Modularized multi-size cubesat attitude control integrated system suitable for batch production

Abstract

The invention discloses a modular multi-size cubesat attitude control integrated system suitable for batch production, and relates to the technical field of satellites. Comprising a structural unit, an attitude monitoring subsystem, an attitude control subsystem, a data processing subsystem, a data transmission communication subsystem and a power supply subsystem, and the five subsystems are installed on the structural unit. The structural unit is a hollow hexahedron composed of six mounting plates; the attitude monitoring subsystem is electrically connected with the power supply subsystem and is also connected with the data processing subsystem through a signal line; the attitude control subsystem is electrically connected with the power supply subsystem and is also connected with the data processing subsystem through a signal line; the data processing subsystem is electrically connected with the power supply subsystem and is also connected with the data transmission communication subsystem and the power supply subsystem through signal lines; the data transmission communication subsystem is electrically connected with the power supply subsystem. The system has the advantages of being short in development and final assembly period, light in structure, unified in interface, multiple in function, good in expandability, capable of being used in a multi-size compatible mode and suitable for batch production.

Description

Technical Field

[0001] The present invention relates to the field of satellite technology, and in particular to a modular multi-size cubic satellite attitude control integrated system suitable for mass production. Background Art

[0002] Industry is the foundation of the economy and a concrete manifestation of productivity change. The proposal of new quality productivity points out the direction for promoting industrial innovation through scientific and technological innovation and building competitive advantages for industrial upgrading.

[0003] In recent years, with the rapid development of satellite technology, space activities in various countries have become increasingly frequent. According to the satellite database of the Union of Concerned Scientists (UCS) in the United States, as of May 1, 2023, there are 7,560 satellites in orbit worldwide. These satellites can not only serve the general public, but are also an important strategic resource. However, satellite frequency and orbital resources are extremely limited, and the main form of allocation in international rules is the "first come, first served" preemptive method. Due to the long design and manufacturing cycle and high cost of satellites, it often takes a lot of manpower and material resources to design a satellite, and the time span is relatively long. This makes it difficult for the country to fully fill the huge market demand by simply taking the lead in developing and launching satellites. As a result, commercial satellites came into being. The implementation of various commercial aerospace plans, the reduction of aerospace launch costs, and the maturity of various micro-nano satellite technologies have led the satellite industry to full commercialization. The development of the global commercial satellite industry has entered the fast lane.

[0004] Commercialization means industrial scale, modular design, unified interfaces, and mass production. Therefore, it is particularly important to study how to shorten the design and development cycle, reduce manufacturing costs, and realize mass production and rapid launch of satellites. Traditional satellites have high design and manufacturing costs, long development cycles, heavy volumes and masses, fixed and inflexible functions, and difficulty in rapid updates and maintenance. Standard cube satellites, on the other hand, have the characteristics of universality and standardization. With the development of microelectronics technology and information fields, many concepts of innovative applications of cubic satellites have been proposed at home and abroad. The operation of any cubic satellite is inseparable from the measurement and control of the body's attitude. Therefore, designing an attitude control integrated system module that is compatible with multi-sized cubic satellites will have a substantial driving effect on the commercial industrialization of satellites. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a modular multi-size cubic satellite attitude control integrated system suitable for mass production, so as to solve the problems of existing cubic satellites such as long development and assembly cycle, single function, poor scalability, inability to be compatible with multiple sizes, and unsuitability for mass production.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: A modular multi-size cubic satellite attitude control integrated system suitable for batch production comprises a structural unit, an attitude monitoring subsystem, an attitude control subsystem, a data processing subsystem, a data transmission communication subsystem and a power supply subsystem; the structural unit is a hollow hexahedron composed of six mounting plates, the six mounting plates are a front mounting plate, a rear mounting plate, a left mounting plate, a right mounting plate, an upper mounting plate and a lower mounting plate; the attitude monitoring subsystem is connected to the power supply subsystem through a power line, and is also connected to the data processing subsystem for signal through a signal line; the attitude control subsystem is connected to the power supply subsystem through a power line, and is also connected to the data processing subsystem for signal through a signal line; the data processing subsystem is connected to the power supply subsystem through a power line, and is also connected to the data transmission communication subsystem and the power supply subsystem for signal through a signal line; the data transmission communication subsystem is connected to the power supply subsystem through a power line, and is also connected to the data transmission communication subsystem and the power supply subsystem for signal through a signal line; the data transmission communication subsystem is connected to the power supply subsystem through a power line; the attitude monitoring subsystem, the attitude control subsystem, the data processing subsystem, the data transmission communication subsystem and the power supply subsystem are respectively mounted on the above six mounting plates.

