Satellite jet angular momentum unloading method, system, terminal and medium

Abstract

The present invention provides a satellite jet angular momentum unloading method and system, wherein the method includes: calculating the angular momentum that needs to be unloaded by the reaction wheel group in the directions of the three orthogonal coordinate axes of the satellite; determining the on-threshold and off-threshold of jet unloading; determining the unloading requirement of the three-axis unloading angular momentum based on the on-threshold and off-threshold; correcting the unloading state of each axis based on the unloading requirement of the three-axis unloading angular momentum; wherein, if the three-axis angular momentum unloading requirement is to unload the angular momentum of three axes or one axis, the unloading state correction is not performed; if the angular momentum of two axes needs to be unloaded, the unloading state is corrected to unload the larger angular momentum of the two axes; and obtaining the unloading jet width instruction based on the corrected unloading state of each axis. The present invention can improve the efficiency of jet unloading angular momentum and reduce fuel consumption; it can keep the three-axis angular momentum within a smaller range for a longer time, and reduce the residual angular momentum of the reaction wheel after the jet unloading mode is switched out of the on-orbit remote control.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite reaction wheel angular momentum management, and in particular to a satellite jet angular momentum unloading method, system, terminal and medium. Background Art

[0002] To reduce the number of satellite propulsion nozzles installed, a tilted nozzle end-mounting layout is currently commonly used to achieve attitude and orbit control coupling and sharing. When jet control is used for attitude control, it can be used for three-axis attitude stabilization and angular momentum unloading. However, tilted nozzles cannot generate jet torque in any direction, resulting in large fluctuations in angular momentum along the non-unloading axis. This leads to low angular momentum unloading efficiency and a high residual angular momentum after ground remote control exits jet unloading. Summary of the Invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention provides an efficient satellite jet angular momentum unloading method, system, terminal and medium.

[0004] According to one aspect of the present invention, a method for unloading satellite jet angular momentum is provided, comprising:

[0005] Calculate the angular momentum that needs to be unloaded by the reaction wheel assembly in the three orthogonal coordinate axes of the satellite to obtain the three-axis unloaded angular momentum;

[0006] Determine the opening and closing thresholds of jet unloading;

[0007] Determining an unloading requirement of the three-axis unloading angular momentum according to the opening threshold and the closing threshold;

[0008] Correcting the unloading state of each axis according to the unloading requirement of the three-axis angular momentum; wherein, if the three-axis angular momentum unloading requirement is to unload the angular momentum of three axes or one axis, no unloading state correction is performed; if the angular momentum of two axes needs to be unloaded, the unloading state is corrected to unload the larger angular momentum of the two axes;

[0009] According to the corrected unloading state of each axis, the unloading jet width instruction is obtained.

[0010] Preferably, the three-axis unloading angular momentum ΔH is expressed as: ΔH=[Δhx, Δhy, Δhz], unit Nms; wherein Δhx, Δhy, Δhz are the unloading angular momentum of the x-axis, y-axis and z-axis respectively.

[0011] Preferably, determining the opening threshold and closing threshold of the jet unloading includes:

[0012] Assume that the opening threshold is denoted as k1, and the closing threshold is denoted as k2; wherein, k1 is 50% of the available angular momentum of the reaction wheel set, and k2 is 10% of the available angular momentum of the reaction wheel set.

[0013] Preferably, determining the unloading requirement of the three-axis unloading angular momentum according to the opening threshold and the closing threshold includes:

[0014] Assume that the three-axis unloading angular momentum ΔH is expressed as: ΔH = [Δhx, Δhy, Δhz], where Δhx, Δhy, Δhz are the unloading angular momentum of the x-axis, y-axis, and z-axis respectively;

[0015] If |Δhi|>k1, the unload state of the current axis UnloadState_i=1;

[0016] If |Δhi|>k2, and the previous unload state UnloadStatePre_i=1, then the current unload state UnloadState_i=1;

[0017] Otherwise UnloadState_i=0;

[0018] Where i is any value among x, y, and z, 1 indicates unloading the angular momentum of the current axis, and 0 indicates not unloading the angular momentum of the current axis; k1 and k2 are the set thresholds for unloading angular momentum. The corresponding unloading requirements are obtained based on the unloading status of each axis.

