Compensation coefficient calculation method and device of satellite reverse flywheel, equipment and medium

Abstract

The invention relates to the technical field of satellite attitude control, in particular to a compensation coefficient calculation method and device for a satellite reverse flywheel, equipment and a medium. The compensation coefficient range corresponding to the target angular momentum needing to be compensated for for the reverse flywheel is determined based on the target angular momentum needing to be compensated for for the reverse flywheel of the satellite, the preset variation corresponding to the target angular momentum, the inertia of the reverse flywheel and the maximum angular velocity of the rotating motor of the reverse flywheel; and calculating a residual angular momentum obtained after the compensation coefficient compensates the target angular momentum, and determining the compensation coefficient when the residual angular momentum is smaller than a preset minimum residual momentum as a target compensation coefficient of the reverse flywheel, so that accurate adjustment and calculation of the compensation coefficient of the satellite reverse flywheel can be realized. The accuracy of the compensation coefficient of the satellite reverse flywheel is improved, and then the shooting precision and stability of the rotary shooting device on the satellite are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite attitude control technology, and in particular to a method, device, equipment and medium for calculating a compensation coefficient of a satellite reverse flywheel. Background Art

[0002] Currently, wildfire monitoring primarily relies on ground-based imaging from rotating cameras aboard meteorological infrared satellites. In recent years, the continuous advancement of satellite technology and the emergence of high-precision small infrared satellites have enhanced satellites' ability to identify fires over a wide area. The small size and high precision of these satellites require precise and stable attitude control of the rotating cameras to ensure accurate and stable imaging.

[0003] A counter-flywheel is typically used to compensate for excess rotational inertia in a satellite's rotating camera system, ensuring both accuracy and stability. The amount of angular momentum the counter-flywheel needs to compensate for is related to its compensation coefficient, which is adjusted to control the amount of angular momentum compensated by the counter-flywheel. Therefore, determining the compensation coefficient is crucial to the accuracy and stability of the rotating camera system's photography. However, current methods for determining the compensation coefficient cannot achieve high-precision adjustment of the compensation coefficient, resulting in low accuracy, which in turn reduces the accuracy and stability of the satellite's rotating camera system's photography. Summary of the Invention

[0004] In order to solve the above technical problems, the present disclosure provides a method, device, equipment and medium for calculating the compensation coefficient of a satellite reverse flywheel.

[0005] A first aspect of the present disclosure provides a method for calculating a compensation coefficient of a satellite reverse flywheel, comprising:

[0006] Determine the moment of inertia of a rotating camera deployed on a satellite;

[0007] The product of the moment of inertia and the target angular velocity of the rotating motor of the rotating camera device is determined as the target angular momentum that needs to be compensated by the reverse flywheel of the satellite;

[0008] Determining the angular momentum range that the reverse flywheel needs to compensate for based on a preset variation corresponding to the target angular momentum;

[0009] Determining a compensation coefficient range corresponding to the angular momentum range based on the angular momentum range, the inertia of the counter-flywheel, and the maximum angular velocity of the rotating motor of the counter-flywheel;

[0010] For the compensation coefficient within the compensation coefficient range, calculating the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient;

[0011] When the residual angular momentum is less than a preset minimum residual amount, the compensation coefficient corresponding to the residual angular momentum is determined as the target compensation coefficient of the reverse flywheel.

[0012] A second aspect of the present disclosure provides a compensation coefficient calculation device for a satellite reverse flywheel, comprising:

[0013] A first determining module is used to determine the moment of inertia of a rotating camera device deployed on the satellite;

[0014] a second determining module, configured to determine the target angular momentum that needs to be compensated for the satellite's reverse flywheel by multiplying the moment of inertia by the target angular velocity of the rotating motor of the rotating camera device;

[0015] a third determining module, configured to determine a range of angular momentum that needs to be compensated for the reverse flywheel based on a preset variation corresponding to the target angular momentum;

[0016] a fourth determining module, configured to determine a compensation coefficient range corresponding to the angular momentum range based on the angular momentum range, the inertia of the reverse flywheel, and the maximum angular velocity of the rotating motor of the reverse flywheel;

[0017] a calculation module, configured to calculate, for a compensation coefficient within a compensation coefficient range, a residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient;

[0018] The fifth determining module is configured to determine the compensation coefficient corresponding to the residual angular momentum as the target compensation coefficient of the reverse flywheel when the residual angular momentum is less than a preset minimum residual amount.