[0007] Preferably, the front mounting plate, the lower mounting plate and the left mounting plate are fixedly connected together to form a first integrated mounting structure, the rear mounting plate and the right mounting plate are fixedly connected together to form a second integrated mounting structure, and the two integrated mounting structures and the rear mounting plate are all detachably connected by bolts.

[0008] Preferably, the structural unit is a regular hexahedron structure with a size of 90x90x90mm.

[0009] Preferably, the attitude monitoring subsystem includes an attitude monitoring integrated machine, which includes a first microprocessor and peripheral circuits of the first microprocessor, an accelerometer, a magnetometer, a gyroscope, a sun sensor, and a global locator; the first microprocessor is connected to the accelerometer, the magnetometer, the gyroscope, the sun sensor, and the global locator through signal lines and power lines, and the signals communicate using the IIC protocol; the attitude monitoring integrated machine is installed on the inner side of the rear mounting plate.

[0010] Preferably, the attitude control subsystem includes an attitude control integrated machine and a force actuator, the attitude control integrated machine includes a second microprocessor and the peripheral circuit of the second microprocessor, the second microprocessor and the force actuator are connected to each other through a signal line and a power line, and the signal is controlled by a PWM signal; the force actuator includes three flywheels, three motors, three motor boards, three magnetic torquers, and three flywheel brackets; the attitude control integrated machine is installed on the inner side of the rear mounting plate; a flywheel is fixedly connected to a flywheel bracket, and each motor is installed with a motor board, and the motor board is connected to the motor signal through a signal line; the motor drives the flywheel to rotate, and a motor is mechanically connected to a flywheel to form a flywheel integrated machine; the magnetic torquer is connected to the attitude control integrated machine through a signal line signal, and the three flywheel integrated machines are respectively installed on the inner sides of the front mounting plate, the left mounting plate, and the lower mounting plate through their respective flywheel brackets, and the three magnetic torquers are respectively installed on the inner sides of the rear mounting plate, the right mounting plate, and the upper mounting plate.

[0011] Preferably, the data processing subsystem includes an integrated data processing machine, which includes a third microprocessor and peripheral device circuits of the third microprocessor, the third microprocessor power supply is connected to the peripheral devices, the third microprocessor and the peripheral devices of the third microprocessor constitute the core computing storage circuit, and the data processing machine is installed on the inner side of the rear mounting plate.

[0012] Preferably, the data transmission and communication subsystem includes a data transmission and communication integrated machine, which includes a communication manager and a CAN transceiver; the communication manager is connected to the CAN transceiver for power supply and signals, and CAN signals are used for communication between signals; the communication manager includes a fourth microprocessor, a communication management chip and peripheral circuits; the data transmission and communication integrated machine is installed on the inner side of the rear mounting plate.

[0013] Preferably, the power subsystem includes an all-in-one power management machine, which includes a DC-DC step-down unit circuit, an LDO step-down unit circuit, and a power management unit circuit. The three unit circuits are connected by a power cord; the all-in-one power management machine is installed on the inner side of the right mounting plate.

[0014] The beneficial effects of adopting the above technical solution are: 1. The modular multi-size cubic satellite attitude control integrated system suitable for mass production created by the present invention has low cost, simple structure, compact layout, low structural proportion, lightweight design, and is easy to assemble and mass produce.

