Autonomous switching method for cross-airspace satellite attitude control strategy based on environment estimation

Abstract

The application provides a cross-space satellite attitude control strategy autonomous switching method based on environment estimation, respectively calculates a main angular momentum increment, a coupling angular momentum increment and a reaction wheel group angular momentum increment, estimates a satellite environment disturbance torque by using the main angular momentum increment, the coupling angular momentum increment and the reaction wheel group angular momentum increment, and autonomously switches a control strategy according to the estimated value of the satellite environment disturbance torque; wherein, taking a continuous orbit time as a period, if a current orbit satellite environment disturbance torque three-axis angular momentum accumulation exceeds a current reaction wheel residual angular momentum capacity, and the satellite environment disturbance torque is greater than half of a magnetic torque controller control torque, the jet control strategy is autonomously switched to. The application can avoid early switching into the jet control, reduce fuel consumption, and on the other hand, avoid late switching out of the wheel control, so as to cause the wheel angular momentum saturation and satellite attitude divergence.

Description

Technical Field

[0001] This invention relates to the field of autonomous switching technology for on-orbit attitude control strategies of satellites in cross-space domains. Specifically, it relates to a method for autonomous switching of attitude control of satellites in cross-space domains based on environmental prediction, and also provides a corresponding system, computer terminal, and computer-readable storage medium. Background Technology

[0002] For autonomous switching of control strategies for satellites flying across long distances across airspace, the most commonly used method is the "orbit altitude-based switching method." This method is based on modeling the disturbance torque on the ground and calculating its magnitude. As the orbital altitude decreases, the environmental disturbance torque increases. When the orbital altitude decreases to a certain level, the magnetic unloading capacity becomes less than the angular momentum accumulation capacity of the environmental disturbance torque, at which point jet control is switched in. However, this method relies on modeling the environmental disturbance torque, which has certain uncertainties. This significantly affects the judgment of switching conditions, potentially leading to premature switching to jet control and fuel waste, or delayed switching to jet control and saturation of the reaction wheels, resulting in loss of control and attitude divergence.

[0003] Specifically:

[0004] 1. Existing methods are mainly applied to the autonomous switching of attitude control modes for satellites operating in a defined orbit under different mission modes. Within this orbital range, the magnitude of environmental disturbance torque remains essentially constant or changes very little, and the satellite's primary control mode is fixed, only briefly switching to other control modes based on mission mode changes;

[0005] 2. Existing methods have limited research on autonomous attitude control for satellites flying across airspace for extended periods. Most methods rely on autonomously switching attitude control strategies based on orbital altitude. This approach has significant drawbacks. For example, for satellites autonomously decaying from low-Earth orbit to very low-Earth orbit, relying solely on altitude-based switching of control strategies may lead to premature transition from wheel control to jet control, resulting in fuel waste, or premature transition to jet control, causing wheel angular momentum saturation and attitude divergence. Summary of the Invention

[0006] To address the aforementioned shortcomings in existing technologies, this invention provides a method for autonomous switching of cross-space satellite attitude control strategies based on environmental prediction (satellite environmental interference torque prediction).

[0007] According to one aspect of the present invention, a method for autonomous switching of cross-space satellite attitude control strategies based on environmental prediction is provided, characterized in that it includes:

[0008] The momentum increment of the main body, the angular momentum increment of the coupling, and the angular momentum increment of the reaction wheel assembly are calculated separately, and the environmental interference torque of the satellite is estimated using the momentum increment of the main body, the angular momentum increment of the coupling, and the angular momentum increment of the reaction wheel assembly.

[0009] Based on the estimated value of the satellite environmental interference torque, the control strategy is autonomously switched; wherein:

[0010] Using a continuous orbit time as the period, if the accumulated angular momentum of the current three axes of the current orbit reaction wheel exceeds the capacity of the remaining angular momentum of the current orbit reaction wheel, and the satellite environmental interference torque is greater than half of the magnetic torque controller torque, the system will autonomously switch to a jet control strategy.