[0019] Preferably, the correcting of the unloading state of each axis according to the unloading requirement of the three-axis unloading angular momentum includes:

[0020] Correct the unloading status of each axis: If the predicted unloading status result is that the unloading status of one or three axes is UnloadState_i=1, no unloading status correction processing is performed; if the predicted unloading status result is that the unloading status of two axes is UnloadState_i=1, the following correction processing is performed:

[0021] When UnloadState_x=0, UnloadState_y=1, and UnloadState_z=1, if |Δhy|>=|Δhz|, then the unloading state of each axis is corrected to UnloadState_x=0, UnloadState_y=1, and UnloadState_z=0; otherwise, the unloading state of each axis is corrected to UnloadState_x=0, UnloadState_y=0, and UnloadState_z=1;

[0022] When UnloadState_x=1, UnloadState_y=0, and UnloadState_z=1, if |Δhx|>=|Δhz|, then the unloading state of each axis is corrected to UnloadState_x=1, UnloadState_y=0, and UnloadState_z=1; otherwise, the unloading state of each axis is corrected to UnloadState_x=0, UnloadState_y=0, and UnloadState_z=1;

[0023] When UnloadState_x=1, UnloadState_y=1, and UnloadState_z=0, if |Δhx|>=|Δhy|, the unloading state of each axis is corrected to UnloadState_x=1, UnloadState_y=0, and UnloadState_z=0; otherwise, the unloading state of each axis is corrected to UnloadState_x=0, UnloadState_y=1, and UnloadState_z=0.

[0024] Preferably, obtaining the unloading jet width instruction according to the corrected unloading state of each axis includes:

[0025] If the unloading state of any axis after correction is UnloadState_i=0, the jet pulse width instruction output for unloading the current axis angular momentum is Tci=0. Otherwise, the jet pulse width instruction is obtained according to the unloading angular momentum Δhi: if Δhi>0, then Tci=-Δp; if Δhi<0, then Tci=Δp, where Tci represents the jet pulse width instruction for unloading the current axis angular momentum, and Δp represents the jet pulse width.

[0026] According to another aspect of the present invention, there is provided a satellite jet angular momentum unloading system, comprising:

[0027] Three-axis unloading angular momentum calculation module, which is used to calculate the angular momentum that needs to be unloaded by the reaction wheel group in the three orthogonal coordinate axes of the satellite, and obtain the three-axis unloading angular momentum;

[0028] An unloading threshold determination module, which is used to determine the opening threshold and closing threshold of jet unloading;

[0029] an unloading requirement determination module, configured to determine an unloading requirement of the three-axis unloading angular momentum according to the on threshold and the off threshold;

[0030] an unloading state correction module, configured to correct the unloading state of each axis according to the unloading requirement of the three-axis unloading angular momentum; wherein, if the three-axis angular momentum unloading requirement is to unload the angular momentum of three axes or one axis, no unloading state correction is performed; and if two axes need to unload angular momentum, the unloading state is corrected to unload the greater angular momentum of the two axes;

[0031] The unloading jet width instruction determination module is used to obtain the unloading jet width instruction according to the unloading state of each axis determined.

[0032] According to a third aspect of the present invention, a computer terminal is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the processor may be used to execute any one of the above-mentioned methods, or to execute the above-mentioned system.

[0033] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, it can be used to perform any of the above methods, or to run the above system.

[0034] Due to the adoption of the above technical solution, the present invention has at least one of the following beneficial effects compared with the prior art:

[0035] The satellite jet angular momentum unloading method, system, terminal and medium provided by the present invention can improve the efficiency of jet unloading angular momentum and reduce fuel consumption.

[0036] The satellite jet angular momentum unloading method, system, terminal and medium provided by the present invention can keep the three-axis angular momentum within a smaller range for a longer time under the condition of small environmental torque, and the residual angular momentum of the reaction wheel is less after the jet unloading mode is switched out of the orbital remote control. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0038] Figure 1 The figure is a working flow chart of the satellite jet angular momentum unloading method in a preferred embodiment of the present invention.