[0015] 2. The modular multi-size cubic satellite attitude control integrated system suitable for mass production created by the present invention has high functional density, unified internal and external communication interfaces, modularity, functional expandability, and a compatible design scheme. It can meet the use of cubic satellites of various sizes, such as 2U, 3U, 4U, 6U, etc., thereby improving the design and development efficiency of cubic satellites.

[0016] 3. The present invention has unified internal and external interfaces. The unified external interface allows the attitude control integrated system to be used as an independent communication node among several subsystems of the cubic satellite. The incorporation and deletion of the attitude control integrated system on the communication bus of the overall cubic satellite system will not affect the normal communication of the system. The unified internal interface allows each subsystem in the attitude control integrated system to be used as an independent communication node. The incorporation and deletion of subsystems on the internal communication bus of the attitude control integrated system will not affect the normal communication of the system. Therefore, the cubic satellite can individually control the sensors of each subsystem of the attitude control integration. When the cubic satellite to be adapted does not need or wants to add new sensors, the individual communication nodes can be incorporated and deleted through the unified internal and external interfaces, so that the cubic satellite attitude control integrated system can adapt to the design and development of cubic satellites with more sizes and functional requirements, thereby improving the overall development efficiency and the use value of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an exploded schematic diagram of the assembly structure of the entire system; Figure 2 It is a hardware architecture block diagram of the present invention; Figure 3 is a software program flow chart of the present invention; Figure 4 It is a block diagram of the flywheel drive control principle of the present invention; In the figure: 1. first integrated mounting structure; 2. second integrated mounting structure; 3. upper mounting plate; 4. flywheel; 5. motor; 6. flywheel bracket; 7. X-direction magnetic torquer; 8. Y-direction magnetic torquer; 9. Z-direction magnetic torquer; 10. sun sensor; 11. gyroscope; 12. accelerometer; 13. magnetometer; 14. global locator; 15. data processing integrated machine; 16. communication manager; 17. CAN transceiver; 18. power management integrated machine; 19. attitude monitoring integrated machine; 20. attitude control integrated machine; 21. data transmission and communication integrated machine; 22. data processing integrated machine. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] Combination Figure 1 and Figure 2 This embodiment describes a modular multi-size cubic satellite attitude control integrated system suitable for mass production, which includes a mechanical structure part and a printed circuit part. The mechanical structure part includes a first integrated mounting structure 1, a second integrated mounting structure 2, and an upper mounting plate 3. The first integrated mounting structure 1 includes a front mounting plate, a left mounting plate, and a lower mounting plate, and the three plates are fixedly connected together. The second integrated mounting structure 2 includes a rear mounting plate and a right mounting plate, and the two plates are fixedly connected together. The first integrated mounting structure 1, the second integrated mounting structure 2, and the upper mounting plate 3 are detachably connected by bolts for easy assembly. The printed circuit part includes an attitude monitoring subsystem, an attitude control subsystem, a data processing subsystem, a data transmission communication subsystem, and a power supply subsystem.

[0020] The wiring method of the cubic satellite attitude control integrated system is divided into power connection and signal connection. The power connection provides power supply for each subsystem integrated machine; the power subsystem is connected to the attitude monitoring subsystem, attitude control subsystem, data transmission and communication subsystem, and data processing subsystem through DC 12V / 5V; the signal connection provides communication connection for each subsystem integrated machine; the data transmission and communication subsystem is connected to the attitude monitoring subsystem, attitude control subsystem, data processing subsystem, and power supply subsystem through the CAN bus.

