Single-frame control moment gyroscope group determination method, device, equipment, and storage medium

Abstract

The present application relates to a method, apparatus, device, and storage medium for determining a single-frame control moment gyroscope group. By obtaining multiple angular momentum envelope sample points of each candidate single-frame control moment gyroscope group (SGCMGs), a target envelope value for each candidate SGCMG is determined based on the angular momentum envelope sample points of each candidate SGCMG. A comprehensive evaluation index for each candidate SGCMG is further determined based on the target envelope value. Finally, based on the comprehensive evaluation index of each candidate SGCMG, target SGCMGs are determined from each candidate SGCMG. The present application determines a comprehensive evaluation index for each candidate SGCMG based on the target envelope value. The comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMGs. Furthermore, by using multiple angular momentum sample points, the problem of the inability to comprehensively and objectively judge the configuration capability caused by evaluating SGCMGs based on maximum or minimum angular momentum in the prior art is avoided, allowing the accurate selection of a single-frame control moment gyroscope group configuration that meets actual needs.

Description

Technical Field

[0001] The present application relates to the technical field of spacecraft attitude control, and in particular to a method, apparatus, device, and storage medium for determining a single-frame control moment gyroscope group. Background Art

[0002] The Single Gimbal Control Moment Gyro (SGCMG) has become a common actuator in the attitude control systems of large, three-axis stabilized low-Earth orbit vehicles (especially space stations), as well as in the rapid maneuvering platforms of small and medium-sized satellites. For example, under the control of the spacecraft's attitude control computer, the rotor rotates at high speed to generate angular momentum. The rotation of the gimbal axis changes the direction of this angular momentum, generating an output torque to control the spacecraft's attitude.

[0003] In order to meet the requirements of large torque output and high-precision torque output, many single-frame control moment gyroscope group configurations have been designed, such as pyramid configuration, regular pentagonal pyramid configuration and regular octagonal pyramid configuration. However, the existing technology has a single evaluation of the designed single-frame control moment gyroscope group configurations, and it is impossible to select a single-frame control moment gyroscope group configuration that meets actual needs. Summary of the Invention

[0004] Based on this, it is necessary to provide a single-frame control moment gyroscope group determination method, device, equipment, and storage medium that can more comprehensively evaluate the single-frame control moment gyroscope group configuration in response to the above technical problems.

[0005] In a first aspect, the present application provides a method for determining a single-frame control moment gyro group, the method comprising:

[0006] Obtain multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs;

[0007] determining a target envelope value of each of the candidate SGCMGs according to the angular momentum envelope sample points of each of the candidate SGCMGs;

[0008] Determining a comprehensive evaluation index for each of the candidate SGCMGs according to the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMGs;

[0009] According to the comprehensive evaluation index of each candidate SGCMG, target SGCMGs are determined from each candidate SGCMG.

[0010] In one embodiment, determining the target envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG includes:

[0011] determining at least two of an angular momentum envelope value, a failure angular momentum envelope value, and a singular angular momentum envelope value of each of the candidate SGCMGs based on the angular momentum envelope sample points of each of the candidate SGCMGs;

[0012] The target envelope value of each candidate SGCMG is determined according to at least two of the angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value of each candidate SGCMG.

[0013] In one embodiment, determining the comprehensive evaluation index of each candidate SGCMG according to the target envelope value includes:

[0014] determining at least two of an angular momentum index, a failure angular momentum index, and a singular angular momentum index for each of the candidate SGCMGs according to the target envelope value;

[0015] A comprehensive evaluation index of each of the candidate SGCMGs is determined according to at least two of the angular momentum index, the failure angular momentum index, and the singular angular momentum index.

[0016] In one embodiment, if the target envelope value includes an angular momentum envelope value, then determining the angular momentum index of each of the candidate SGCMGs according to the target envelope value includes:

[0017] determining a first angular momentum indicator according to a first infinity norm of the angular momentum envelope value, a first number of SGCMGs in each of the candidate SGCMGs, and a preset angular momentum envelope value of each of the candidate SGCMGs;

[0018] A second angular momentum index is determined based on the first and second norms of the angular momentum envelope value, the first number, the preset angular momentum envelope value, and the second number of angular momentum envelope sample points in each of the candidate SGCMGs; the angular momentum index includes the first angular momentum index and the second angular momentum index.

[0019] In one embodiment, if the target envelope value includes the failure angular momentum envelope value of the j-th failure combination of i failed cells, then determining the failure angular momentum index of each candidate SGCMG according to the target envelope value includes:

[0020] determining a first failure angular momentum indicator according to a second infinity norm of the failure angular momentum envelope value, the first number, the preset angular momentum envelope value, a third number of failed SGCMGs in each of the candidate SGCMGs, and a fourth number of failure combinations corresponding to the third number;

[0021] A second failure angular momentum index is determined based on the second second norm of the failure angular momentum envelope value, the first quantity, the preset angular momentum envelope value, the second quantity, the third quantity and the fourth quantity; the failure angular momentum index includes the first failure angular momentum index and the second failure angular momentum index.

[0022] In one embodiment, if the target envelope value includes a singular angular momentum envelope value, determining the singular angular momentum index of each of the candidate SGCMGs according to the target envelope value includes:

[0023] determining a first singular angular momentum index according to a third infinity norm of the singular angular momentum envelope value and a classification number of the singular angular momentum envelope;

[0024] A second singular angular momentum index is determined according to the third second norm of the singular angular momentum envelope value, the first quantity, the second quantity, the classification number and the preset angular momentum envelope value; the singular angular momentum index includes the first singular angular momentum index and the second singular angular momentum index.

[0025] In a second aspect, the present application further provides a single-frame control moment gyro group determination device, the device comprising:

[0026] An acquisition module is used to obtain multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs;

[0027] A first determination module is configured to determine a target envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG;

[0028] a second determination module, configured to determine a comprehensive evaluation index of each of the candidate SGCMGs according to the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMGs;

[0029] The third determination module is configured to determine target SGCMGs from the candidate SGCMGs according to the comprehensive evaluation index of the candidate SGCMGs.