[0019] A third aspect of the present disclosure provides a computer device comprising a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the compensation coefficient calculation method of the satellite reverse flywheel of the first aspect mentioned above can be implemented.

[0020] A fourth aspect of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the compensation coefficient calculation method of the satellite reverse flywheel of the first aspect can be implemented.

[0021] The technical solution provided by the present disclosure has the following advantages compared with the existing technology:

[0022] The present disclosure determines the moment of inertia of a rotating camera device deployed on a satellite; determines the target angular momentum that needs to be compensated for the satellite's reverse flywheel by multiplying the moment of inertia and the target angular velocity of the rotating motor of the rotating camera device; determines the angular momentum range that needs to be compensated for the reverse flywheel based on a preset variation corresponding to the target angular momentum; determines the compensation coefficient range corresponding to the angular momentum range based on the angular momentum range, the inertia of the reverse flywheel and the maximum angular velocity of the rotating motor of the reverse flywheel; calculates the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient within the compensation coefficient range; and when the residual angular momentum is less than a preset minimum residual amount, determines the compensation coefficient corresponding to the residual angular momentum as the target compensation coefficient of the reverse flywheel. The present disclosure determines the range of compensation coefficients corresponding to the target angular momentum that needs to be compensated for the satellite's reverse flywheel, the preset variation corresponding to the target angular momentum, the inertia of the reverse flywheel, and the maximum angular velocity of the reverse flywheel's rotating motor, and calculates the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient. The compensation coefficient when the residual angular momentum is less than the preset minimum residual amount is determined as the target compensation coefficient of the reverse flywheel. This can achieve precise adjustment and calculation of the compensation coefficient of the satellite's reverse flywheel, improve the accuracy of the satellite's reverse flywheel compensation coefficient, and thereby improve the accuracy and stability of shooting by the rotating shooting device on the satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0024] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 This is a flow chart of a method for calculating a compensation coefficient of a satellite reverse flywheel provided by an embodiment of the present disclosure;

[0026] Figure 2 is a flow chart of another method for calculating the compensation coefficient of a satellite reverse flywheel provided by an embodiment of the present disclosure;

[0027] Figure 3 1 is a schematic structural diagram of a compensation coefficient calculation device for a satellite reverse flywheel provided by an embodiment of the present disclosure;

[0028] Figure 4 It is a structural diagram of a computer device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0031] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0033] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0034] The method for calculating the compensation coefficient of the satellite reverse flywheel provided in the embodiment of the present disclosure can be executed by a computer device, which can be understood as any device with processing and computing capabilities. The device may include but is not limited to electronic devices such as smart phones, laptops, personal digital assistants (PDAs), tablet computers (PADs), portable multimedia players (PMPs), digital TVs, desktop computers, etc.

[0035] In order to better understand the inventive concept of the embodiments of the present disclosure, the technical solutions of the embodiments of the present disclosure are described below in conjunction with exemplary embodiments.

[0036] Figure 1This is a flow chart of a method for calculating the compensation coefficient of a satellite reverse flywheel provided by an embodiment of the present disclosure. This method can be executed by a computer device, which can be understood as any device with computing functions and processing capabilities. Figure 1 As shown, the method for calculating the compensation coefficient of the satellite reverse flywheel provided in this embodiment includes the following steps:

[0037] Step 110: Determine the moment of inertia of the rotating camera device deployed on the satellite.

[0038] The rotating shooting device deployed on the satellite can be understood as a device deployed on the satellite for shooting images, such as a camera.

[0039] The moment of inertia of the rotating camera device can be understood as a measure of the inertia (the property of a rotating object to maintain its uniform circular motion or remain stationary) of the rotating camera device when the rotating camera device rotates around its rotation axis.

[0040] In some embodiments, determining the moment of inertia of a rotating camera deployed on a satellite may include steps 1101-1102:

[0041] Step 1101: Obtain a unit mass of a rotating camera device deployed on a satellite and a target distance between the unit mass and a rotation axis of the rotating camera device.

[0042] Step 1102: Calculate the moment of inertia of the rotating camera device based on the unit mass of the rotating camera device and the target distance.