[0039] Figure 2 This is a schematic diagram of the installation of four oblique nozzles on the end face in a preferred embodiment of the present invention.

[0040] Figure 3 This is a conventional unloading angular momentum change curve.

[0041] Figure 4The figure is a curve showing the change of unloading angular momentum achieved by the unloading method provided in a preferred embodiment of the present invention.

[0042] Figure 5 Schematic diagram of the component modules of a satellite jet angular momentum unloading system in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process. It should be noted that those skilled in the art may make various modifications and improvements without departing from the scope of the present invention, and these modifications and improvements fall within the scope of protection of the present invention.

[0044] An embodiment of the present invention provides a method for unloading satellite jet angular momentum. The method is applicable to unloading reaction wheel angular momentum when the thruster cannot output torque in any direction on three axes.

[0045] like Figure 1 As shown, the satellite jet angular momentum unloading method provided by this embodiment includes:

[0046] S1, calculate the angular momentum that needs to be unloaded by the reaction wheel group in the three orthogonal coordinate axes of the satellite, and obtain the three-axis unloaded angular momentum;

[0047] S2, determining the opening threshold and closing threshold of jet unloading;

[0048] S3, determining the unloading requirement of the three-axis unloading angular momentum according to the opening threshold and the closing threshold;

[0049] S4, correcting the unloading state of each axis according to the unloading requirement of the three-axis angular momentum; wherein, if the three-axis angular momentum unloading requirement is to unload the angular momentum of three axes or one axis, no unloading state correction is performed; if the angular momentum of two axes needs to be unloaded, the unloading state is corrected to unload the larger angular momentum of the two axes;

[0050] S5, obtaining the unloading jet width instruction according to the corrected unloading state of each axis.

[0051] In a preferred embodiment of S1, the three-axis unloading angular momentum ΔH is expressed as: ΔH = [Δhx, Δhy, Δhz], unit Nms; where Δhx, Δhy, Δhz are the unloading angular momentum of the x-axis, y-axis and z-axis respectively.

[0052] In a preferred embodiment of S2, determining the opening threshold and closing threshold of the jet unloading includes:

[0053] Assume that the opening threshold is denoted as k1 and the closing threshold is denoted as k2; wherein k1 is 50% of the available angular momentum of the reaction wheel set, and k2 is 10% of the available angular momentum of the reaction wheel set.

[0054] In a preferred embodiment of S3, determining the unloading requirement of the three-axis unloading angular momentum according to the opening threshold and the closing threshold includes:

[0055] Assume that the three-axis unloading angular momentum ΔH is expressed as: ΔH = [Δhx, Δhy, Δhz], where Δhx, Δhy, Δhz are the unloading angular momentum of the x-axis, y-axis, and z-axis respectively;

[0056] If |Δhi|>k1, the unload state of the current axis UnloadState_i=1;

[0057] If |Δhi|>k2, and the previous unload state UnloadStatePre_i=1, then the current unload state UnloadState_i=1;

[0058] Otherwise UnloadState_i=0;

[0059] Where i is any value among x, y, and z, 1 indicates unloading the angular momentum of the current axis, and 0 indicates not unloading the angular momentum of the current axis; k1 and k2 are the set thresholds for unloading angular momentum. The corresponding unloading requirements are obtained based on the unloading status of each axis.

[0060] In a preferred embodiment of S4, correcting the unloading state of each axis according to the unloading requirements of the three-axis unloading angular momentum includes:

[0061] Correct the unloading status of each axis: If the predicted unloading status result is that the unloading status of one or three axes is UnloadState_i=1, no unloading status correction processing is performed; if the predicted unloading status result is that the unloading status of two axes is UnloadState_i=1, the following correction processing is performed:

[0062] When UnloadState_x=0, UnloadState_y=1, and UnloadState_z=1, if |Δhy|>=|Δhz|, then the unloading state of each axis is corrected to UnloadState_x=0, UnloadState_y=1, and UnloadState_z=0; otherwise, the unloading state of each axis is corrected to UnloadState_x=0, UnloadState_y=0, and UnloadState_z=1;