[0011] Preferably, the calculation of the protagonist's momentum increment includes:

[0012] Let the momentum increment of the protagonist be: H_ZHU = [H_ZHU_X, H_ZHU_Y, H_ZHU_Z], in Nms, then:

[0013] H_ZHU_X=Jxx*(Wbix-Wbix_Pre)-Jxy*(Wbiy-Wbiy_Pre)-Jzx*(Wbiz-Wbiz_Pre);

[0014] H_ZHU_Y=-Jxy*(Wbix-Wbix_Pre)+Jyy*(Wbiy-Wbiy_Pre)-Jyz*(Wbiz-Wbiz_Pre);

[0015] H_ZHU_Z=-Jzx*(Wbix-Wbix_Pre)-Jyz*(Wbiy-Wbiy_Pre)+Jzz*(Wbiz-Wbiz_Pre);

[0016] Where: H_ZHU_X is the X-axis component of the protagonist's momentum increment, H_ZHU_Y is the Y-axis component of the protagonist's momentum increment, H_ZHU_Z is the Z-axis component of the protagonist's momentum increment, Jxx is the X-axis satellite principal inertia, Jxy is the product of satellite inertia on the X and Y axes, Jzx is the product of satellite inertia on the Z and X axes, Jyy is the Y-axis satellite principal inertia, Jyz is the product of satellite inertia on the Y and Z axes, Jzz is the Z-axis satellite principal inertia, Wbix is ​​the current inertial frame angular velocity on the X-axis, Wbiy is the current inertial frame angular velocity on the Y-axis, Wbiz is the current inertial frame angular velocity on the Z-axis, Wbix_Pre is the inertial frame angular velocity on the X-axis in the previous frame, Wbiy_Pre is the inertial frame angular velocity on the Y-axis in the previous frame, and Wbiz_Pre is the inertial frame angular velocity on the Z-axis in the previous frame.

[0017] Preferably, the calculation of the coupled angular momentum increment includes:

[0018] Let the increase in coupled angular momentum be H_OU = [H_OU_X, H_OU_Y, H_OU_Z], in Nms.

[0019] H_OU_X=((Wbiz*Jxy-Wbiy*Jzx)*Wbix+(-Wbiz*Jyy-Wbiy*Jyz)*Wbiy+(Wbiz*Jyx+Wbiy*Jzz)*Wbiz)*Tnh_g;

[0020] H_OU_Y=((Wbiz*Jxx+Wbix*Jzx)*Wbix+(-Wbiz*Jxy+Wbix*Jyz)*Wbiy+(-Wbiz*Jzx-Wbix*Jzz)*Wbiz)*Tnh_g;

[0021] H_OU_Z=((-Wbiy*Jxx-Wbix*Jxy)*Wbix+(Wbiy*Jxy+Wbix*Jyy)*Wbiy+(Wbiy*Jzx+Wbix*Jyx)*Wbiz)*Tnh_g;

[0022] Wherein, H_OU_X is the X-axis component of the coupled angular momentum increment, H_OU_Y is the Y-axis component of the coupled angular momentum increment, H_OU_Z is the Z-axis component of the coupled angular momentum increment, Wbix is ​​the current inertial frame angular velocity along the X-axis, Wbiy is the current inertial frame angular velocity along the Y-axis, Wbiz is the current inertial frame angular velocity along the Z-axis, Jxx is the satellite principal inertia along the X-axis, Jxy is the product of satellite inertia along the X and Y axes, Jzx is the product of satellite inertia along the Z and X axes, Jyy is the satellite principal inertia along the Y-axis, Jyz is the product of satellite inertia along the Y and Z axes, Jyx is the product of satellite inertia along the Y and X axes, Jzz is the satellite principal inertia along the Z-axis, and Tnh_g is the calculation period.

[0023] Preferably, the calculation of the angular momentum increment of the reaction wheel assembly includes:

[0024] Let the angular momentum increment of the reaction wheel assembly be: H_Wheel=[H_Wheel_X,H_Wheel_Y,H_Wheel_Z], in Nms, then:

[0025] H_Wheel_X=(R11*Speed1+R12*Speed2+R13*Speed3+R14*Speed4)-(R11*Speed1_pre+R12*Speed2_pre+R13*Speed3_pre+R14*Speed4_pre);

[0026] H_Wheel_Y=(R21*Speed1+R22*Speed2+R23*Speed3+R24*Speed4)-(R21*Speed1_pre+R22*Speed2_pre+R23*Speed3_pre+R24*Speed4_pre);

[0027] H_Wheel_Z=(R31*Speed1+R32*Speed2+R33*Speed3+R34*Speed4)-(R31*Speed1_pre+R32*Speed2_pre+R33*Speed3_pre+R34*Speed4_pre);

[0028] Where H_Wheel_X is the X-axis component of the angular momentum increment of the reaction wheel assembly, H_Wheel_Y is the Y-axis component of the angular momentum increment of the reaction wheel assembly, H_Wheel_Z is the Z-axis component of the angular momentum increment of the reaction wheel assembly, Rmn is the constituent element of the reaction wheel mounting matrix, representing the element in the m-th row and n-th column, Speed* is the current reaction wheel speed, Speed*_pre is the previous reaction wheel speed, and * is the reaction wheel number.