[0043] For example, the moment of inertia of the rotating camera device can be calculated using formula (1):

[0044] I=∫R 2 dm (1);

[0045] Where I represents the moment of inertia of the rotating camera device, in kg·m 2 ; R represents the target distance between the unit mass of the rotating camera device and the rotation axis of the rotating camera device, and the unit is m; dm represents the unit mass of the rotating camera device, and the unit is kg.

[0046] Step 120: Determine the target angular momentum that needs to be compensated for the satellite's reverse flywheel by multiplying the product of the moment of inertia and the target angular velocity of the rotating motor of the rotating camera device.

[0047] The computer device can calculate the product of the moment of inertia of the rotating camera device and the target angular velocity of the rotating motor of the rotating camera device, and determine the product as the target angular momentum that needs to be compensated for the reverse flywheel of the satellite.

[0048] For example, the target angular momentum that needs to be compensated for the satellite's reverse flywheel can be calculated using formula (2):

[0049] L = ωI (2);

[0050] Where L represents the target angular momentum that the reverse flywheel needs to compensate, in kg·m 2 / s; ω represents the target angular velocity of the rotating motor of the rotating camera device, and the unit is rad / s; I represents the moment of inertia of the rotating camera device.

[0051] Step 130: Determine the angular momentum range that the reverse flywheel needs to compensate for based on the preset variation corresponding to the target angular momentum.

[0052] In actual engineering, due to process and other reasons, the target angular momentum that the reverse flywheel needs to compensate for varies within a certain range. Therefore, a preset variation corresponding to the target angular momentum can be set, and the angular momentum range that the reverse flywheel needs to compensate for can be determined based on the preset variation corresponding to the target angular momentum.

[0053] The preset variation can be set as needed, for example, 5 kg·m 2 / s, no limitation here.

[0054] In some embodiments, determining the angular momentum range that the reverse flywheel needs to compensate for based on a preset variation corresponding to the target angular momentum may include steps 1301-1303:

[0055] Step 1301: Determine the difference between the target angular momentum and the preset variation corresponding to the target angular momentum as the minimum angular momentum that the reverse flywheel needs to compensate.

[0056] Step 1302: Determine the sum of the target angular momentum and the preset variation as the maximum angular momentum that the reverse flywheel needs to compensate.

[0057] Step 1303: Based on the minimum angular momentum, the maximum angular momentum, and the angular momentum between the minimum angular momentum and the maximum angular momentum, construct an angular momentum range that the reverse flywheel needs to compensate.

[0058] For example, the preset change can be expressed as ΔL; the minimum angular momentum in the angular momentum range can be expressed as L-ΔL; the maximum angular momentum in the angular momentum range can be expressed as L+ΔL; the angular momentum range that the reverse flywheel needs to compensate can be expressed as [L-ΔL, L+ΔL].

[0059] Step 140 : Determine a compensation coefficient range corresponding to the angular momentum range based on the angular momentum range, the inertia of the reverse flywheel, and the maximum angular velocity of the rotating motor of the reverse flywheel.

[0060] The computer device can determine the compensation coefficient range corresponding to the angular momentum range of the reverse flywheel, the inertia of the reverse flywheel, and the maximum angular velocity of the rotating motor of the reverse flywheel.

[0061] In some embodiments, determining a compensation coefficient range corresponding to the angular momentum range based on the angular momentum range, the inertia of the counter-flywheel, and the maximum angular velocity of the rotating motor of the counter-flywheel may include steps 1401-1404:

[0062] Step 1401: Determine the product of the inertia of the reverse flywheel and the maximum angular velocity of the rotating motor of the reverse flywheel as a first target product.

[0063] Step 1402: Determine the ratio of the minimum angular momentum in the angular momentum range to the first target product as the minimum compensation coefficient.

[0064] Step 1403: Determine the ratio of the maximum angular momentum in the angular momentum range to the first target product as the maximum compensation coefficient.

[0065] Step 1404: Construct a compensation coefficient range corresponding to the angular momentum range based on the minimum compensation coefficient, the maximum compensation coefficient, and the compensation coefficient between the minimum compensation coefficient and the maximum compensation coefficient.