[0021] Internal wiring mode of each subsystem of the cubic satellite attitude control integrated system: the first microprocessor inside the attitude monitoring integrated machine in the attitude monitoring subsystem is connected to the accelerometer 12, magnetometer 13, gyroscope 11, sun sensor 10, and global positioner 14 through signal lines and power lines, and the signals communicate using the IIC protocol; the power supply is 5V and 3.3V. The second microprocessor inside the attitude control integrated machine in the attitude control subsystem is connected to the force actuator through signal lines and power lines, and the signals are controlled using PWM signals, and the power supply is 12V, 5V, and 3.3V. The third microprocessor inside the data processing integrated machine in the data processing subsystem is connected to the peripheral devices through power lines, and the power supply is 5V and 3.3V. The communication manager inside the data transmission and communication integrated machine in the data transmission and communication subsystem is connected to the CAN transceiver 17 through signal lines and power lines, and the signals communicate using CAN signals, and the power supply is 5V and 3.3V. The power management unit circuit inside the power management integrated machine in the power subsystem is connected to the DC-DC buck unit circuit and the LDO buck unit circuit through a power line, and the power supply is 24V, 12V and 5V.

[0022] The attitude monitoring subsystem includes an attitude monitoring integrated machine, and the core components of the attitude monitoring integrated machine are composed of a first microprocessor, an accelerometer 12, a magnetometer 13, a gyroscope 11, a sun sensor 10, and a global positioner 14. All of the above components are integrated into the attitude monitoring integrated machine structure, and the attitude monitoring integrated machine structure is installed on the inner surface of the upper side plate. The attitude monitoring subsystem mainly realizes the real-time detection of the attitude position of the cube satellite body, performs ellipsoid fitting and complementary filtering through the three-axis physical data of each sensor, and finally the three-axis attitude angle calculated by the Kalman filter output is an important reference data source for the attitude control subsystem to control.

[0023] The attitude control subsystem includes an attitude control integrated machine and a force actuator. The core device of the attitude control integrated machine is composed of a second microprocessor; the force actuator is composed of three flywheels, three motors, three motor boards, and three magnetic torquers. Flywheel 4 is fixedly connected to the flywheel bracket, and the motor board is installed in the motor 5 and connected to the motor 5 through a signal line. The motor 5 drives the flywheel 4 to rotate. Flywheel 4 is an axial flywheel, and the motor 5 is connected to the flywheel 4 to form a flywheel integrated machine. The magnetic torquer is an axial magnetic torquer. The three magnetic torquers are respectively X-direction magnetic torquer 7, Y-direction magnetic torquer 8, and Z-direction magnetic torquer 9. The magnetic torquer is connected to the attitude control integrated machine through a signal line. The three flywheel integrated machines are respectively installed on the inner sides of the front mounting plate, the left mounting plate, and the lower mounting plate through the flywheel bracket 6, and the three magnetic torquers are respectively installed on the inner sides of the upper mounting plate, the rear mounting plate, and the right mounting plate. The attitude control subsystem mainly realizes real-time control of the attitude angle of the cube satellite body.

[0024] The data processing subsystem includes a data processing integrated machine 15, in which a third microprocessor is installed. The third microprocessor and its peripheral device circuits constitute the core computing storage circuit, which mainly realizes the attitude data solution and attitude control instruction issuance of the cube satellite attitude control integrated system, and the control instruction analysis of the satellite computer and the external debugging computer connected to the unified external interface through the data transmission communication subsystem. A dedicated log storage space is also provided for the control instructions to be saved for the tracking investigation of fault diagnosis.

[0025] The data transmission and communication subsystem includes a data transmission and communication integrated machine 21, and the core components of the data transmission and communication integrated machine 21 are composed of a communication manager 16 and a CAN transceiver 17. The communication manager 16 and the CAN transceiver 17 are installed in the data transmission and communication integrated machine 21, and the data transmission and communication integrated machine 21 is installed on the inner side of the rear side panel. The communication manager 16 is connected to the CAN transceiver 17 through a signal line. The data transmission and communication subsystem includes two independent CAN communication transmission buses. The CAN1 bus is the data communication transmission channel between the subsystem integrated machines inside the cubic satellite attitude control integrated system, and the CAN2 bus is the data communication transmission channel between the attitude control integrated system and the subsystems of the external cubic satellite system. There is also a USART serial communication transmission interface for external computers to debug the cubic satellite attitude control integrated system.