[0029] Preferably, the estimation of the satellite environmental interference moment includes:

[0030] Let the satellite environmental interference torque be: T d =[T dx T dy T dz ], the unit is: Nm, then:

[0031] T dx =(H_ZHU_X+H_OU_X+H_Wheel_X) / Tnh_g;

[0032] T dy =(H_ZHU_Y+H_OU_Y+H_Wheel_Y) / Tnh_g;

[0033] T dz =(H_ZHU_Z+H_OU_Z+H_Wheel_Z) / Tnh_g;

[0034] Among them, T dx T represents the X-axis component of the satellite environmental disturbance torque. dy T represents the Y-axis component of the satellite environmental disturbance torque. dzH_ZHU_X is the Z-axis component of the satellite environmental interference torque, H_ZHU_Y is the Y-axis component of the principal momentum increment, H_ZHU_Z is the Z-axis component of the principal momentum increment, H_OU_X is the X-axis component of the coupled angular momentum increment, H_OU_Y is the Y-axis component of the coupled angular momentum increment, H_OU_Z is the Z-axis component of the coupled angular momentum increment, H_Wheel_X is the X-axis component of the reaction wheel assembly angular momentum increment, H_Wheel_Y is the Y-axis component of the reaction wheel assembly angular momentum increment, H_Wheel_Z is the Z-axis component of the reaction wheel assembly angular momentum increment, and Tnh_g is the calculation period.

[0035] Preferably, the accumulated amount of the current three-axis angular momentum of the current orbital reaction wheel exceeds the capacity of the remaining angular momentum of the current reaction wheel, expressed as:

[0036] or or

[0037] Among them, [H maxx H maxy H maxz [H] represents the maximum angular momentum envelopes of the reaction wheel along the X, Y, and Z axes, in N / m². remainx H remainy H remainz [T] represents the current X, Y, and Z axis angular momentum of the reaction wheel, in N / m²; dx T dy T dz [ ] represents the X, Y, and Z axis components of the satellite environmental interference torque; t0 is the start time, and T is the orbital time;

[0038] The satellite environmental interference torque is greater than half of the magnetic torque control torque, expressed as:

[0039] |T d |>M×B×0.5

[0040] Where: M is the rated output torque of the magnetic torquer, in Am2; B is the current average magnetic field strength of the track, in T; T d For satellite environmental interference torque.

[0041] Preferably, the method for calculating the current X, Y, and Z axis angular momentum of the reaction wheel includes:

[0042] H remainx =R11*Speed1+R12*Speed2+R13*Speed3+R14*Speed4

[0043] H remainy=R21*Speed1+R22*Speed2+R23*Speed3+R24*Speed4

[0044] H remainz =R31*Speed1+R32*Speed2+R33*Speed3+R34*Speed4

[0045] Among them, H remainx H is the current X-axis angular momentum of the reaction wheel. remainy H represents the current Y-axis angular momentum of the reaction wheel. remainz R is the current Z-axis angular momentum of the reaction wheel. mn The components of the reaction wheel mounting matrix, where Speed* is the current rotational speed of the reaction wheel.

[0046] According to another aspect of the present invention, an autonomous switching system for cross-space satellite attitude control strategies based on environmental prediction is provided, comprising:

[0047] A satellite environmental interference torque estimation module is used to calculate the incremental momentum of the main propeller, the incremental angular momentum of the coupled propeller, and the incremental angular momentum of the reaction wheel assembly, and to estimate the satellite environmental interference torque using the incremental momentum of the main propeller, the incremental angular momentum of the coupled propeller, and the incremental angular momentum of the reaction wheel assembly.

[0048] The control strategy autonomous switching module is used to autonomously switch control strategies based on the estimated value of the satellite environmental disturbance torque. Specifically, with a continuous orbit time as the period, if the accumulated amount of the current three-axis angular momentum of the current orbit reaction wheel exceeds the capacity of the remaining angular momentum of the current reaction wheel, and the satellite environmental disturbance torque is greater than half of the magnetic torque controller torque, the module autonomously switches to the jet control strategy.

[0049] According to a third aspect of the present invention, a computer terminal is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it can be used to perform the method described in any of the above-described embodiments, or to run the system described above.