[0063] When UnloadState_x=1, UnloadState_y=0, and UnloadState_z=1, if |Δhx|>=|Δhz|, then the unloading state of each axis is corrected to UnloadState_x=1, UnloadState_y=0, and UnloadState_z=1; otherwise, the unloading state of each axis is corrected to UnloadState_x=0, UnloadState_y=0, and UnloadState_z=1;

[0064] When UnloadState_x=1, UnloadState_y=1, and UnloadState_z=0, if |Δhx|>=|Δhy|, the unloading state of each axis is corrected to UnloadState_x=1, UnloadState_y=0, and UnloadState_z=0; otherwise, the unloading state of each axis is corrected to UnloadState_x=0, UnloadState_y=1, and UnloadState_z=0.

[0065] In a preferred embodiment of S5, obtaining an unloading jet width instruction according to the corrected unloading state of each axis includes:

[0066] If the unloading state of any axis after correction is UnloadState_i=0, the jet pulse width instruction output for unloading the current axis angular momentum is Tci=0. Otherwise, the jet pulse width instruction is obtained according to the unloading angular momentum Δhi: if Δhi>0, then Tci=-Δp; if Δhi<0, then Tci=Δp, where Tci represents the jet pulse width instruction for unloading the current axis angular momentum, and Δp represents the jet pulse width.

[0067] The technical solution provided by the above embodiment of the present invention is further described below with reference to a specific application example.

[0068] In order to reduce the number of propulsion nozzles, the design of attitude and orbit control schemes usually considers the use of end-face four-angle installation to install the propulsion nozzles, so as to achieve the coupling and sharing of attitude control and orbit control. Figure 2 shown.

[0069] The satellite jet angular momentum unloading method used in this specific application example is implemented based on the aforementioned design. The angle θ between nozzles F1-F4 and the Z-axis of the satellite is θ, and the distances from each nozzle's mounting point to the satellite's X, Y, and Z axes are Lx, Ly, and Lz, respectively. The torques generated by each thruster are shown in Table 1.

[0070] Table 1 Thruster torque table

[0071] Number Moment arm / m Thrust / N Torque / Nm F1 [Lx Ly - Lz] F * [0 sind(θ) - cosd(θ)] [LzFsind(θ) - LyFcosd(θ) LxFcosd(θ) LxFsind(θ)] F2 [-Lx Ly - Lz] F * [0 sind(θ) - cosd(θ)] [LzFsind(θ) - LyFcosd(θ) - LxFcosd(θ) - LxFsind(θ)] F3 [-Lx - Ly - Lz] F * [0 - sind(θ) - cosd(θ)] [-LzFsind(θ) + LyFcosd(θ) - LxFcosd(θ) LxFsind(θ)] F4 [Lx - Ly - Lz] F * [0 - sind(θ) - cosd(θ)] [-LzFsind(θ) + LyFcosd(θ) LxFcosd(θ) - LxFsind(θ)]

[0072] By configuring the on / off states of each nozzle, the satellite's three-axis attitude control or attitude-orbit coupled control can be achieved. As shown in Table 1, jet control cannot achieve control of torque output on only two axes. Therefore, during unloading, if only two axes are required, the angular momentum of the third axis (the axis that does not require unloading) will be disturbed, thereby reducing unloading efficiency and increasing fuel consumption. Furthermore, considering the coupling effect of the satellite's three-axis attitude, the increase in angular momentum of the third axis will transfer to the other two axes over time, resulting in the inability to unload angular momentum of all three axes within the smaller ideal range.

[0073] Specifically, the satellite jet angular momentum unloading method in this specific application example includes the following steps:

[0074] The first step is to calculate the angular momentum ΔH = [Δhx, Δhy, Δhz] that needs to be unloaded by the reaction wheel group in the three orthogonal coordinate axes of the satellite, in units of Nms.

[0075] The second step is to determine the opening threshold k1 and closing threshold k2 of the jet unloading. Generally, k1 is set to 50% of the available angular momentum of the reaction wheel group, and k2 is set to 10% of the available angular momentum of the reaction wheel group.