[0030] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0031] Obtain multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs;

[0032] determining a target envelope value of each of the candidate SGCMGs according to the angular momentum envelope sample points of each of the candidate SGCMGs;

[0033] Determining a comprehensive evaluation index for each of the candidate SGCMGs according to the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMGs;

[0034] According to the comprehensive evaluation index of each candidate SGCMG, target SGCMGs are determined from each candidate SGCMG.

[0035] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0036] Obtain multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs;

[0037] determining a target envelope value of each of the candidate SGCMGs according to the angular momentum envelope sample points of each of the candidate SGCMGs;

[0038] Determining a comprehensive evaluation index for each of the candidate SGCMGs according to the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMGs;

[0039] According to the comprehensive evaluation index of each candidate SGCMG, target SGCMGs are determined from each candidate SGCMG.

[0040] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0041] Obtain multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs;

[0042] determining a target envelope value of each of the candidate SGCMGs according to the angular momentum envelope sample points of each of the candidate SGCMGs;

[0043] Determining a comprehensive evaluation index for each of the candidate SGCMGs according to the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMGs;

[0044] According to the comprehensive evaluation index of each candidate SGCMG, target SGCMGs are determined from each candidate SGCMG.

[0045] The above-mentioned single-frame control moment gyro group determination method, apparatus, device, and storage medium obtain multiple angular momentum envelope sample points for each candidate single-frame control moment gyro group SGCMG, determine a target envelope value for each candidate SGCMG based on the angular momentum envelope sample points of each candidate SGCMG, further determine a comprehensive evaluation index for each candidate SGCMG based on the target envelope value, and finally determine the target SGCMG from each candidate SGCMG based on the comprehensive evaluation index of each candidate SGCMG. The present application determines a comprehensive evaluation index for each candidate SGCMG based on the target envelope value. The comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMG. The use of multiple angular momentum sample points avoids the problem of the existing art of evaluating SGCMGs based on maximum or minimum angular momentum, which results in an inability to comprehensively and objectively assess the configuration capability. This allows the accurate selection of a single-frame control moment gyro group configuration that meets actual needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A diagram illustrating an application environment of a method for determining a single-frame control moment gyroscope group in one embodiment;

[0047] Figure 2 A schematic diagram of the structure of a single-frame controlled moment gyroscope in one embodiment;

[0048] Figure 3 Schematic diagram of the structure of a pyramid-configured single-frame control moment gyroscope group in one embodiment;

[0049] Figure 4 Schematic diagram of the structure of a single-frame control moment gyroscope group with a regular pentagonal pyramid configuration in one embodiment;

[0050] Figure 5 Schematic diagram of the structure of a single-frame control moment gyroscope group with a regular octagonal pyramid configuration in one embodiment;

[0051] Figure 6 1 is a flow chart of a method for determining a single-frame control moment gyro group in one embodiment;

[0052] Figure 7 Schematic diagram of the coordinate system of SGCMG in one embodiment;

[0053] Figure 8 Schematic diagram of the composition coordinate system of 8-SGCMGs in one embodiment;

[0054] Figure 9 Schematic diagram of the angular momentum envelope of 8-SGCMGs in one embodiment;

[0055] Figure 10 Schematic diagram of the failure angular momentum envelope of 8-SGCMGs in one embodiment;

[0056] Figure 11 Schematic diagram of the singularity principle of SGCMG in one embodiment;

[0057] Figure 12 Schematic diagram of the singular angular momentum envelope of 8-SGCMGs in one embodiment;

[0058] Figure 13 A schematic diagram of a process for determining target envelope values ​​for each candidate SGCMG in one embodiment;

[0059] Figure 14 Schematic diagram of the arrangement of angular momentum envelope sample points in one embodiment;

[0060] Figure 15 A schematic diagram of sampling point statistics of angular momentum envelope sample points in one embodiment;

[0061] Figure 16 FIG. 1 is a structural block diagram of a device for determining a single-frame control moment gyro group in one embodiment. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0063] The method for determining a single-frame control moment gyroscope group provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown in FIG. , a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 1 As shown. The computer device includes a processor, a memory and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data related to the single-frame control moment gyroscope group. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for determining a single-frame control moment gyroscope group is implemented. The server can be implemented as an independent server or a server cluster consisting of multiple servers.

[0064] Those skilled in the art will understand that Figure 1The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0065] The Single Gimbal Control Moment Gyro (SGCMG) has become a common actuator for attitude control systems of large low-Earth orbit three-axis stabilized aircraft (especially space stations) and rapid maneuvering platforms for small and medium-sized satellites. The structure of the SGCMG usually adopts a conventional gyro frame structure, which is relatively compact and consistent with the requirements of minimizing the size and weight of aerospace products. Figure 2 As shown in the figure, SGCMG generally consists of two parts: a mechanical body and a drive circuit box. The mechanical body consists of two independent parts: a rotor and a frame. Under the control of the spacecraft attitude control computer, the rotor rotates at high speed to generate angular momentum, and the direction of the angular momentum changes through the rotation of the frame axis, thereby generating output torque to control the spacecraft attitude.

[0066] In recent years, in order to meet the requirements of large torque output and high precision torque output, many single gimbal control moment gyros (SGCMGs) configurations have been designed, such as pyramid configuration, regular pentagonal pyramid configuration and regular octagonal pyramid configuration, etc. Figure 3-5 As shown, Figure 3 A pyramid-shaped single-frame control moment gyro group, Figure 4 It is a single-frame control moment gyro group with a regular pentagonal pyramid configuration. Figure 5 It is a single-frame control moment gyroscope group with a regular octagonal pyramid configuration.

[0067] In related technologies, the evaluation of the designed single-frame control moment gyroscope group configuration is mainly based on the following aspects. For example, for several common configurations of paired installation and non-paired symmetrical installation, the configuration efficiency index is defined based on indicators such as configuration efficiency and the complexity of singular surfaces, that is, the maximum spherical radius r of the angular momentum ellipsoid of the SGCMGs system. max The ratio of the longest axis R of the angular momentum ellipsoid is The quality of the configuration is evaluated by the size of the ε value. The larger the ε value, the better the configuration design. However, this method only uses the maximum angular momentum r of the configuration. max Using it as an evaluation factor to dominate the evaluation results is too one-sided for the actual integrated design requirements of spacecraft, and it is difficult to comprehensively and objectively judge the configuration.