[0066] For example, the inertia of the counter-flywheel can be expressed as I b The maximum angular velocity of the rotating motor of the reverse flywheel can be expressed as Φ; the minimum angular momentum in the angular momentum range can be expressed as L-△L; the maximum angular momentum in the angular momentum range can be expressed as L+△L; then the compensation coefficient range corresponding to the angular momentum range can be expressed as formula (3):

[0067]

[0068] For example, when the target angular momentum that the reverse flywheel needs to compensate is 50 kg·m 2 / s, the inertia of the reverse flywheel is 1kg·m 2 The maximum angular velocity of the rotating motor of the reverse flywheel is 10 rad / s, and the preset variation is 5 kg·m 2 / s, the angular momentum range that the reverse flywheel needs to compensate is [45,55], and the compensation coefficient range corresponding to the angular momentum range is [4.5,5.5].

[0069] In some embodiments, the compensation coefficient in the compensation coefficient range can be divided into two parts according to the decimal point. The integer part before the decimal point is the coarse adjustment coefficient, and the number of digits of the coarse adjustment coefficient is represented by c. The decimal part after the decimal point is the fine adjustment coefficient, and the number of digits of the fine adjustment coefficient is represented by p. Then, the variation range of each digit in the compensation coefficient is 0-9, and each digit requires a 4-bit code to represent (binary code 0 or 1). The code can be generated m times during the instruction execution period, and the 4-bit code can cover m digits:

[0070] If c+p>m, more 4-bit codes need to be added, and the increase is the integer part of (c+p) / m plus 1.

[0071] If c+p≤m, then a 4-bit code can cover it.

[0072] For example, the compensation coefficient can be expressed as AB.abcd, where AB is the fine-tuning coefficient in the compensation coefficient, and abcd is the fine-tuning coefficient in the compensation coefficient.

[0073] Step 150: For the compensation coefficients in the compensation coefficient range, calculate the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficients.

[0074] In some embodiments, calculating the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient may include steps 1501-1502:

[0075] Step 1501: Determine the product of the compensation coefficient, the inertia of the reverse flywheel, and the maximum angular velocity of the rotating motor of the reverse flywheel as a second target product.

[0076] Step 1502: Determine the difference between the target angular momentum and the second target product as the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient.

[0077] For example, the residual angular momentum obtained after the compensation coefficient compensates the target angular momentum can be calculated by formula (4):

[0078] L s =L-SI b Φ (4);

[0079] Where Ls represents the residual angular momentum, in kg·m 2 / s; L represents the target angular momentum; S represents the compensation coefficient; I b represents the inertia of the reverse flywheel; Φ represents the maximum angular velocity of the rotating motor of the reverse flywheel.

[0080] Step 160: When the residual angular momentum is less than a preset minimum residual amount, the compensation coefficient corresponding to the residual angular momentum is determined as the target compensation coefficient of the reverse flywheel.

[0081] The preset minimum residual volume can be set as needed, for example 0.01kg·m 2 / s, no limitation here.

[0082] When the residual angular momentum is less than a preset minimum residual amount, the computer device may determine the compensation coefficient corresponding to the residual angular momentum as the target compensation coefficient of the reverse flywheel.

[0083] Therefore, based on the target angular momentum that needs to be compensated for by the satellite's reverse flywheel, the preset change corresponding to the target angular momentum, the inertia of the reverse flywheel and the maximum angular velocity of the rotating motor of the reverse flywheel, the compensation coefficient range corresponding to the target angular momentum that needs to be compensated for the reverse flywheel can be determined, and the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient can be calculated. The compensation coefficient when the residual angular momentum is less than the preset minimum residual amount is determined as the target compensation coefficient of the reverse flywheel. In this way, the compensation coefficient of the satellite's reverse flywheel can be accurately adjusted and calculated, thereby improving the accuracy of the satellite's reverse flywheel compensation coefficient, and thereby improving the accuracy and stability of shooting by the rotating shooting device on the satellite.

[0084] Figure 2 This is a flow chart of a method for calculating the compensation coefficient of a satellite reverse flywheel provided by an embodiment of the present disclosure. This method can be executed by a computer device, which can be understood as any device with computing functions and processing capabilities. Figure 2 As shown, the method for calculating the compensation coefficient of the satellite reverse flywheel provided in this embodiment includes the following steps:

[0085] Step 210: Determine the moment of inertia of the rotating camera device deployed on the satellite.

[0086] Step 220: Determine the product of the moment of inertia and the target angular velocity of the rotating motor of the rotating camera device as the target angular momentum that needs to be compensated for the satellite's reverse flywheel.

