Δt (Δt < t), according to the on-board gyroscope, read the current angular velocity;

[0080] According to the scheduling task and the attitude angular velocity read in step 8, determine whether to start the angular velocity unloading about the axis;

[0081] If angular velocity unloading is required, repeat steps 2 - 4, select a suitable propulsion surface and working step, and according to step 12 in the invention content, determine the propulsion angle and perform rotational speed unloading.

[0082] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A satellite attitude and orbit integrated control device for a step-controlled thruster, comprising a body (1), wherein the center of mass coordinate system of the body (1) is 0-XYZ, and a first thruster (2) and a second thruster (3) are rotatably mounted on the YOZ surface of the body (1), and the nozzles of the first thruster (2) and the second thruster (3) are in opposite directions, a third thruster (4) and a fourth thruster (5) are rotatably mounted on the XOZ surface of the body (1), and the nozzles of the third thruster (4) and the fourth thruster (5) are in opposite directions, and a fifth thruster (6) and a sixth thruster (7) are rotatably mounted on the XOY surface of the body (1), and the nozzles of the third thruster (4) and the fourth thruster (5) are in opposite directions, characterized in that: The outer surface of the main body (1) is provided with a rotating engagement mechanism, and the main body (1) can accurately adjust its posture through the rotating engagement mechanism.

2. The satellite attitude and orbit integrated control device of a step-length control thruster according to claim 1, characterized in that: The rotating meshing mechanism comprises: a fixed block (15), a plurality of the fixed blocks (15) are fixedly mounted inside the body (1), a plurality of racks (8) are slidably mounted on the outer surface of the body (1), and the racks (8) are meshed with a fifth rotating gear (13), a stepping drive motor (16) is fixedly mounted on the outer surface of the fixed block (15), a fixed gear (17) is rotatably mounted inside the fixed block (15), and the fixed gear (17) is connected to the stepping drive motor (16), the stepping drive motor (16) and the fixed gear (17) are concentrically designed, and the fixed gear (17) is meshed with the rack (8).

3. The satellite attitude and orbit integrated control device of a step-length control thruster according to claim 1, characterized in that: The first thruster (2) and the second thruster (3) are installed diagonally, the third thruster (4) and the fourth thruster (5) are installed diagonally, and the fifth thruster (6) and the sixth thruster (7) are installed diagonally.

4. The satellite attitude and orbit integrated control device of a step-length control thruster according to claim 1, characterized in that: The YOZ surface of the body (1) is rotatably mounted with a fifth rotating gear (13), and the rotating shaft of the fifth rotating gear (13) is connected to the rotating shaft of the second thruster (3). The YOZ surface of the body (1) is rotatably mounted with a sixth rotating gear (14), and the rotating shaft of the sixth rotating gear (14) is connected to the rotating shaft of the first thruster (2). The YOZ surface of the body (1) is penetrated by a rack (8), and the rack (8) is of a diagonal design. The fifth rotating gear (13) is meshed with the rack (8), and another rack (8) is meshed with the sixth rotating gear (14).

5. The satellite attitude and orbit integrated control device of a step-length control thruster according to claim 1, characterized in that: A second rotating gear (10) is rotatably mounted on the XOZ surface of the body (1), and the rotating shaft of the second rotating gear (10) is connected to the rotating shaft of the fourth thruster (5). A third rotating gear (11) is rotatably mounted on the XOZ surface of the body (1), and the rotating shaft of the third rotating gear (11) is connected to the rotating shaft of the third thruster (4). The XOZ surface of the body (1) is penetrated by a rack (8), and the rack (8) is of a diagonal design. The second rotating gear (10) is meshed with the rack (8), and the other rack (8) is meshed with the third rotating gear (11).

6. The satellite attitude and orbit integrated control device of a step-length control thruster according to claim 1, characterized in that: The XOY surface of the main body (1) is rotatably mounted with a first rotating gear (9), and the rotating shaft of the first rotating gear (9) is connected to the rotating shaft of the sixth thruster (7). The XOY surface of the main body (1) is rotatably mounted with a fourth rotating gear (12), and the rotating shaft of the fourth rotating gear (12) is connected to the rotating shaft of the fifth thruster (6). The XOY surface of the main body (1) is penetrated by a rack (8), and the rack (8) is of a diagonal design. The first rotating gear (9) is meshed with the rack (8), and the other rack (8) is meshed with the fourth rotating gear (12).