[0068] Alternatively, the advantages and disadvantages of the configuration can be comprehensively considered, and SGCMGs can be evaluated based on configuration benefit, failure benefit, controllability benefit, and singularity loss rate benefit, which are specifically defined as follows:

[0069] Configuration benefit: the ratio of the minimum angular momentum on the momentum envelope of the SGCMGs system to the algebraic sum of the angular momentum of the gyroscope group, that is, In the above formula, ξ is the direction from the center of the momentum body to the envelope, n is the number of SGCMGs, and h(σ) is the momentum value of the SGCMG, which is a function of the angle σ of each SGCMG frame. According to the calculation of this indicator, if the maximum momentum benefit is to be achieved, the SGCMGs system should be composed of an infinite number of single SGCMGs with the frame axis uniformly distributed along the sphere. At this time, the maximum configuration benefit can reach

[0070] Failure benefit: the ratio of the minimum angular momentum on the momentum envelope of a single-frame control moment gyro of the SGCMGs system after failure to the algebraic sum of the angular momentum of the SGCMGs before failure, that is, Where n is the number of SGCMGs before failure, and h′(σ) is the momentum value of the SGCMG after one SGCMG fails.

[0071] Controllable benefit: The system momentum space does not include singular points σ that cannot be non-singularly escaped through zero motion s The ratio of the minimum angular momentum of α to the algebraic sum of the angular momentum of SGCMGs is

[0072] Singularity loss rate: The difference between the momentum body configuration benefit and the controllable benefit is taken as the singularity loss rate.

[0073] According to the above formula, configuration benefit, failure benefit, controllable benefit and singularity loss rate benefit all describe the ratio of the minimum output angular momentum to the algebraic sum under different circumstances. The evaluation indicators can only determine the lower limit of the configuration output capability, and it is difficult to evaluate the comprehensive angular momentum output capability of the configuration.

[0074] In response to the above problems, the present application proposes a method, apparatus, device and storage medium for determining a single-frame control moment gyroscope group.

[0075] In one embodiment, Figure 6 As shown in FIG, a method for determining a single-frame control moment gyro group is provided, and the method is applied to Figure 1 The computer device in the example is used to illustrate the process, including the following steps:

[0076] S201, obtaining a plurality of angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs.

[0077] In this embodiment, multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs are obtained, including obtaining multiple angular momentum envelope sample points of each SGCMG under different conditions, for example, multiple angular momentum envelope sample points of the SGCMGs under normal conditions, multiple angular momentum envelope sample points of the SGCMGs under a condition where some of the SGCMGs fail, and multiple angular momentum envelope sample points of the SGCMGs under a singular state.

[0078] In this embodiment, simulations are performed on each SGCMG in different states, and multiple angular momentum envelope sample points are obtained based on the simulation results. For example, for 8-SGCMGs, under normal conditions, 53,000 sample points are obtained based on the simulation results. In the case of failure, since 8-SGCMGs can have multiple failure conditions, multiple angular momentum envelope sample points are obtained for each failure condition. Similarly, in singular states, multiple angular momentum envelope sample points are obtained for each singular state.

[0079] Under normal circumstances: design the configuration of each candidate single-frame control moment gyro group SGCMGs and establish the corresponding dynamic equations. Take the SGCMGs (8-SGCMGs) composed of 8 SGCMGs in a regular octagonal pyramid configuration as an example. Figure 7 Schematic diagram of the coordinate system of SGCMG in one embodiment. Figure 8 Schematic diagram of the composition coordinate system of 8-SGCMGs in one embodiment.

[0080] like Figure 7 As shown, the frame axis of the SGCMG is always perpendicular to the flywheel axis. When the frame axis rotates, the direction of the angular momentum changes. By coupling the angular momentum with the frame axis velocity, the output torque of the SGCMGs can be obtained. The angular velocity of the SGCMG frame axis is defined as The angular momentum generated by the flywheel is defined as h SGCMG , the output torque of SGCMG is given as

[0081] According to the momentum exchange principle, the momentum mathematical model of distributed SGCMGs is H = h SGCMG (A sin δ + B cos δ) E, where A and B are the mounting matrices of the frame angles, and E = [1 1 ... 1] Τ is a unit vector.

[0082] The specific forms of A and B in the above formula are

[0083]

[0084] sinδ and cosδ are expressed as

[0085]

[0086] The total torque T generated by SGCMGs in the satellite's body coordinate system is SGCMGs for

[0087]

[0088] Where J SGCMGs (δ) = Acosδ - Bsinδ is the frame Jacobi matrix, is the SGCMGs frame angular velocity matrix. Then, the angular momentum H of 8-SGCMGs 8-SGCMGs It can be expressed as

[0089]

[0090] Where c represents cosine, s represents sin, and β represents the tilt angle

[0091] Furthermore, according to the above formula, the expressions of angular momentum H of 4-SGCMGs, 5-SGCMGs and 6-SGCMGs can be obtained: 4-SGCMGs 、H 5-SGCMGs 、H 6-SGCMGs , the specific form is as follows:

[0092]

[0093]

[0094]

[0095] Taking 8-SGCMGs as an example, according to the above angular momentum H 8-SGCMGs The simulation results are as follows: Figure 9 As shown. Select multiple angular momentum envelope sample points S in 8-SGCMGs i (i=1,2,3...end)=i.

[0096] In the case of failure: SGCMGs with less than 4 SGCMGs are an under-actuated system. If the SGCMGs have less than 4 units, then the SGCMGs are considered non-reconfigurable. Assume that h0 = 1Nms and h0 = 0 is defined as a specific SGCMG failure. Taking 8-SGCMGs as an example, there are 17 failure combinations of 8-SGCMGs. Multiple angular momentum envelope sample points are obtained for each candidate single-frame control torque gyro group SGCMGs under different failure conditions. The angular momentum envelope diagrams of the 17 failure combinations are shown in Figure 1. Figure 101 failed cell (h=[0 1 1 1 1 1 1 1]); 2 failed cells (h=[0 0 1 1 1 1 11], h=[0 1 0 1 1 1 1 1], h=[0 1 1 0 1 1 1 1], h=[0 1 1 1 0 1 1 1]); 3 failed cells (h=[0 0 0 1 1 1 1], h=[0 0 1 0 1 1 1 1], h=[0 0 1 1 0 1 1 1], h=[0 1 0 1 1 0 1 1]); 4 failed cells (h=[0 0 0 0 1 1 1 1], h=[0 0 0 1 01 1 1], h=[0 0 1 1 0 1 0 1], h=[0 0 1 1 0 0 1 1], h=[0 0 0 1 1 0 1 1], h=[00 1 0 0 1 1 1], h=[0 1 0 1 0 1 0 1]).