[0087] Step 230: Determine the angular momentum range that the reverse flywheel needs to compensate for based on the preset variation corresponding to the target angular momentum.

[0088] Step 240 : Determine a compensation coefficient range corresponding to the angular momentum range based on the angular momentum range, the inertia of the reverse flywheel, and the maximum angular velocity of the rotating motor of the reverse flywheel.

[0089] Step 250 : For the compensation coefficients in the compensation coefficient range, starting from the minimum compensation coefficient in the compensation coefficient range, the residual angular momentum obtained after the target angular momentum is compensated by the compensation coefficients is calculated in ascending order.

[0090] In some embodiments, the above step 250 may include steps 2501-2502:

[0091] Step 2501: For the compensation coefficients in the compensation coefficient range, construct a target arithmetic progression corresponding to the compensation coefficients in the compensation coefficient range in ascending order based on a preset tolerance, and determine the target arithmetic progression as a compensation coefficient sequence.

[0092] The preset tolerance is the difference between the latter compensation coefficient and the former compensation coefficient of two adjacent compensation coefficients, which can be set as needed, for example, 0.1, and is not limited here.

[0093] Step 2502: For the compensation coefficients in the compensation coefficient sequence, starting from the first compensation coefficient in the compensation coefficient sequence, sequentially calculate the residual angular momentum obtained after the target angular momentum is compensated by the compensation coefficients.

[0094] For example, when the compensation coefficient range corresponding to the angular momentum range is [4.5, 5.5] and the preset tolerance is 0.1, starting from 4.5, in ascending order of the compensation coefficients, a target arithmetic progression corresponding to the compensation coefficients in the compensation coefficient range is constructed based on the preset tolerance. The target arithmetic progression may be [4.5, 4.6, 4.7, 4.8, 4.9, 5.0, 5.1, 5.2, 5.3, 5.4, 5.5]. The target arithmetic progression is determined as the compensation coefficient sequence. Starting from the first compensation coefficient 4.5 in the compensation coefficient sequence, the residual angular momentum obtained after the compensation coefficients in the compensation coefficient sequence compensate for the target angular momentum is calculated sequentially.

[0095] When the target angular momentum to be compensated by the reverse flywheel is 50 kg·m2 / s, the preset minimum residual amount is 0.01 kg·m2 / s, and the compensation coefficient sequence is [4.5, 4.6, 4.7, 4.8, 4.9, 5.0, 5.1, 5.2, 5.3, 5.4, 5.5], starting from the first compensation coefficient 4.5 in the compensation coefficient sequence, the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficients in the compensation coefficient sequence is calculated in sequence, which can be represented by Table 1.

[0096] Step 260: When the residual angular momentum is less than the preset minimum residual amount, the compensation coefficient corresponding to the residual angular momentum is determined as the target compensation coefficient of the reverse flywheel, and the calculation of the residual angular momentum corresponding to the subsequent compensation coefficients of the target compensation coefficient is terminated.

[0097] When the residual angular momentum is less than a preset minimum residual amount, it can be determined that the compensation coefficient corresponding to the residual angular momentum has met the preset accuracy requirement. In this case, the compensation coefficient corresponding to the residual angular momentum can be determined as the target compensation coefficient of the reverse flywheel, and the calculation of the residual angular momentum corresponding to subsequent compensation coefficients of the target compensation coefficient is terminated. This can improve the speed and accuracy of determining the target compensation coefficient of the reverse flywheel.

[0098] For example, as shown in Table 1, when the compensation coefficient is 5, the residual angular momentum obtained after the compensation coefficient compensates the target angular momentum is 0, which is less than the preset minimum residual amount of 0.01. Therefore, the compensation coefficient 5 can be determined as the target compensation coefficient of the reverse flywheel, and the calculation of the residual angular momentum corresponding to the subsequent compensation coefficients of the target compensation coefficient 5 is ended.

[0099] Table 1

[0100]

[0101] In Table 1, the compensation coefficient is divided into two parts based on the decimal point. The integer portion before the decimal point is the coarse adjustment coefficient, which is a single digit, and the fractional portion after the decimal point is the fine adjustment coefficient, which is a single digit. The code can be generated 10 times per second during instruction execution, so a 4-bit code is sufficient for coverage.