[0050] According to a fourth aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, can be used to perform the methods described in any of the preceding claims, or to run the system described above.

[0051] By adopting the above technical solution, the present invention has at least one of the following beneficial effects compared with the prior art:

[0052] Based on the environmental disturbance torque calculated autonomously on the satellite, this invention uses one orbit as the angular momentum balance period to determine whether to engage jet control. It can make full use of the angular momentum of the reaction wheel and engage jet control only when the angular momentum of the reaction wheel is about to reach its limit, which can save a great deal of propulsion fuel.

[0053] This invention strictly relies on the environmental disturbance torque calculated in real time on the satellite, making the torque calculation more accurate and the judgment of control method switching conditions more accurate. It can avoid switching control methods too early or too late, and avoid fuel waste or attitude divergence.

[0054] This invention addresses situations where satellites with large orbital altitude variations, or even those flying across multiple airspaces, cannot simultaneously manage attitude control in both high and low orbits and require autonomous switching between wheel control and jet control. This method enables autonomous switching between wheel control and jet control; it can also be applied to autonomous switching between magnetic unloading and jet unloading. Attached Figure Description

[0055] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0056] Figure 1 This is a flowchart illustrating the workflow of a preferred embodiment of the present invention for an autonomous switching method of cross-space satellite attitude control strategy based on environmental prediction.

[0057] Figure 2 This is a schematic diagram of the components of a cross-space satellite attitude control strategy autonomous switching system based on environmental prediction in a preferred embodiment of the present invention. Detailed Implementation

[0058] The embodiments of the present invention are described in detail below: These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

[0059] One embodiment of the present invention provides an autonomous switching method for cross-space satellite attitude control strategy based on environmental prediction. This method proposes a simpler and more reliable autonomous switching technology for attitude control strategy for satellites flying across airspace, avoiding premature switching to jet control to reduce fuel consumption, and on the other hand, avoiding premature switching out of wheel control, which would lead to wheel angular momentum saturation and satellite attitude divergence.

[0060] like Figure 1 As shown in the embodiment, the autonomous switching method for cross-space satellite attitude control strategy based on environmental prediction provided includes:

[0061] S1, calculate the momentum increment of the main body, the angular momentum increment of the coupled body, and the angular momentum increment of the reaction wheel assembly respectively, and use the momentum increment of the main body, the angular momentum increment of the coupled body, and the angular momentum increment of the reaction wheel assembly to estimate the environmental interference torque of the satellite;

[0062] S2, based on the estimated value of the satellite environmental interference torque, autonomously switches the control strategy; where:

[0063] Using a continuous orbit time as the period, if the accumulated angular momentum of the current three axes of the current orbit reaction wheel exceeds the capacity of the remaining angular momentum of the current orbit reaction wheel, and the satellite environmental interference torque is greater than half of the magnetic torque controller torque, the system will autonomously switch to a jet control strategy.

[0064] In a preferred embodiment of S1, calculating the protagonist momentum increment includes:

[0065] Let the momentum increment of the protagonist be: H_ZHU = [H_ZHU_X, H_ZHU_Y, H_ZHU_Z], in Nms, then:

[0066] H_ZHU_X=Jxx*(Wbix-Wbix_Pre)-Jxy*(Wbiy-Wbiy_Pre)-Jzx*(Wbiz-Wbiz_Pre);

[0067] H_ZHU_Y=-Jxy*(Wbix-Wbix_Pre)+Jyy*(Wbiy-Wbiy_Pre)-Jyz*(Wbiz-Wbiz_Pre);

[0068] H_ZHU_Z=-Jzx*(Wbix-Wbix_Pre)-Jyz*(Wbiy-Wbiy_Pre)+Jzz*(Wbiz-Wbiz_Pre);

[0069] Where: H_ZHU_X is the X-axis component of the protagonist's momentum increment, H_ZHU_Y is the Y-axis component of the protagonist's momentum increment, H_ZHU_Z is the Z-axis component of the protagonist's momentum increment, Jxx is the X-axis satellite principal inertia, Jxy is the product of satellite inertia on the X and Y axes, Jzx is the product of satellite inertia on the Z and X axes, Jyy is the Y-axis satellite principal inertia, Jyz is the product of satellite inertia on the Y and Z axes, Jzz is the Z-axis satellite principal inertia, Wbix is ​​the current inertial frame angular velocity on the X-axis, Wbiy is the current inertial frame angular velocity on the Y-axis, Wbiz is the current inertial frame angular velocity on the Z-axis, Wbix_Pre is the inertial frame angular velocity on the X-axis in the previous frame, Wbiy_Pre is the inertial frame angular velocity on the Y-axis in the previous frame, and Wbiz_Pre is the inertial frame angular velocity on the Z-axis in the previous frame.