[0097] In the exotic state: the output angular momentum h of the SGCMG i (i) Angular velocity with respect to the frame axis Working together, we get the output torque T SGCMGs , used to provide the input of the controller. T SGCMGs In the Jacobi matrix J SGCMGs In the range space represented by is the position function of the frame angle, and the output torque T SGCMGs It can be expressed as:

[0098]

[0099] In the above formula h i (i=1,2,...,n) is the output angular momentum of SGCMG in the singular state.

[0100] Since a particular combination of frame angles will make the column vector Collinearization, then the Jacobi matrix J SGCMGs The rank is reduced, and the executor falls into a singular state, which can be expressed as rank(J SGCMGs )<3. The SGCMG singularity principle diagram is as follows Figure 11 As shown, it can be seen that the SGCMG system can only output torque in a certain plane and cannot complete three-axis attitude control.

[0101] In the angular momentum envelope of SGCMG, there are two singular angular momenta and They can be represented by the desired moment vector u and the frame axis direction vector g i Let u≠g i , the singular angular momentum can be expressed as:

[0102]

[0103] In order to visualize the angular momentum envelope of the singular angle, ε=[ε1 ε2 … ε n ]. Two equations with different singularities ε i =±1 is combined into There are 2 n The positive and negative values ​​of ε correspond to the same singular surface, so ε has a total of 2 n-1 By plotting the singular envelope diagram of the vector u that passes through the entire unit sphere space, the singular angular momentum can be further expressed as:

[0104]

[0105] 8-SGCMGs have 128 combinations of ε values. According to different singularity characteristics, the singular planes of 8-SGCMGs are divided into external saturated 8H singular planes, internal 6H singular planes, internal 4H singular planes, internal 2H singular planes and 0H singular planes. According to the above expression of singular angular momentum, the envelope diagram of singular angular momentum can be obtained as follows Figure 12 As shown, multiple angular momentum envelope sample points are obtained through simulation results.

[0106] S202 : Determine a target envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG.

[0107] In this embodiment, the sample values ​​Z={Z1, Z2...Z i ...Z end}, statistical parameters include the numerical interval [Z min ,Z max ]、mean value Z mean , median Z median and standard deviation σ Z ,Further, the target envelope value of each candidate SGCMGs is calculated based on ,statistical parameters.

[0108] In this embodiment, the target envelope value may be any two of the angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value, or may include the angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value.

[0109] S203 , determining a comprehensive evaluation index for each candidate SGCMG according to the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMGs.

[0110] In this embodiment, when determining the comprehensive evaluation index of each candidate SGCMG based on the target envelope value, if the target envelope value is the angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value, the angular momentum evaluation index (Momentum Target, MT) can be determined based on the angular momentum envelope value; the failure angular momentum evaluation index (FMT) can be determined based on the failure angular momentum envelope value; and the singular angular momentum evaluation index (SMT) can be determined based on the singular angular momentum envelope value.

[0111] In this embodiment, the comprehensive evaluation index may be determined based on any two evaluation indicators among the above-mentioned angular momentum evaluation indicator, the failure angular momentum evaluation indicator, and the singular angular momentum evaluation indicator, or may be determined based on three evaluation indicators.

[0112] In this embodiment, the angular momentum evaluation index, the failure angular momentum evaluation index and the singular angular momentum evaluation index can be directly accumulated to determine the comprehensive evaluation index, or the angular momentum evaluation index, the failure angular momentum evaluation index and the singular angular momentum evaluation index can be assigned different weights and then accumulated.

[0113] In this embodiment, for example, the angular momentum benefit statistics of a typical SGCMGs configuration are shown in Table 1, wherein the angular momentum evaluation MT index includes the angular momentum evaluation index and Failure angular momentum evaluation index FMT includes the failure angular momentum evaluation index and Singular angular momentum evaluation index includes the singular angular momentum evaluation index and

[0114] Table 1

[0115]

[0116] In this embodiment, it is assumed that the angular momentum evaluation index, the failure angular momentum evaluation index and the singular angular momentum evaluation index are directly accumulated to determine the comprehensive evaluation index, which can be used Calculation, comprehensive evaluation indicators include and Comprehensive evaluation indicators Represents the maximum benefit of a single-frame control moment gyro group, represents the overall benefit of the single-frame control moment gyro group. The optimal maximum benefit does not necessarily mean the optimal overall benefit. As shown in Table 1, the 5-SGCMGs have the optimal maximum benefit, while the 8-SGCMGs have the optimal overall benefit.

[0117] S204 , determining target SGCMGs from the candidate SGCMGs according to the comprehensive evaluation index of the candidate SGCMGs.

[0118] In this embodiment, based on the comprehensive evaluation index of each candidate SGCMG, since the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMGs, the candidate SGCMG with the highest comprehensive evaluation index value can be determined as the target SGCMG. In practical applications, appropriate candidate SGCMG configurations can also be selected as target SGCMGs based on actual needs and in combination with the comprehensive evaluation index. For example, only candidate SGCMG configurations with the best overall efficiency can be selected as target SGCMGs, or candidate SGCMG configurations with relatively good overall efficiency and maximum efficiency can be selected as target SGCMGs.

[0119] In the above-mentioned method for determining a single-frame control moment gyro group, multiple angular momentum envelope sample points are obtained for each candidate single-frame control moment gyro group SGCMG. Based on the angular momentum envelope sample points of each candidate SGCMG, a target envelope value for each candidate SGCMG is determined. A comprehensive evaluation index for each candidate SGCMG is further determined based on the target envelope value. Finally, based on the comprehensive evaluation index for each candidate SGCMG, target SGCMGs are determined from the candidate SGCMGs. The present application determines a comprehensive evaluation index for each candidate SGCMG based on the target envelope value. The comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMGs. Furthermore, the use of multiple angular momentum sample points avoids the problem of evaluating SGCMGs based on maximum or minimum angular momentum in the prior art, which prevents comprehensive and objective assessment of configuration capability. This allows accurate selection of a single-frame control moment gyro group configuration that meets actual needs.