[0102] Therefore, based on the target angular momentum that needs to be compensated for by the satellite's reverse flywheel, the preset change corresponding to the target angular momentum, the inertia of the reverse flywheel and the maximum angular velocity of the rotating motor of the reverse flywheel, the compensation coefficient range corresponding to the target angular momentum that needs to be compensated for the reverse flywheel can be determined, and the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient can be calculated. The compensation coefficient when the residual angular momentum is less than the preset minimum residual amount is determined as the target compensation coefficient of the reverse flywheel. In this way, the compensation coefficient of the satellite's reverse flywheel can be accurately adjusted and calculated, thereby improving the accuracy of the satellite's reverse flywheel compensation coefficient, and thereby improving the accuracy and stability of shooting by the rotating shooting device on the satellite.

[0103] Figure 3 This is a schematic diagram of the structure of a compensation coefficient calculation device for a satellite reverse flywheel provided by an embodiment of the present disclosure. The device can be understood as the above-mentioned computer device or a part of the functional modules in the above-mentioned computer device. Figure 3 As shown, the compensation coefficient calculation device 300 of the satellite reverse flywheel includes:

[0104] A first determining module 310 is configured to determine the moment of inertia of a rotating camera device deployed on a satellite;

[0105] A second determining module 320 is configured to determine the product of the moment of inertia and the target angular velocity of the rotating motor of the rotating camera device as the target angular momentum that needs to be compensated for the reverse flywheel of the satellite;

[0106] A third determining module 330 is configured to determine an angular momentum range that needs to be compensated for the reverse flywheel based on a preset variation corresponding to the target angular momentum;

[0107] a fourth determining module 340 configured to determine a compensation coefficient range corresponding to the angular momentum range based on the angular momentum range, the inertia of the counter-flywheel, and the maximum angular velocity of the rotating motor of the counter-flywheel;

[0108] A calculation module 350 is configured to calculate, for a compensation coefficient in the compensation coefficient range, a residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient;

[0109] The fifth determining module 360 ​​is configured to determine the compensation coefficient corresponding to the residual angular momentum as the target compensation coefficient of the reverse flywheel when the residual angular momentum is less than a preset minimum residual amount.

[0110] Optionally, the first determining module includes:

[0111] an acquisition submodule, configured to acquire a unit mass of a rotating camera device deployed on a satellite and a target distance between the unit mass and a rotation axis of the rotating camera device;

[0112] The rotational inertia calculation submodule is configured to calculate the rotational inertia of the rotating camera device based on the unit mass and the target distance.

[0113] Optionally, the third determining module includes:

[0114] a first determining submodule, configured to determine a difference between the target angular momentum and a preset variation corresponding to the target angular momentum as a minimum angular momentum that the reverse flywheel needs to compensate;

[0115] a second determining submodule, configured to determine the sum of the target angular momentum and the preset variation as the maximum angular momentum that the reverse flywheel needs to compensate;

[0116] The first constructing submodule is configured to construct an angular momentum range that needs to be compensated for the reverse flywheel based on the minimum angular momentum, the maximum angular momentum, and the angular momentum between the minimum angular momentum and the maximum angular momentum.

[0117] Optionally, the fourth determining module includes:

[0118] a third determining submodule, configured to determine a first target product by multiplying the inertia of the reverse flywheel and the maximum angular velocity of the rotating motor of the reverse flywheel;

[0119] a fourth determining submodule, configured to determine a ratio of a minimum angular momentum in the angular momentum range to the first target product as a minimum compensation coefficient;

[0120] a fifth determining submodule, configured to determine a ratio of a maximum angular momentum in the angular momentum range to the first target product as a maximum compensation coefficient;

[0121] The second construction submodule is configured to construct a compensation coefficient range corresponding to the angular momentum range based on a minimum compensation coefficient, a maximum compensation coefficient, and a compensation coefficient between the minimum compensation coefficient and the maximum compensation coefficient.

[0122] Optionally, the calculation module includes:

[0123] a residual angular momentum calculation submodule, configured to calculate, for each compensation coefficient in the compensation coefficient range, starting from a minimum compensation coefficient in the compensation coefficient range and in ascending order of the compensation coefficients, a residual angular momentum obtained by compensating the target angular momentum with the compensation coefficients;

[0124] The fifth determining module includes:

[0125] The compensation coefficient determination submodule is used to determine the compensation coefficient corresponding to the residual angular momentum as the target compensation coefficient of the reverse flywheel when the residual angular momentum is less than the preset minimum residual amount, and to end the calculation of the residual angular momentum corresponding to the subsequent compensation coefficients of the target compensation coefficient.