[0026] The power subsystem includes a power management integrated machine. The core components of the power management integrated machine are composed of a DC-DC buck unit circuit, an LDO buck unit circuit and a power management unit circuit. It mainly realizes the reasonable voltage reduction of the power supply voltage input by the attitude control integrated system to reduce it to the adaptive stable working voltage required by each device inside the system, and provides independent power supply to each subsystem. The built-in microprocessor of the power management unit can communicate with the data processing subsystem through the CAN bus.

[0027] The unified communication interface of the cubic satellite attitude control integrated system refers to the fact that there are three system interfaces, namely the external CAN interface for communication connection with other subsystems of the external cubic satellite, the internal CAN interface for communication connection with other subsystems inside the attitude control integrated system, and the serial port for communication connection with the external debugging computer; the external CAN interface can treat the cubic satellite attitude control integrated system as an independent communication node in the overall cubic satellite system, and can be separately incorporated or deleted in the external communication bus, which is easier to manage the cubic satellite system; the internal CAN interface can treat each subsystem inside the cubic satellite attitude control integrated system as an independent communication node in the cubic satellite attitude control integrated system, and can be separately incorporated or deleted in the internal bus, which is easier to manage the cubic satellite attitude control integrated system, and is convenient for adding or reducing the functions of the attitude control integrated system when dealing with cubic satellites of different sizes and functions without affecting the normal operation of the system communication; the external serial port separates the cubic satellite attitude control integrated system debugging communication bus and the system operation communication bus independently, without interfering with each other, which is easier to manage the cubic satellite attitude control integrated system.

[0028] As one of the necessary components of a standard CubeSat, the attitude control integrated system mainly provides real-time attitude data acquisition and attitude motion adjustment control for the CubeSat. The attitude control integrated system is a subsystem independent of the CubeSat and has the ability to make autonomous decisions on the attitude motion of the CubeSat. For example, when the onboard computer instructs the attitude control integrated system to maintain attitude, the attitude control integrated system can memorize the current attitude angle position and correct the attitude deviation in real time through the built-in algorithm. The attitude control integrated system has a body length of 90mm, a width of 90mm, and a height of 90mm. The structure adopts a lightweight design, and the interface adopts a unified design. It is compatible with CubeSats of multiple sizes. The compatible use of different CubeSats requires the calculation of the center of mass of the carrier CubeSat and the necessary weight parameters. Each sensor in the attitude control integrated system can be controlled separately. When the CubeSat to be adapted does not need or wants to add a new sensor, the CAN interface can be used to merge and delete a separate communication node.

[0029] Combination Figures 2 to 3This embodiment describes the execution process of the embodiment of the attitude control integrated system of the cubic satellite. The attitude control integrated system has three interfaces outside, namely, the power interface, the CAN interface, and the serial interface. The power interface is provided with a 24V working power supply voltage by the cubic satellite. The CAN interface is used to communicate with other subsystems of the cubic satellite. The serial interface is used for debugging communication with an external computer. When the power of the cubic satellite is turned on, the power subsystem of the attitude control integrated system starts to work, and the power supply voltage is reduced to the normal working voltage of each subsystem. The system starts and enters the subsystem self-test mode. When the system enters the standard mode, the data transmission and communication subsystem receives the command task information, and the data processing subsystem interprets the current task instruction as requiring the cube satellite to maintain a specified three-dimensional attitude angle for a specified time. At this time, the attitude monitoring subsystem collects data from the gyroscope 11, magnetometer 13, accelerometer 12, sun sensor 10 and global positioner 14, and the data processing subsystem calculates and fits the data of each attitude sensor. The fitted attitude angle is used as the action basis of the attitude control. The attitude control subsystem controls the three axial flywheels and the three axial magnetic torquers accordingly. The control algorithm makes the cube satellite always maintain the specified attitude angle, thereby completing the command task issued by the cube satellite computer. The command log in the process will be permanently stored in the local memory and uploaded to the external cube satellite computer at a specified frequency according to the command information.