[0120] Figure 13 FIG. 1 is a flow chart of determining the target envelope value of each candidate SGCMG in one embodiment. Figure 13 As shown, the embodiment of the present application relates to a possible implementation method of determining the target envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG, including the following steps:

[0121] S301 : Determine at least two of the angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG.

[0122] In this embodiment, the angular momentum envelope value, failure angular momentum envelope value, and singular angular momentum envelope value of each candidate SGCMG are determined based on the angular momentum envelope sample points of each candidate SGCMG. The maximum value of the angular momentum envelope sample points can be used as the first infinite norm of the angular momentum envelope value, the second infinite norm of the failure angular momentum envelope value, and the third infinite norm of the singular angular momentum envelope value. The standard deviation of the angular momentum envelope sample points can be used as the first infinite norm of the angular momentum envelope value, the second infinite norm of the failure angular momentum envelope value, and the third infinite norm of the failure angular momentum envelope value.

[0123] In this embodiment, taking 8-SGCMGs as an example, the statistical parameters of the angular momentum envelope sample points include the value interval [Z min ,Z max ]、mean value Z mean , median Z median and standard deviation σ Z Under normal circumstances, the arrangement of the angular momentum envelope sampling points is as follows: Figure 14 As shown, the statistics of the angular momentum envelope sample points are as follows: Figure 15 shown.

[0124] In this embodiment, still taking 8-SGCMGs as an example, the specific results of statistical parameters under different failure conditions are shown in Table 2, and the specific results of statistical parameters under different singular states are shown in Table 3:

[0125] Table 2

[0126]

[0127]

[0128] Table 3

[0129]

[0130] S302 : Determine a target envelope value of each candidate SGCMG according to at least two of the angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value of each candidate SGCMG.

[0131] In this embodiment, the target envelope value of each candidate SGCMG includes at least two of the above angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value. Assuming that the target envelope value includes the failure angular momentum envelope value and the singular angular momentum envelope value, and there are two failed SGCMGs in the 8-SGCMGs, according to Table 2 and Table 3 above, the target envelope value includes the following: the second infinity norms of the failure angular momentum envelope values ​​are: 5.542, 5.123, 5.17 and 5.347, and the second norms of the failure angular momentum envelope values ​​are 0.391, 0.301, 0.255 and 0.254 respectively; the third infinity norms of the singular angular momentum envelope values ​​include: 6.532, 5.543, 4.368, 3.068 and 1.732, and the second norms of the singular angular momentum envelope values ​​include: 2.103, 1.617, 1.127, 0.668 and 0.577.

[0132] In the embodiment of the present application, the angular momentum envelope value, failure angular momentum envelope value, and singular angular momentum envelope value of each candidate SGCMG are determined based on the angular momentum envelope sample points of each candidate SGCMG. The target envelope value is further determined based on the angular momentum envelope value, failure angular momentum envelope value, and singular angular momentum envelope value, providing multiple possible methods for the target envelope value.

[0133] In one embodiment, the angular momentum index of each candidate SGCMG is determined based on the target envelope value. This embodiment of the present application relates to a possible implementation method for determining the angular momentum index of each candidate SGCMG based on the target envelope value when the target envelope value includes the angular momentum envelope value, including the following two aspects:

[0134] In a first aspect, a first angular momentum index is determined according to a first infinity norm of the angular momentum envelope value, a first number of SGCMGs in each candidate SGCMG, and a preset angular momentum envelope value of each candidate SGCMG.

[0135] In this embodiment, the first angular momentum index is determined according to the first infinity norm of the angular momentum envelope value, the first number of SGCMGs in each candidate SGCMG, and the preset angular momentum envelope value of the SGCMG in each candidate SGCMG. Specifically, it can be expressed as Wherein, n is the first number, h0 is the preset angular momentum envelope value, ||h|| ∞ is the first infinity norm of the angular momentum envelope.

[0136] In a second aspect, a second angular momentum index is determined based on the first and second norms of the angular momentum envelope value, the first quantity, the preset angular momentum envelope value, and the second quantity of angular momentum envelope sample points in each candidate SGCMG; the angular momentum index includes the first angular momentum index and the second angular momentum index.

[0137] In this embodiment, the angular momentum efficiency index reflects the system's ability to synthesize angular momentum in space. The higher the values ​​of the first angular momentum index and the second angular momentum index, the stronger the angular momentum output capability of the SGCMGs configuration.

[0138] In this embodiment, the second angular momentum index is determined based on the first and second norms of the angular momentum envelope value, the first number, the preset angular momentum envelope value, and the second number of angular momentum envelope sample points in each candidate SGCMG, which can be specifically expressed as: Wherein, n is the first number, h0 is the preset angular momentum envelope value, ||h||2 is the first and second norms of the angular momentum envelope value, and l is the second number.

[0139] In one embodiment, the present application relates to a possible implementation method for determining the failure angular momentum index of each candidate SGCMG based on the target envelope value when the target envelope value includes the failure angular momentum envelope value of the j-th failure combination of i failed cells, including the following two aspects:

[0140] In the first aspect, a first failure angular momentum indicator is determined based on the second infinity norm of the failure angular momentum envelope value, the first number, the preset angular momentum envelope value, the third number of failed SGCMGs in each candidate SGCMG, and the fourth number of failure combinations corresponding to the third number.

[0141] In this embodiment, a first failure angular momentum indicator is determined based on the second infinity norm of the failure angular momentum envelope value, the first number, the preset angular momentum envelope value, the third number of failed SGCMGs in each candidate SGCMG, and the fourth number of failure combinations corresponding to the third number. Specifically, it can be expressed as in, is the second infinite norm of the failure angular momentum envelope value of the jth failure combination of i failed cells, h0 is the preset angular momentum envelope value, n is the first number, m is the third number of failed SGCMGs in each candidate SGCMGs, and k is the fourth number of failure combinations.