7. The satellite attitude and orbit integrated control device of a step-length control thruster according to claim 2, characterized in that: The fixed gear (17) has the same diameter as the first rotating gear (9), the second rotating gear (10), the third rotating gear (11), the fourth rotating gear (12), the fifth rotating gear (13) and the sixth rotating gear (14).

8. The control method of the satellite attitude and orbit integrated control device of the step-length control thruster according to any one of claims 1 to 7, characterized in that: The steps include: Step 1: Assume that the satellite's center of mass coordinate system is 0-XYZ. The satellite's six thrusters are installed on the bottom surface parallel to the three planes XOY, XOZ, and YOZ. The thruster nozzles can generate thrust in different directions by rotating the meshing mechanism to achieve the purpose of orbit and attitude adjustment. Step 2: When the satellite needs to perform orbital attitude control, according to the target orbit or attitude, select the appropriate thruster, adjust the rack position, push the gear to rotate, and drive the thruster nozzle to rotate through the key fixed to the gear to make it face the predetermined position. By controlling the power-on step length, the orbit change or attitude adjustment is completed; Step 3: According to step 2, the number of steps of the stepping drive motor (16) is adjusted to drive the rack (8) to rotate, push the rack (8) to extend and retract, and drive the corresponding rotating gear to rotate, thereby adjusting the nozzle angle; Step 4: When the satellite is to be accelerated in the X-axis direction to change its orbit, according to step 3, the nozzle directions of the first thruster (2) and the second thruster (3) are adjusted so that they generate thrust in the same direction as the X-axis; Step 5: When the satellite is to be accelerated in the Y-axis direction to change its orbit, according to step 3, the nozzle directions of the third thruster (4) and the fourth thruster (5) are adjusted so that they generate thrust in the same direction as the Y-axis; Step 6: When the satellite is to be accelerated in the Z-axis direction to change its orbit, according to step 3, the nozzle directions of the fifth thruster (6) and the sixth thruster (7) are adjusted so that they generate thrust in the same direction as the Z-axis; Step 7: When the satellite needs to continue to generate thrust to change its orbit, the thruster in the axial direction of the orbit change is turned on to generate thrust and generate acceleration to change the satellite's orbit; Step 8: When the satellite is to rotate around the X-axis and its roll angle changes, according to step 3, the nozzle directions of the first thruster (2) and the second thruster (3) are adjusted to be parallel to the YOZ plane, and thrust is applied to generate torque to make the satellite roll; Step 9: When the satellite is to rotate around the Y axis and its yaw angle changes, according to step 3, the nozzle directions of the third thruster (4) and the fourth thruster (5) are adjusted to be parallel to the XOZ plane, and thrust is applied to generate torque to cause the satellite to yaw; Step 10: When the satellite is to rotate around the Z axis and its pitch angle changes, according to step 3, the fifth thruster (6) and the sixth thruster (7) are adjusted to have their nozzles parallel to the XOY plane, and thrust is applied to generate torque to make the satellite pitch. Step 11: The above steps 4-10 are all thrust angles at the angles required for large-angle maneuvers. After the attitude change, the speed needs to be unloaded. The nozzle rotation angle can be adjusted to 90°-180° for unloading; Step 12: Adjust the angle of the nozzle according to the required course and posture; Step 13: When the satellite changes its orbit about a certain axis, Newton's second law gives: 2F = ma, where F is the thrust generated by a single engine, m is the mass of the satellite, and a is the acceleration of the satellite. The relationship between velocity and acceleration gives: Δv = aΔt, where Δv is the increase in velocity and Δt is the time step of the engine operation. From the law of universal gravitation and periodic motion we know: Where V is the velocity of the satellite, G is the gravitational constant (G≈6.67×10 -11 m 3 kg -1 s -2 ), M is the mass of the Earth, R is the radius of the Earth, and r is the orbital height, so From this, the time control step Δt required for the orbit change height Δr can be calculated; Step 14: When the satellite rotates around a certain axis, the torque generated on the axis is: M = 2Fsinα×L, where F is the thrust generated by the engine, α is the angle at which the engine is opened, and L is the distance from the center of mass to the thrust axis plane; From the torque control equation in the body coordinate system, we get: Among them, M T is the control torque, H I is the angular momentum in the inertial system, is the angular momentum in the body coordinate system, is the angular velocity mapping from the inertial system to the body coordinate system in the body coordinate system; Satellite attitude kinematics based on quaternions: in for: and is the quaternion attitude transfer matrix from the inertial system to the body coordinate system, is the angular velocity of the Earth. Where Φ, Θ, Ψ are the angles of rotation around the axis, which can be used to solve the quaternion q, and then integrate to get the time control step Δt.

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