[0030] In conjunction with Figure 3, this embodiment is explained, the program flow of the cubic satellite attitude control integrated system, after the cubic satellite attitude control integrated system is powered on and turned on, the data processing subsystem will perform a system self-check on each subsystem of the attitude control integration, check whether the hardware equipment of each subsystem is connected correctly, whether there is a fault, and verify the integrity of the system software. If an error is detected, the system enters the abnormal mode, in which the system indicator light flashes at a certain periodic frequency, and obtains the status information of all subsystems, self-checks the subsystem with an error, and reports the self-check information and stores it in the local log. If the detection is correct, the attitude control integrated system will enter the mode option. If the debug button is pressed under the mode option, the system will enter the debug mode. In the debug mode, the system will obtain the instruction data information of the external debug computer through the serial communication interface USART to parse the instruction, execute the corresponding instruction task, and feedback the execution status data to the debug computer; if the debug button is not pressed under the mode option, the system will enter the standard mode. In the standard mode, the attitude control integrated system will obtain the instruction data information from the external cubic satellite computer through the CAN communication interface to parse the instruction, execute the corresponding instruction task, and feedback the execution status data to the satellite computer; the instruction task is divided into two major sections, one is the attitude measurement and control task, under the attitude measurement and control task, the cubic satellite attitude control integrated system will complete the acquisition of the cubic satellite attitude data and the adjustment and control of the fuselage attitude angle; the second is the system measurement and control task, under the system measurement and control task, the cubic satellite attitude control integrated system will complete the monitoring and control of the status of each subsystem; finally, the execution operation log of the instruction task will be stored in the local memory and sent to the communication object in each mode according to the specified return frame rate.

[0031] In conjunction with FIG4, the present embodiment is explained. The attitude control subsystem flywheel drive control circuit, according to the celestial body mechanics characteristics, the cubic satellite can change its own rotation speed and direction to generate torque through the attitude control subsystem in the attitude control integrated system to control the actuator flywheel, thereby affecting the attitude of the cubic satellite body. The attitude control subsystem will calculate the control angle required by the flywheel based on the attitude physical quantity information fed back by the sensor of the attitude monitoring subsystem to achieve the required function of maintaining the body attitude angle or changing the body attitude angle. The attitude control subsystem has three flywheels 4, and the flywheel 4 is an axial flywheel. The control circuit driven by each flywheel 4 uses three independently controllable half-H bridge drivers to drive a three-phase brushless DC motor. Each output driver channel includes an N-channel power MOSFET configured with a half-H bridge, and each driver can perform current sensing on the output. Each channel of the half-H bridge provides a peak current of up to 2.5A. The data processing subsystem drives the three half-H-bridge drivers by sending PWM signals to control the movement of the three-phase brushless motor. The data processing subsystem collects the sampling resistor current on the half-H-bridge driver through the ADC. The data processing subsystem collects the Hall sensor data on the three-phase brushless motor through the timer. A closed-loop control is formed to adjust the output rotational torque of the three-phase brushless DC motor, thereby achieving the purpose of quantitative control and ultimately changing the attitude angle of the cubic satellite body.

[0032] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A modular multi-size cubic satellite attitude control integrated system suitable for mass production, characterized in that: It includes a structural unit, a posture monitoring subsystem, a posture control subsystem, a data processing subsystem, a data transmission and communication subsystem, and a power supply subsystem; the structural unit is a hollow hexahedron composed of six mounting plates, and the six mounting plates are a front mounting plate, a rear mounting plate, a left mounting plate, a right mounting plate, an upper mounting plate, and a lower mounting plate; the posture monitoring subsystem is connected to the power supply subsystem through a power line, and is also connected to the data processing subsystem for signal through a signal line; the posture control subsystem is connected to the power supply subsystem through a power line, and is also connected to the data processing subsystem for signal through a signal line; the data processing subsystem is connected to the power supply subsystem through a power line, and is also connected to the data transmission and communication subsystem and the power supply subsystem for signal through a signal line; the data transmission and communication subsystem is connected to the power supply subsystem through a power line; the posture monitoring subsystem, the posture control subsystem, the data processing subsystem, the data transmission and communication subsystem, and the power supply subsystem are connected to the power supply subsystem through a power line; the posture monitoring subsystem, the posture control subsystem, the data processing subsystem, the data transmission and communication subsystem, and the power supply subsystem are respectively installed on the above six mounting plates.