[0142] In this embodiment, taking Table 2 above as an example, since the third number represents the number of failed SGCMGs, the third number can be 1, 2, ..., 7. For example, if the third number is 1, the corresponding fourth number is 1; if the third number is 2, the corresponding fourth number is 4; if the third number is 3, the corresponding fourth number is 5; and if the third number is 4, the corresponding fourth number is 7.

[0143] The second aspect: determining the second failure angular momentum index based on the second second norm of the failure angular momentum envelope value, the first quantity, the preset angular momentum envelope value, the second quantity, the third quantity and the fourth quantity; the failure angular momentum index includes the first failure angular momentum index and the second failure angular momentum index.

[0144] In this embodiment, the failure angular momentum index reflects the ability to reconstruct the system's synthetic angular momentum after a combination of different units fails. The larger the values ​​of the first failure angular momentum index and the second failure angular momentum index, the stronger the failure angular momentum output capability.

[0145] In this embodiment, a second failure angular momentum indicator is determined based on the second second norm of the failure angular momentum envelope value, the first quantity, the preset angular momentum envelope value, the second quantity, the third quantity, and the fourth quantity. The failure angular momentum indicator includes the first failure angular momentum indicator and the second failure angular momentum indicator, and can be specifically expressed as: Wherein, n is the first number, h0 is the preset angular momentum envelope value, is the second norm of the failure angular momentum envelope value of the j-th failure combination of i-failed monomers, l is the second quantity, m is the third quantity, k is the fourth quantity,

[0146] In one embodiment, the present application relates to a possible implementation method for determining the singular angular momentum index of each candidate SGCMG according to the target envelope value when the target envelope value includes the singular angular momentum envelope value, including the following two aspects:

[0147] The first aspect: determining a first singular angular momentum index according to the third infinity norm of the singular angular momentum envelope value and the classification number of the singular angular momentum envelope.

[0148] In this embodiment, the first singular angular momentum index is determined according to the third infinity norm of the singular angular momentum envelope value and the classification number of the singular angular momentum envelope, which can be specifically expressed as: Among them, ||h α || ∞ is the third infinity norm of the singular angular momentum envelope value, and p is the classification number of the singular angular momentum envelope.

[0149] The second aspect: determining a second singular angular momentum index based on the third second norm of the singular angular momentum envelope value, the first quantity, the second quantity, the classification number and the preset angular momentum envelope value; the singular angular momentum index includes a first singular angular momentum index and a second singular angular momentum index.

[0150] In this embodiment, the singular angular momentum benefit reflects the system's ability to generate angular momentum in different singular combinations. The larger the values ​​of the first singular angular momentum index and the second singular angular momentum index, the stronger the singular angular momentum output capability.

[0151] In this embodiment, the second singular angular momentum index is determined according to the third second norm of the singular angular momentum envelope value, the first quantity, the second quantity, the classification number, and the preset angular momentum envelope value; the singular angular momentum index includes the first singular angular momentum index and the second singular angular momentum index, which can be specifically expressed as Among them, ||h α ||2 is the third quadratic norm of the singular angular momentum envelope value, h0 is the preset angular momentum envelope value, n is the first number, l is the second number, and p is the number of categories of the singular angular momentum envelope.

[0152] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0153] Based on the same inventive concept, embodiments of the present application further provide a single-frame control moment gyro group determination device for implementing the aforementioned single-frame control moment gyro group determination method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the single-frame control moment gyro group determination device provided below can be found in the above-described limitations of the single-frame control moment gyro group determination method and are not further elaborated here.

[0154] In one embodiment, Figure 16 As shown, a single-frame control moment gyro group determination device is provided, comprising: an acquisition module 11, a first determination module 12, a second determination module 13 and a third determination module 14, wherein:

[0155] An acquisition module 11 is used to obtain multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs;

[0156] A first determination module 12 is configured to determine a target envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG;

[0157] A second determination module 13 is configured to determine a comprehensive evaluation index for each candidate SGCMG according to the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMG;

[0158] The third determination module 14 is configured to determine target SGCMGs from the candidate SGCMGs according to the comprehensive evaluation indexes of the candidate SGCMGs.

[0159] In one embodiment, the first determining module includes:

[0160] a first determining unit, configured to determine at least two of an angular momentum envelope value, a failure angular momentum envelope value, and a singular angular momentum envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG;

[0161] The second determining unit is configured to determine a target envelope value of each candidate SGCMG according to at least two of the angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value of each candidate SGCMG.

[0162] In one embodiment, the second determining module includes:

[0163] a third determining unit, configured to determine at least two of an angular momentum index, a failure angular momentum index, and a singular angular momentum index of each candidate SGCMG according to the target envelope value;

[0164] The fourth determining unit is configured to determine a comprehensive evaluation index of each candidate SGCMG according to at least two of the angular momentum index, the failure angular momentum index, and the singular angular momentum index.

[0165] The third determination unit is further configured to determine a first angular momentum index based on a first infinite norm of the angular momentum envelope value, a first number of SGCMGs in each candidate SGCMG, and a preset angular momentum envelope value of each candidate SGCMG; and determine a second angular momentum index based on a first and second norm of the angular momentum envelope value, the first number, the preset angular momentum envelope value, and a second number of angular momentum envelope sample points in each candidate SGCMG; the angular momentum index includes the first angular momentum index and the second angular momentum index.

[0166] The third determination unit is further configured to determine a first failure angular momentum indicator based on the second infinite norm of the failure angular momentum envelope value, the first number, the preset angular momentum envelope value, the third number of failed SGCMGs in each candidate SGCMG, and the fourth number of failure combinations corresponding to the third number; and to determine a second failure angular momentum indicator based on the second second norm of the failure angular momentum envelope value, the first number, the preset angular momentum envelope value, the second number, the third number, and the fourth number; the failure angular momentum indicator includes the first failure angular momentum indicator and the second failure angular momentum indicator.

[0167] The third determination unit is further used to determine a first singular angular momentum index based on the third infinite norm of the singular angular momentum envelope value and the classification number of the singular angular momentum envelope; determine a second singular angular momentum index based on the third second norm of the singular angular momentum envelope value, the first quantity, the second quantity, the classification number and the preset angular momentum envelope value; the singular angular momentum index includes a first singular angular momentum index and a second singular angular momentum index.