[0076] In the third step, the three-axis angular momentum unloading requirements are calculated using the following method:

[0077] If |Δhi|>k1 (where i can be any value of x, y, z), then the unload state of the current axis is UnloadState_i=1;

[0078] Otherwise, if |Δhi|>k2 (where i can be any value of x, y, z), and the previous unload state UnloadStatePre_i=1, then the current unload state UnloadState_i=1;

[0079] Otherwise UnloadState_i=0. i=x,y,z

[0080] Step 4: Correct the unloading status of each axis:

[0081] If the third step pre-determines that only one or three axes have the unloaded state UnloadState_i=1, no unloaded state correction processing is performed. Otherwise (i.e., when it is pre-determined that two axes have the unloaded state UnloadState_i=1), the following processing is performed:

[0082] When UnloadState_x=0, UnloadState_y=1, and UnloadState_z=1, if |Δhy|>=|Δhz|, then UnloadState_x=0, UnloadState_y=1, and UnloadState_z=0; otherwise, UnloadState_x=0, UnloadState_y=0, and UnloadState_z=1;

[0083] When UnloadState_x=1 and UnloadState_y=0 and UnloadState_z=1, if |Δhx|>=|Δhz| then UnloadState_x=1 and UnloadState_y=0 and UnloadState_z=1; otherwise UnloadState_x=0 and UnloadState_y=0 and UnloadState_z=1;

[0084] When UnloadState_x=1 and UnloadState_y=1 and UnloadState_z=0, if |Δhx|>=|Δhy| then UnloadState_x=1 and UnloadState_y=0 and UnloadState_z=0; otherwise UnloadState_x=0 and UnloadState_y=1 and UnloadState_z=0;

[0085] Step 5: Solve the unload jet width instruction:

[0086] If UnloadState_i=0, the unload jet pulse width command output Tci=0, otherwise the jet pulse width command is calculated according to the unload angular momentum Δhi: if Δhi>0, then Tci=-Δp, if Δhi<0, then Tci=Δp.

[0087] A comparative simulation analysis was conducted using the conventional unloading method and the unloading method used in this specific application example. The initial angular momentum of the satellite is [-1.15 -1.7 -1.7] Nms, k1 = 1 Nms, and k2 = 0.2 Nms.

[0088] The initial angular momentum of the three axes is greater than k2. Both the conventional unloading method and the proposed method will unload the three axes simultaneously, and the unloading process will continue until about 400 seconds. During the period of 0 to 400 seconds, the unloading effects of the two methods are not much different. After 400 seconds, the unloading effects of the two methods become significantly different.

[0089] When using the conventional method, only the X and Y axes need to be unloaded from 400s to 600s. However, when the jet unloading of only two axes generates an interference torque on the Z axis, causing the angular momentum of the Z axis to increase in the opposite direction. From 600s to 800s, only the Y axis needs to be unloaded. After 800s, the three axes converge to the k1 range. Figure 3 shown. Figure 3 In the figure, the three lines represent the angular momentum of the X, Y, and Z axes respectively.

[0090] When using the unloading method in this specific application example, after 400 seconds, only the X and Y axes with large angular momentum deviations are unloaded, and no interference is caused to the Z axis (non-unloaded axis) (reflecting the improvement effect a)). The angular momentum of the X and Y axes gradually decreases when unloaded alternately, and finally the angular momentum of the three axes all converges stably to the range of k2 (reflecting the improvement effect b)). Figure 4 shown. Figure 4 In the figure, the three lines represent the angular momentum of the X, Y, and Z axes respectively.

[0091] As shown in Table 1, jet control cannot achieve torque output control for only two axes. When using conventional unloading methods, when only two axes' angular momentum need to be unloaded, jet control cannot output torque to only these two axes. This results in redundant torque output to the third axis, which in turn disturbs the angular momentum of the third axis (the axis that does not need to be unloaded), reducing unloading efficiency and increasing fuel consumption. Using the method provided in the embodiments of the present invention, angular momentum is unloaded from three or one axes at a time, avoiding angular momentum disturbances on the non-unloaded axes and saving fuel.

[0092] If only two axes of angular momentum need to be unloaded, only the axis with the greater angular momentum is unloaded, and the angular momentum of each axis gradually decreases. In the case of low environmental torque, the method provided by the embodiment of the present invention can keep the angular momentum of the three axes within the k2 range for a longer period of time, and the residual angular momentum after the on-orbit remote control jet unloading is reduced.