[0070] In a preferred embodiment of S1, calculating the coupling angular momentum increment includes:

[0071] Let the increase in coupled angular momentum be H_OU = [H_OU_X, H_OU_Y, H_OU_Z], in Nms.

[0072] H_OU_X=((Wbiz*Jxy-Wbiy*Jzx)*Wbix+(-Wbiz*Jyy-Wbiy*Jyz)*Wbiy+(Wbiz*Jyx+Wbiy*Jzz)*Wbiz)*Tnh_g;

[0073] H_OU_Y=((Wbiz*Jxx+Wbix*Jzx)*Wbix+(-Wbiz*Jxy+Wbix*Jyz)*Wbiy+(-Wbiz*Jzx-Wbix*Jzz)*Wbiz)*Tnh_g;

[0074] H_OU_Z=((-Wbiy*Jxx-Wbix*Jxy)*Wbix+(Wbiy*Jxy+Wbix*Jyy)*Wbiy+(Wbiy*Jzx+Wbix*Jyx)*Wbiz)*Tnh_g;

[0075] Wherein, H_OU_X is the X-axis component of the coupled angular momentum increment, H_OU_Y is the Y-axis component of the coupled angular momentum increment, H_OU_Z is the Z-axis component of the coupled angular momentum increment, Wbix is ​​the current inertial frame angular velocity along the X-axis, Wbiy is the current inertial frame angular velocity along the Y-axis, Wbiz is the current inertial frame angular velocity along the Z-axis, Jxx is the satellite principal inertia along the X-axis, Jxy is the product of satellite inertia along the X and Y axes, Jzx is the product of satellite inertia along the Z and X axes, Jyy is the satellite principal inertia along the Y-axis, Jyz is the product of satellite inertia along the Y and Z axes, Jyx is the product of satellite inertia along the Y and X axes, Jzz is the satellite principal inertia along the Z-axis, and Tnh_g is the calculation period.

[0076] In a preferred embodiment of S1, calculating the angular momentum increment of the reaction wheel assembly includes:

[0077] Let the angular momentum increment of the reaction wheel assembly be: H_Wheel=[H_Wheel_X,H_Wheel_Y,H_Wheel_Z], in Nms, then:

[0078] H_Wheel_X=(R11*Speed1+R12*Speed2+R13*Speed3+R14*Speed4)-(R11*Speed1_pre+R12*Speed2_pre+R13*Speed3_pre+R14*Speed4_pre);

[0079] H_Wheel_Y=(R21*Speed1+R22*Speed2+R23*Speed3+R24*Speed4)-(R21*Speed1_pre+R22*Speed2_pre+R23*Speed3_pre+R24*Speed4_pre);

[0080] H_Wheel_Z=(R31*Speed1+R32*Speed2+R33*Speed3+R34*Speed4)-(R31*Speed1_pre+R32*Speed2_pre+R33*Speed3_pre+R34*Speed4_pre);

[0081] Where H_Wheel_X is the X-axis component of the angular momentum increment of the reaction wheel assembly, H_Wheel_Y is the Y-axis component of the angular momentum increment of the reaction wheel assembly, H_Wheel_Z is the Z-axis component of the angular momentum increment of the reaction wheel assembly, Rmn is the constituent element of the reaction wheel mounting matrix, representing the element in the m-th row and n-th column, Speed* is the rotational speed of the reaction wheel in the current cycle, Speed*_pre is the rotational speed of the reaction wheel in the previous cycle, and * is the reaction wheel sequence number.