[0168] Each module in the above-mentioned single-frame control moment gyro group determination device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0169] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0170] Obtain multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs;

[0171] Determine the target envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG;

[0172] Determine the comprehensive evaluation index of each candidate SGCMG based on the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMG;

[0173] According to the comprehensive evaluation indicators of each candidate SGCMGs, target SGCMGs are determined from each candidate SGCMGs.

[0174] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0175] determining at least two of an angular momentum envelope value, a failure angular momentum envelope value, and a singular angular momentum envelope value of each candidate SGCMG based on the angular momentum envelope sample points of each candidate SGCMG;

[0176] The target envelope value of each candidate SGCMG is determined according to at least two of the angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value of each candidate SGCMG.

[0177] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0178] determining at least two of an angular momentum index, a failure angular momentum index, and a singular angular momentum index for each candidate SGCMG according to the target envelope value;

[0179] A comprehensive evaluation index of each candidate SGCMG is determined based on at least two of the angular momentum index, the failure angular momentum index, and the singular angular momentum index.

[0180] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0181] determining a first angular momentum indicator according to a first infinity norm of the angular momentum envelope value, a first number of SGCMGs in each candidate SGCMG, and a preset angular momentum envelope value of each candidate SGCMG;

[0182] A second angular momentum index is determined based on the first and second norms of the angular momentum envelope value, the first quantity, a preset angular momentum envelope value, and a second quantity of angular momentum envelope sample points in each candidate SGCMG; the angular momentum index includes the first angular momentum index and the second angular momentum index.

[0183] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0184] determining a first failure angular momentum indicator based on a second infinity norm of the failure angular momentum envelope value, the first number, a preset angular momentum envelope value, a third number of failed SGCMGs in each candidate SGCMG, and a fourth number of failure combinations corresponding to the third number;

[0185] A second failure angular momentum indicator is determined according to the second second norm of the failure angular momentum envelope value, the first quantity, the preset angular momentum envelope value, the second quantity, the third quantity and the fourth quantity; the failure angular momentum indicator includes the first failure angular momentum indicator and the second failure angular momentum indicator.

[0186] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0187] determining a first singular angular momentum index according to a third infinity norm of the singular angular momentum envelope value and a classification number of the singular angular momentum envelope;

[0188] A second singular angular momentum index is determined according to the third second norm of the singular angular momentum envelope value, the first quantity, the second quantity, the classification number and the preset angular momentum envelope value; the singular angular momentum index includes the first singular angular momentum index and the second singular angular momentum index.

[0189] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0190] Obtain multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs;

[0191] Determine the target envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG;

[0192] Determine the comprehensive evaluation index of each candidate SGCMG based on the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMG;

[0193] According to the comprehensive evaluation indicators of each candidate SGCMGs, target SGCMGs are determined from each candidate SGCMGs.

[0194] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0195] determining at least two of an angular momentum envelope value, a failure angular momentum envelope value, and a singular angular momentum envelope value of each candidate SGCMG based on the angular momentum envelope sample points of each candidate SGCMG;

[0196] The target envelope value of each candidate SGCMG is determined according to at least two of the angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value of each candidate SGCMG.

[0197] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0198] determining at least two of an angular momentum index, a failure angular momentum index, and a singular angular momentum index for each candidate SGCMG according to the target envelope value;

[0199] A comprehensive evaluation index of each candidate SGCMG is determined based on at least two of the angular momentum index, the failure angular momentum index, and the singular angular momentum index.

[0200] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0201] determining a first angular momentum indicator according to a first infinity norm of the angular momentum envelope value, a first number of SGCMGs in each candidate SGCMG, and a preset angular momentum envelope value of each candidate SGCMG;

[0202] A second angular momentum index is determined based on the first and second norms of the angular momentum envelope value, the first quantity, a preset angular momentum envelope value, and a second quantity of angular momentum envelope sample points in each candidate SGCMG; the angular momentum index includes the first angular momentum index and the second angular momentum index.

[0203] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0204] determining a first failure angular momentum indicator based on a second infinity norm of the failure angular momentum envelope value, the first number, a preset angular momentum envelope value, a third number of failed SGCMGs in each candidate SGCMG, and a fourth number of failure combinations corresponding to the third number;

[0205] A second failure angular momentum indicator is determined according to the second second norm of the failure angular momentum envelope value, the first quantity, the preset angular momentum envelope value, the second quantity, the third quantity and the fourth quantity; the failure angular momentum indicator includes the first failure angular momentum indicator and the second failure angular momentum indicator.

[0206] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0207] determining a first singular angular momentum index according to a third infinity norm of the singular angular momentum envelope value and a classification number of the singular angular momentum envelope;

[0208] A second singular angular momentum index is determined according to the third second norm of the singular angular momentum envelope value, the first quantity, the second quantity, the classification number and the preset angular momentum envelope value; the singular angular momentum index includes the first singular angular momentum index and the second singular angular momentum index.

[0209] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0210] Obtain multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs;

[0211] Determine the target envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG;

[0212] Determine the comprehensive evaluation index of each candidate SGCMG based on the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMG;

[0213] According to the comprehensive evaluation indicators of each candidate SGCMGs, target SGCMGs are determined from each candidate SGCMGs.

[0214] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0215] determining at least two of an angular momentum envelope value, a failure angular momentum envelope value, and a singular angular momentum envelope value of each candidate SGCMG based on the angular momentum envelope sample points of each candidate SGCMG;

[0216] The target envelope value of each candidate SGCMG is determined according to at least two of the angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value of each candidate SGCMG.

[0217] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0218] determining at least two of an angular momentum index, a failure angular momentum index, and a singular angular momentum index for each candidate SGCMG according to the target envelope value;

[0219] A comprehensive evaluation index of each candidate SGCMG is determined based on at least two of the angular momentum index, the failure angular momentum index, and the singular angular momentum index.