2. A modular multi-size cubic satellite attitude control integrated system suitable for mass production according to claim 1, characterized in that: The front mounting plate, the lower mounting plate, and the left mounting plate are fixedly connected together to form a first integrated mounting structure, and the rear mounting plate and the right mounting plate are fixedly connected together to form a second integrated mounting structure. The two integrated mounting structures and the rear mounting plate are all detachably connected by bolts.

3. The modular multi-size cubic satellite attitude control integrated system suitable for mass production according to claim 1, characterized in that: The structural unit is a regular hexahedron structure with a size of 90x90x90mm.

4. The modular multi-size cubic satellite attitude control integrated system suitable for mass production according to claim 1, characterized in that: The attitude monitoring subsystem includes an attitude monitoring integrated machine, which includes a first microprocessor and peripheral circuits of the first microprocessor, an accelerometer, a magnetometer, a gyroscope, a sun sensor, and a global locator; the first microprocessor is connected to the accelerometer, the magnetometer, the gyroscope, the sun sensor, and the global locator through signal lines and power lines, and the signals communicate using the IIC protocol; the attitude monitoring integrated machine is installed on the inner side of the rear mounting plate.

5. The modular multi-size cubic satellite attitude control integrated system suitable for mass production according to claim 1, characterized in that: The attitude control subsystem includes an attitude control integrated machine and a force actuator. The attitude control integrated machine includes a second microprocessor and the peripheral circuit of the second microprocessor. The second microprocessor and the force actuator are connected to each other through a signal line and a power line, and the signal is controlled by a PWM signal; the force actuator includes three flywheels, three motors, three motor boards, three magnetic torquers, and three flywheel brackets; the attitude control integrated machine is installed on the inner side of the rear mounting plate; a flywheel is fixedly connected to a flywheel bracket, and each motor is installed with a motor board, and the motor board is connected with the motor signal through a signal line; the motor drives the flywheel to rotate, and a motor is mechanically connected to a flywheel to form a flywheel integrated machine; the magnetic torquer is connected to the attitude control integrated machine through a signal line signal, and the three flywheel integrated machines are respectively installed on the inner sides of the front mounting plate, the left mounting plate, and the lower mounting plate through their respective flywheel brackets, and the three magnetic torquers are respectively installed on the inner sides of the rear mounting plate, the right mounting plate, and the upper mounting plate.

6. The modular multi-size cubic satellite attitude control integrated system suitable for mass production according to claim 1, characterized in that: The data processing subsystem includes a data processing integrated machine, which includes a third microprocessor and peripheral device circuits of the third microprocessor. The third microprocessor power supply is connected to the peripheral devices. The third microprocessor and the peripheral devices of the third microprocessor constitute the core computing and storage circuits. The data processing integrated machine is installed on the inner side of the rear mounting plate.

7. The modular multi-size cubic satellite attitude control integrated system suitable for mass production according to claim 1, characterized in that: The data transmission and communication subsystem includes a data transmission and communication integrated machine, which includes a communication manager and a CAN transceiver; the communication manager is connected to the CAN transceiver for power supply and signal, and the signals communicate using CAN signals; the communication manager includes a fourth microprocessor, a communication management chip and peripheral circuits; the data transmission and communication integrated machine is installed on the inner side of the rear mounting plate.

8. The modular multi-size cubic satellite attitude control integrated system suitable for mass production according to claim 1, characterized in that: The power subsystem includes an integrated power management machine, which includes a DC-DC step-down unit circuit, an LDO step-down unit circuit, and a power management unit circuit. The three unit circuits are connected by power cords; the integrated power management machine is installed on the inner side of the right mounting plate.

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