[0082] In a preferred embodiment of S1, estimating the satellite environmental interference moment includes:

[0083] Let the satellite environmental interference torque be: T d =[T dx T dy T dz ], the unit is: Nm, then:

[0084] T dx =(H_ZHU_X+H_OU_X+H_Wheel_X) / Tnh_g;

[0085] T dy =(H_ZHU_Y+H_OU_Y+H_Wheel_Y) / Tnh_g;

[0086] T dz =(H_ZHU_Z+H_OU_Z+H_Wheel_Z) / Tnh_g;

[0087] Among them, T dx T represents the X-axis component of the satellite environmental disturbance torque. dy T represents the Y-axis component of the satellite environmental disturbance torque. dzH_ZHU_X is the Z-axis component of the satellite environmental interference torque, H_ZHU_Y is the Y-axis component of the principal momentum increment, H_ZHU_Z is the Z-axis component of the principal momentum increment, H_OU_X is the X-axis component of the coupled angular momentum increment, H_OU_Y is the Y-axis component of the coupled angular momentum increment, H_OU_Z is the Z-axis component of the coupled angular momentum increment, H_Wheel_X is the X-axis component of the reaction wheel assembly angular momentum increment, H_Wheel_Y is the Y-axis component of the reaction wheel assembly angular momentum increment, H_Wheel_Z is the Z-axis component of the reaction wheel assembly angular momentum increment, and Tnh_g is the calculation period.

[0088] In a preferred embodiment of S2, the accumulated amount of the current three-axis angular momentum of the current orbital reaction wheel exceeds the capacity of the remaining angular momentum of the current reaction wheel, expressed as:

[0089] or or

[0090] Among them, [H maxx H maxy H maxz [H] represents the maximum angular momentum envelopes of the reaction wheel along the X, Y, and Z axes (this value is obtained based on the design of the reaction wheel), in N / m². remainx H remainy H remainz [T] represents the current X, Y, and Z axis angular momentum of the reaction wheel, in N / m²; dx T dy T dz [x, y, z] represent the X, Y, and Z axis components of the satellite environmental interference torque; t0 is any starting time, and T is the orbital time.

[0091] Furthermore, in a preferred embodiment, the method for calculating the current X, Y, and Z-axis angular momentum of the reaction wheel includes:

[0092] H remainx =R11*Speed1+R12*Speed2+R13*Speed3+R14*Speed4

[0093] H remainy =R21*Speed1+R22*Speed2+R23*Speed3+R24*Speed4

[0094] H remainz =R31*Speed1+R32*Speed2+R33*Speed3+R34*Speed4

[0095] Among them, Hremainx H is the current X-axis angular momentum of the reaction wheel. remainy H represents the current Y-axis angular momentum of the reaction wheel. remainz R is the current Z-axis angular momentum of the reaction wheel. mn The components of the reaction wheel mounting matrix, where Speed* is the current rotational speed of the reaction wheel.

[0096] Further, in a preferred embodiment, the method for calculating the capacity of the remaining angular momentum of the current reaction wheel includes:

[0097] [H maxx H maxy H maxz ]-[H remainx H remainy H remainz ].

[0098] In a preferred embodiment of S2, the satellite environmental interference torque is greater than half of the magnetic torque controller torque, expressed as:

[0099] |T d |>M×B×0.5

[0100] Where: M is the rated output torque of the magnetic torquer, in Am2; B is the current average magnetic field strength of the track, in T; T d For satellite environmental interference torque.

[0101] In the above embodiments of the present invention:

[0102] [Wbix, Wbiy, Wbiz] represent the current angular velocity of the inertial frame, in rad / s;

[0103] [Wbix_Pre, Wbiy_Pre, Wbiz_Pre] represents the angular velocity of the previous inertial frame, in rad / s;

[0104] [Jxx, Jyy, Jzz] represent the satellite's principal inertia, and [Jxy, Jyz, Jzx] represent the satellite's inertia product, in kg·m2.

[0105] Tnh_g is the calculation period, with a value of 2 seconds;

[0106] [R11, R12, R13, R14; R21, R22, R23, R24; R31, R32, R33, R34] is the reaction wheel installation matrix;

[0107] [Speed1, Speed2, Speed3, Speed4] represent the current speed of the reaction wheel, in rad / s;

[0108] [Speed1_preSpeed2_preSpeed3_preSpeed4_pre] represents the current speed of the reaction wheel, in rad / s;

[0109] T represents the orbital time (i.e., one orbital period), which is 90 minutes.

[0110] The core improvement of this invention lies in its ability to autonomously switch control strategies based on the estimated value of the satellite's environmental disturbance torque. When the accumulated angular momentum of the disturbance torque (estimated value) across the three axes exceeds the remaining angular momentum capacity of the reaction wheel and the magnitude of the disturbance torque exceeds half of the magnetic torque controller's control torque over a continuous orbit period, the system autonomously switches to jet control. Based on the core theoretical foundation of single-orbit angular momentum balance, the system autonomously estimates the environmental disturbance torque in orbit. Using one orbit as the integration period, if the accumulated angular momentum of the current orbit exceeds the current remaining angular momentum capacity, and the environmental disturbance torque exceeds half of the magnetic unloading torque, the system switches to the jet control algorithm. Switching to jet control only occurs when the reaction wheel and magnetic torque controller are insufficient to achieve angular momentum balance over one orbit, fully utilizing the angular momentum of the reaction wheel and significantly saving propulsion fuel.