[0220] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0221] determining a first angular momentum indicator according to a first infinity norm of the angular momentum envelope value, a first number of SGCMGs in each candidate SGCMG, and a preset angular momentum envelope value of each candidate SGCMG;

[0222] A second angular momentum index is determined based on the first and second norms of the angular momentum envelope value, the first quantity, a preset angular momentum envelope value, and a second quantity of angular momentum envelope sample points in each candidate SGCMG; the angular momentum index includes the first angular momentum index and the second angular momentum index.

[0223] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0224] determining a first failure angular momentum indicator based on a second infinity norm of the failure angular momentum envelope value, the first number, a preset angular momentum envelope value, a third number of failed SGCMGs in each candidate SGCMG, and a fourth number of failure combinations corresponding to the third number;

[0225] A second failure angular momentum indicator is determined according to the second second norm of the failure angular momentum envelope value, the first quantity, the preset angular momentum envelope value, the second quantity, the third quantity and the fourth quantity; the failure angular momentum indicator includes the first failure angular momentum indicator and the second failure angular momentum indicator.

[0226] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0227] determining a first singular angular momentum index according to a third infinity norm of the singular angular momentum envelope value and a classification number of the singular angular momentum envelope;

[0228] A second singular angular momentum index is determined according to the third second norm of the singular angular momentum envelope value, the first quantity, the second quantity, the classification number and the preset angular momentum envelope value; the singular angular momentum index includes the first singular angular momentum index and the second singular angular momentum index.

[0229] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0230] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0231] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0232] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for determining a single-frame control moment gyro group, characterized in that: The method comprises: Obtain multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs; determining a target envelope value of each of the candidate SGCMGs according to the angular momentum envelope sample points of each of the candidate SGCMGs; Determining a comprehensive evaluation index for each of the candidate SGCMGs according to the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMGs; determining target SGCMGs from the candidate SGCMGs according to the comprehensive evaluation indicators of the candidate SGCMGs; Wherein, determining the comprehensive evaluation index of each candidate SGCMG according to the target envelope value includes: determining at least two of an angular momentum index, a failure angular momentum index, and a singular angular momentum index for each of the candidate SGCMGs according to the target envelope value; determining a comprehensive evaluation index of each of the candidate SGCMGs according to at least two of the angular momentum index, the failure angular momentum index, and the singular angular momentum index; If the target envelope value includes an angular momentum envelope value, then determining the angular momentum index of each of the candidate SGCMGs according to the target envelope value includes: determining a first angular momentum indicator according to a first infinity norm of the angular momentum envelope value, a first number of SGCMGs in each of the candidate SGCMGs, and a preset angular momentum envelope value of each of the candidate SGCMGs; A second angular momentum index is determined based on the first and second norms of the angular momentum envelope value, the first number, the preset angular momentum envelope value, and the second number of angular momentum envelope sample points in each of the candidate SGCMGs; the angular momentum index includes the first angular momentum index and the second angular momentum index.

2. The method according to claim 1, characterized in that Determining the target envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG includes: determining at least two of an angular momentum envelope value, a failure angular momentum envelope value, and a singular angular momentum envelope value of each of the candidate SGCMGs based on the angular momentum envelope sample points of each of the candidate SGCMGs; The target envelope value of each candidate SGCMG is determined according to at least two of the angular momentum envelope value, the failure angular momentum envelope value, and the singular angular momentum envelope value of each candidate SGCMG.

3. The method according to claim 1, characterized in that If the target envelope value includes the failure angular momentum envelope value of the j-th failure combination of i-failed monomers, then determining the failure angular momentum index of each of the candidate SGCMGs according to the target envelope value includes: determining a first failure angular momentum indicator according to a second infinity norm of the failure angular momentum envelope value, the first number, the preset angular momentum envelope value, a third number of failed SGCMGs in each of the candidate SGCMGs, and a fourth number of failure combinations corresponding to the third number; A second failure angular momentum index is determined based on the second second norm of the failure angular momentum envelope value, the first quantity, the preset angular momentum envelope value, the second quantity, the third quantity and the fourth quantity; the failure angular momentum index includes the first failure angular momentum index and the second failure angular momentum index.

4. The method according to claim 1, wherein If the target envelope value includes a singular angular momentum envelope value, determining the singular angular momentum index of each of the candidate SGCMGs according to the target envelope value includes: determining a first singular angular momentum index according to a third infinity norm of the singular angular momentum envelope value and a classification number of the singular angular momentum envelope; A second singular angular momentum index is determined according to the third second norm of the singular angular momentum envelope value, the first quantity, the second quantity, the classification number and the preset angular momentum envelope value; the singular angular momentum index includes the first singular angular momentum index and the second singular angular momentum index.

5. A single-frame control moment gyro group determination device, characterized in that: The device comprises: An acquisition module is used to obtain multiple angular momentum envelope sample points of each candidate single-frame control moment gyro group SGCMGs; A first determination module is configured to determine a target envelope value of each candidate SGCMG according to the angular momentum envelope sample points of each candidate SGCMG; a second determination module, configured to determine a comprehensive evaluation index of each of the candidate SGCMGs according to the target envelope value; the comprehensive evaluation index is used to characterize the angular momentum output capability of the candidate SGCMGs; A third determination module is configured to determine target SGCMGs from the candidate SGCMGs according to the comprehensive evaluation index of the candidate SGCMGs; Wherein, determining the comprehensive evaluation index of each candidate SGCMG according to the target envelope value includes: determining at least two of an angular momentum index, a failure angular momentum index, and a singular angular momentum index for each of the candidate SGCMGs according to the target envelope value; determining a comprehensive evaluation index of each of the candidate SGCMGs according to at least two of the angular momentum index, the failure angular momentum index, and the singular angular momentum index; If the target envelope value includes an angular momentum envelope value, then determining the angular momentum index of each of the candidate SGCMGs according to the target envelope value includes: determining a first angular momentum indicator according to a first infinity norm of the angular momentum envelope value, a first number of SGCMGs in each of the candidate SGCMGs, and a preset angular momentum envelope value of each of the candidate SGCMGs; A second angular momentum index is determined based on the first and second norms of the angular momentum envelope value, the first number, the preset angular momentum envelope value, and the second number of angular momentum envelope sample points in each of the candidate SGCMGs; the angular momentum index includes the first angular momentum index and the second angular momentum index.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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