[0093] From the above comparison, it can be seen that the unloading method provided in the embodiment of the present invention adds a step of correcting the unloading state of each axis, which can avoid the angular momentum interference caused to the third axis when only the angular momentum of two axes needs to be unloaded. Compared with the conventional unloading method, it has obvious advantages.

[0094] An embodiment of the present invention provides a satellite jet angular momentum unloading system.

[0095] like Figure 5 As shown, the satellite jet angular momentum unloading system provided by this embodiment includes:

[0096] Three-axis unloading angular momentum calculation module, which is used to calculate the angular momentum that needs to be unloaded by the reaction wheel group in the three orthogonal coordinate axes of the satellite, and obtain the three-axis unloading angular momentum;

[0097] An unloading threshold determination module, which is used to determine the opening threshold and closing threshold of jet unloading;

[0098] An unloading demand determination module, which is used to determine the unloading demand of the three-axis unloading angular momentum according to the opening threshold and the closing threshold;

[0099] An unloading state correction module is used to correct the unloading state of each axis according to the unloading requirements of the three-axis unloading angular momentum. If the three-axis angular momentum unloading requirement is to unload the angular momentum of three axes or one axis, no unloading state correction is performed. If the angular momentum of two axes needs to be unloaded, the unloading state is corrected to unload the larger angular momentum of the two axes.

[0100] The unloading jet width instruction determination module is used to obtain the unloading jet width instruction according to the unloading state of each axis determined.

[0101] It should be noted that the steps in the method provided by the present invention can be implemented using corresponding modules in the system, and those skilled in the art can refer to the technical solution of the method to implement the composition of the system. That is, the embodiments in the method can be understood as preferred examples of constructing the system, which will not be elaborated here.

[0102] An embodiment of the present invention provides a computer terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the processor can be used to execute any of the methods in the above embodiments, or to execute any of the systems in the above embodiments.

[0103] Optionally, the memory is used to store programs; the memory may include volatile memory (English: volatile lemonory), such as random-access memory (English: random-access memory, abbreviated: RAM), such as static random-access memory (English: static random-access memory, abbreviated: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviated: DDR SDRAM), etc.; the memory may also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory). The memory is used to store computer programs (such as applications, functional modules, etc. that implement the above-mentioned methods), computer instructions, etc., and the above-mentioned computer programs, computer instructions, etc. can be partitioned and stored in one or more memories. In addition, the above-mentioned computer programs, computer instructions, data, etc. can be called by the processor.

[0104] The aforementioned computer programs, computer instructions, etc. may be partitioned and stored in one or more memories, and the aforementioned computer programs, computer instructions, data, etc. may be called by a processor.

[0105] The processor is configured to execute the computer program stored in the memory to implement the various steps of the method or various modules of the system involved in the above embodiments. For details, please refer to the relevant descriptions in the above method and system embodiments.

[0106] The processor and memory can be independent structures or integrated structures. When the processor and memory are independent structures, the memory and processor can be coupled via a bus.

[0107] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, it can be used to execute any of the above methods, or to run any of the systems in the above embodiments.

[0108] The satellite jet angular momentum unloading method, system, terminal and medium provided by the above-mentioned embodiments of the present invention can improve the efficiency of jet unloading angular momentum and reduce fuel consumption; under the condition of small environmental torque, the three-axis angular momentum can be maintained in a smaller range for a longer time, and the residual angular momentum of the reaction wheel is less after the jet unloading mode is switched out by remote control on orbit.

[0109] Those skilled in the art will appreciate that, in addition to implementing the system and its various devices provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same functions of the system and its various devices provided by the present invention in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. by logically programming the method steps. Therefore, the system and its various devices provided by the present invention can be considered a hardware component, and the devices included therein for implementing the various functions can also be considered as structures within the hardware component; the devices for implementing the various functions can also be considered as both software modules implementing the method and structures within the hardware component.

[0110] Matters not mentioned in the above embodiments of the present invention are well known in the art.