[0111] One embodiment of the present invention provides an autonomous switching system for cross-space satellite attitude control strategies based on environmental prediction.

[0112] like Figure 2 The autonomous switching system for cross-space satellite attitude control strategies based on environmental prediction provided in this embodiment includes:

[0113] The satellite environmental interference torque estimation module is used to calculate the momentum increment of the main propeller, the angular momentum increment of the coupling, and the angular momentum increment of the reaction wheel assembly, and to estimate the satellite environmental interference torque using the momentum increment of the main propeller, the angular momentum increment of the coupling, and the angular momentum increment of the reaction wheel assembly.

[0114] The autonomous control strategy switching module is used to autonomously switch control strategies based on the estimated value of the satellite environmental disturbance torque. Specifically, with a continuous orbit time as the period, if the accumulated amount of the current three-axis angular momentum of the current orbit reaction wheel exceeds the capacity of the remaining angular momentum of the current reaction wheel, and the satellite environmental disturbance torque is greater than half of the magnetic torque controller torque, the module will autonomously switch to the jet control strategy.

[0115] One embodiment of the present invention provides a computer terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it can be used to perform any of the methods in the above embodiments of the present invention, or to run any of the systems in the above embodiments of the present invention.

[0116] Optionally, the memory is used to store programs; the memory may include volatile memory, such as random-access memory (RAM), such as static random-access memory (SRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.; the memory may also include non-volatile memory, such as flash memory. The memory is used to store computer programs (such as application programs, functional modules, etc. that implement the above methods), computer instructions, etc., and the aforementioned computer programs, computer instructions, etc., can be partitioned and stored in one or more memories. Furthermore, the aforementioned computer programs, computer instructions, data, etc., can be accessed by the processor.

[0117] The aforementioned computer programs, computer instructions, etc., can be stored in partitions within one or more memory locations. Furthermore, the aforementioned computer programs, computer instructions, data, etc., can be accessed by a processor.

[0118] A processor is used to execute computer programs stored in memory to implement the various steps of the methods or various modules of the systems involved in the above embodiments. For details, please refer to the relevant descriptions in the preceding method and system embodiments.

[0119] The processor and memory can be separate structures or integrated structures. When the processor and memory are separate structures, they can be coupled together via a bus.

[0120] An embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can be used to perform the method of any of the above embodiments of the present invention, or to run the system of any of the above embodiments of the present invention.

[0121] The autonomous switching method for cross-space satellite attitude control strategy based on environmental prediction provided in the above embodiments of the present invention determines whether to switch to jet control based on the environmental disturbance torque calculated autonomously on the satellite, with one orbit as the angular momentum balance period. This method can make full use of the angular momentum of the reaction wheel and switch to jet control only when the angular momentum of the reaction wheel is about to reach its limit, which can save propulsion fuel to a great extent. It strictly follows the environmental disturbance torque calculated in real time on the satellite, making the torque calculation more accurate and the judgment of the control method switching conditions more accurate. This can avoid switching the control method too early or too late, and avoid fuel waste or attitude divergence.

[0122] The autonomous switching method for cross-space satellite attitude control strategy based on environmental prediction provided in the above embodiments of the present invention is applicable to satellites with large orbital altitude variation ranges or even those flying across airspace, where wheel control cannot simultaneously handle high and low orbit attitude control and autonomous switching between wheel control and jet control is required. This method can be used to achieve autonomous switching between wheel control and jet control; it can also be applied to autonomous switching between magnetic unloading and jet unloading.

[0123] Any matters not covered in the above embodiments of the present invention are well-known in the art.