[0126] Optionally, the residual angular momentum calculation submodule includes:

[0127] a sequence construction unit for constructing, for the compensation coefficients in the compensation coefficient range, a target arithmetic progression corresponding to the compensation coefficients in the compensation coefficient range in ascending order based on a preset tolerance, and determining the target arithmetic progression as a compensation coefficient sequence;

[0128] The calculation unit is configured to calculate, for each compensation coefficient in the compensation coefficient sequence, starting from the first compensation coefficient in the compensation coefficient sequence, a residual angular momentum obtained after the target angular momentum is compensated by the compensation coefficient.

[0129] Optionally, the calculation module includes:

[0130] a product determination submodule, configured to determine a product of the compensation coefficient, the inertia of the reverse flywheel, and the maximum angular velocity as a second target product;

[0131] The residual angular momentum determination submodule is configured to determine a difference between the target angular momentum and the second target product as the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient.

[0132] The compensation coefficient calculation device for the satellite reverse flywheel provided in the embodiment of the present disclosure can implement the method of any of the above embodiments. Its execution method and beneficial effects are similar and will not be repeated here.

[0133] An embodiment of the present disclosure also provides a computer device, which includes a processor and a memory, wherein a computer program is stored in the memory. When the computer program is executed by the processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0134] The computer device in the embodiments of the present disclosure can be understood as any device with processing and computing capabilities, which may include but is not limited to electronic devices such as smart phones, laptops, personal digital assistants (PDAs), tablet computers (PADs), portable multimedia players (PMPs), digital TVs, desktop computers, etc.

[0135] Figure 4 is a structural diagram of a computer device provided by an embodiment of the present disclosure, such as Figure 4 As shown, the computer device 400 may include a processor 410 and a memory 420, wherein the memory 420 stores a computer program 421. When the computer program 421 is executed by the processor 410, it can implement the method provided by any of the above embodiments. The execution method and beneficial effects are similar and will not be repeated here.

[0136] Of course, to simplify, Figure 4 Only some of the components related to the present invention in the computer device 400 are shown, and components such as a bus, input / output interface, input device, and output device are omitted. In addition, the computer device 400 may also include any other appropriate components according to specific application scenarios.

[0137] An embodiment of the present disclosure provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0138] The computer-readable storage medium can be any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, but is not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0139] The computer program can be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present disclosure, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer device, partially on the user's computer device, as a stand-alone software package, partially on the user's computer device and partially on a remote computer device, or entirely on a remote computer device or server.

[0140] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0141] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0142] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A method for calculating the compensation coefficient of a satellite reverse flywheel, characterized in that: include: Determine the moment of inertia of a rotating camera deployed on a satellite; determining the product of the moment of inertia and the target angular velocity of the rotating motor of the rotating camera device as the target angular momentum that needs to be compensated for the reverse flywheel of the satellite; determining a range of angular momentum that needs to be compensated for the reverse flywheel based on a preset variation corresponding to the target angular momentum; determining a compensation coefficient range corresponding to the angular momentum range based on the angular momentum range, the inertia of the counter-flywheel, and the maximum angular velocity of the rotating motor of the counter-flywheel; calculating, for a compensation coefficient within the compensation coefficient range, a residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient; When the residual angular momentum is less than a preset minimum residual amount, the compensation coefficient corresponding to the residual angular momentum is determined as the target compensation coefficient of the reverse flywheel.

2. The method according to claim 1, characterized in that Determining the moment of inertia of the rotating camera device deployed on the satellite includes: Obtaining a unit mass of a rotating camera device deployed on a satellite and a target distance between the unit mass and a rotation axis of the rotating camera device; The moment of inertia of the rotating camera is calculated based on the unit mass and the target distance.