[0111] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various variations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A satellite jet angular momentum unloading method, characterized in that: include: Calculate the angular momentum that needs to be unloaded by the reaction wheel assembly in the three orthogonal coordinate axes of the satellite to obtain the three-axis unloaded angular momentum; Determine the opening and closing thresholds of jet unloading; Determining an unloading requirement of the three-axis unloading angular momentum according to the opening threshold and the closing threshold; Correcting the unloading state of each axis according to the unloading requirement of the three-axis unloading angular momentum; wherein, if the unloading angular momentum requirement of the three-axis is to unload the angular momentum of three axes or one axis, no unloading state correction is performed; if the angular momentum of two axes needs to be unloaded, the unloading state is corrected to unload the larger angular momentum of the two axes; According to the corrected unloading state of each axis, the unloading jet width instruction is obtained.

2. The satellite jet angular momentum unloading method according to claim 1, characterized in that: The three-axis unloading angular momentum ΔH is expressed as: ΔH=[Δhx, Δhy, Δhz], unit: Nms; wherein Δhx, Δhy, Δhz are the unloading angular momentum of the x-axis, y-axis and z-axis respectively.

3. The satellite jet angular momentum unloading method according to claim 1, characterized in that: Determining the opening threshold and closing threshold of the jet unloading includes: Assume that the opening threshold is denoted as k1, and the closing threshold is denoted as k2; wherein, k1 is 50% of the available angular momentum of the reaction wheel set, and k2 is 10% of the available angular momentum of the reaction wheel set.

4. The satellite jet angular momentum unloading method according to claim 1, characterized in that: The determining, according to the opening threshold and the closing threshold, the unloading requirement of the three-axis unloading angular momentum includes: Assume that the three-axis unloading angular momentum ΔH is expressed as: ΔH = [Δhx, Δhy, Δhz], where Δhx, Δhy, Δhz are the unloading angular momentum of the x-axis, y-axis, and z-axis respectively; If |Δhi|>k1, the unload state of the current axis UnloadState_i=1; If |Δhi|>k2, and the previous unload state UnloadStatePre_i=1, then the current unload state UnloadState_i=1; Otherwise UnloadState_i=0; Where i is any value among x, y, and z, 1 indicates unloading the angular momentum of the current axis, and 0 indicates not unloading the angular momentum of the current axis; k1 and k2 are the set thresholds for unloading angular momentum. The corresponding unloading requirements are obtained based on the unloading status of each axis.

5. The satellite jet angular momentum unloading method according to claim 1, characterized in that: The step of obtaining the unloading jet width instruction according to the corrected unloading state of each axis includes: If the unloading state of any axis after correction is UnloadState_i=0, the jet pulse width instruction output for unloading the current axis angular momentum is Tci=0. Otherwise, the jet pulse width instruction is obtained according to the unloading angular momentum Δhi: if Δhi>0, then Tci=-Δp; if Δhi<0, then Tci=Δp, where Tci represents the jet pulse width instruction for unloading the current axis angular momentum, and Δp represents the jet pulse width.

6. A satellite jet angular momentum unloading system, characterized in that: include: Three-axis unloading angular momentum calculation module, which is used to calculate the angular momentum that needs to be unloaded by the reaction wheel group in the three orthogonal coordinate axes of the satellite, and obtain the three-axis unloading angular momentum; An unloading threshold determination module, which is used to determine the opening threshold and closing threshold of jet unloading; an unloading requirement determination module, configured to determine an unloading requirement of the three-axis unloading angular momentum according to the on threshold and the off threshold; an unloading state correction module, configured to correct the unloading state of each axis according to the unloading requirement of the three-axis unloading angular momentum; wherein, if the three-axis unloading angular momentum requirement is to unload the angular momentum of three axes or one axis, no unloading state correction is performed; and if two axes need to unload angular momentum, the unloading state is corrected to unload the greater angular momentum of the two axes; The unloading jet width instruction determination module is used to obtain the unloading jet width instruction according to the unloading state of each axis determined.

7. A computer terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, it can be used to perform the method according to any one of claims 1 to 5, or run the system according to claim 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, it can be used to perform the method according to any one of claims 1 to 5, or to run the system according to claim 6.

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