3. The method according to claim 1, characterized in that The determining of the angular momentum range that needs to be compensated for the reverse flywheel based on the preset variation corresponding to the target angular momentum includes: determining a difference between the target angular momentum and a preset variation corresponding to the target angular momentum as a minimum angular momentum that the reverse flywheel needs to compensate; Determining the sum of the target angular momentum and the preset variation as the maximum angular momentum that the reverse flywheel needs to compensate; Based on the minimum angular momentum, the maximum angular momentum, and the angular momentum between the minimum angular momentum and the maximum angular momentum, an angular momentum range that needs to be compensated by the counter-flywheel is constructed.

4. The method according to claim 1, wherein The determining of the compensation coefficient range corresponding to the angular momentum range based on the angular momentum range, the inertia of the reverse flywheel, and the maximum angular velocity of the rotating motor of the reverse flywheel includes: determining a first target product as a product of the inertia of the counter-flywheel and the maximum angular velocity of the rotating motor of the counter-flywheel; determining a ratio of a minimum angular momentum in the angular momentum range to the first target product as a minimum compensation coefficient; determining a ratio of a maximum angular momentum in the angular momentum range to the first target product as a maximum compensation coefficient; Based on the minimum compensation coefficient, the maximum compensation coefficient, and the compensation coefficient between the minimum compensation coefficient and the maximum compensation coefficient, a compensation coefficient range corresponding to the angular momentum range is constructed.

5. The method according to claim 1, wherein The calculating, for the compensation coefficient in the compensation coefficient range, the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient includes: For the compensation coefficients in the compensation coefficient range, starting from the minimum compensation coefficient in the compensation coefficient range and in ascending order of the compensation coefficients, calculating the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficients; When the residual angular momentum is less than a preset minimum residual amount, determining the compensation coefficient corresponding to the residual angular momentum as the target compensation coefficient of the reverse flywheel includes: When the residual angular momentum is less than a preset minimum residual amount, the compensation coefficient corresponding to the residual angular momentum is determined as the target compensation coefficient of the reverse flywheel, and the calculation of the residual angular momentum corresponding to the subsequent compensation coefficients of the target compensation coefficient is ended.

6. The method according to claim 5, characterized in that The step of calculating, for each compensation coefficient in the compensation coefficient range, starting from a minimum compensation coefficient in the compensation coefficient range and in ascending order of the compensation coefficients, a residual angular momentum obtained by compensating the target angular momentum with the compensation coefficients, includes: For the compensation coefficients in the compensation coefficient range, constructing target arithmetic progression corresponding to the compensation coefficients in the compensation coefficient range based on a preset tolerance in ascending order of the compensation coefficients, and determining the target arithmetic progression as a compensation coefficient sequence; For the compensation coefficients in the compensation coefficient sequence, starting from the first compensation coefficient in the compensation coefficient sequence, residual angular momentum obtained after the target angular momentum is compensated by the compensation coefficients is calculated in sequence.

7. The method according to any one of claims 1 to 6, characterized in that The calculating of the residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient includes: determining a product of the compensation coefficient, the inertia of the counter flywheel, and the maximum angular velocity as a second target product; The difference between the target angular momentum and the second target product is determined as the residual angular momentum obtained after the target angular momentum is compensated by the compensation coefficient.

8. A compensation coefficient calculation device for a satellite reverse flywheel, characterized in that: include: A first determining module is used to determine the moment of inertia of a rotating camera device deployed on the satellite; a second determining module, configured to determine the product of the moment of inertia and the target angular velocity of the rotating motor of the rotating photographing device as the target angular momentum that needs to be compensated for the reverse flywheel of the satellite; a third determining module, configured to determine a range of angular momentum that needs to be compensated for the reverse flywheel based on a preset variation corresponding to the target angular momentum; a fourth determining module, configured to determine a compensation coefficient range corresponding to the angular momentum range based on the angular momentum range, the inertia of the counter-flywheel, and the maximum angular velocity of the rotating motor of the counter-flywheel; a calculation module, configured to calculate, for a compensation coefficient in the compensation coefficient range, a residual angular momentum obtained after compensating the target angular momentum with the compensation coefficient; The fifth determination module is configured to determine, when the residual angular momentum is less than a preset minimum residual amount, a compensation coefficient corresponding to the residual angular momentum as a target compensation coefficient of the reverse flywheel.

9. A computer device, characterized in that: include: A memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the compensation coefficient calculation method of the satellite reverse flywheel according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by the processor, the method for calculating the compensation coefficient of the satellite reverse flywheel according to any one of claims 1 to 7 is implemented.

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