[0124] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. An autonomous switching method of cross-airspace satellite attitude control strategy based on environment estimation, characterized in that, The method comprises the following steps: The satellite environment disturbance torque is estimated by using the main angular momentum increment, the coupling angular momentum increment and the reaction wheel group angular momentum increment; According to the estimated value of the satellite environment disturbance torque, the control strategy is autonomously switched; If the accumulation of the current three-axis angular momentum of the current reaction wheel exceeds the capacity of the current reaction wheel, and the satellite environment disturbance torque is greater than half of the control torque of the magnetic torque device, the jet control strategy is autonomously switched in a cycle of continuous one-orbit time; The estimation of the satellite environment disturbance torque comprises the following steps: The accumulation of the current three-axis angular momentum of the current reaction wheel exceeding the capacity of the current reaction wheel is expressed as: Let the satellite environment disturbance torque be: T d = [T dx , T dy , T dz ], units: Nm, then: T dx = (H_ZHU_X + H_OU_X + H_Wheel_X) / Tnh_g; T dy = (H_ZHU_Y + H_OU_Y + H_Wheel_Y) / Tnh_g; T dz = (H_ZHU_Z + H_OU_Z + H_Wheel_Z) / Tnh_g; wherein, T dx is the X-axis component of the satellite environment disturbance torque, T dy is the Y-axis component of the satellite environment disturbance torque, T dz is the Z-axis component of the satellite environment disturbance torque, H_ZHU_X is the X-axis component of the primary angular momentum increment, H_ZHU_Y is the Y-axis component of the primary angular momentum increment, H_ZHU_Z is the Z-axis component of the primary angular momentum increment, H_OU_X is the X-axis component of the coupled angular momentum increment, H_OU_Y is the Y-axis component of the coupled angular momentum increment, H_OU_Z is the Z-axis component of the coupled angular momentum increment, H_Wheel_X is the X-axis component of the reaction wheel set angular momentum increment, H_Wheel_Y is the Y-axis component of the reaction wheel set angular momentum increment, H_Wheel_Z is the Z-axis component of the reaction wheel set angular momentum increment, and Tnh_g is the calculation period. The satellite environment disturbance torque being greater than half of the control torque of the magnetic torque device is expressed as: or or wherein, [H maxx , H maxy , H maxz ] are the maximum angular momentum envelopes of the reaction wheel X, Y, Z three-axis, respectively, with units of Nms; [H remainx , H remainy , H remainz ] are the current X, Y, Z three-axis angular momentum of the reaction wheel, respectively, with units of Nms; [T dx , T dy , T dz ] are the X, Y, Z three-axis components of the satellite environment disturbance torque, respectively; t0 is the starting time, and T is a track time. The calculation of the main angular momentum increment comprises the following steps: |T d |>M×B×0.5 Wherein: M is the rated output torque of the magnetic moment device, unit Am2; B is the current average track magnetic field strength, unit T; T d is the satellite environmental interference torque.

2. The autonomous switching method of cross-airspace satellite attitude control strategy based on environment prediction according to claim 1, characterized in that, The main angular momentum increment is H_ZHU=[H_ZHU_X, H_ZHU_Y, H_ZHU_Z], and the unit is Nms, so that: H_ZHU_X=Jxx*(Wbix-Wbix_Pre)-Jxy*(Wbiy-Wbiy_Pre)-Jzx*(Wbiz-Wbiz_Pre); H_ZHU_Y=-Jxy*(Wbix-Wbix_Pre)+Jyy*(Wbiy-Wbiy_Pre)-Jyz*(Wbiz-Wbiz_Pre); H_ZHU_Z=-Jzx*(Wbix-Wbix_Pre)-Jyz*(Wbiy-Wbiy_Pre)+Jzz*(Wbiz-Wbiz_Pre); wherein H_ZHU_X is the X-axis component of the main angular momentum increment, H_ZHU_Y is the Y-axis component of the main angular momentum increment, H_ZHU_Z is the Z-axis component of the main angular momentum increment, Jxx is the X-axis satellite principal moment of inertia, Jxy is the X-axis and Y-axis satellite moment of inertia product, Jzx is the Z-axis and X-axis satellite moment of inertia product, Jyy is the Y-axis satellite principal moment of inertia, Jyz is the Y-axis and Z-axis satellite moment of inertia product, Jzz is the Z-axis satellite principal moment of inertia, Wbix is the X-axis current inertial system angular velocity, Wbiy is the Y-axis current inertial system angular velocity, Wbiz is the Z-axis current inertial system angular velocity, Wbix_Pre is the X-axis last-time inertial system angular velocity, Wbiy_Pre is the Y-axis last-time inertial system angular velocity, and Wbiz_Pre is the Z-axis last-time inertial system angular velocity. The calculation of the coupling angular momentum increment comprises the following steps:

3. The autonomous switching method of cross-airspace satellite attitude control strategy based on environment prediction according to claim 1, characterized in that, The coupling angular momentum increment is H_OU=[H_OU_X, H_OU_Y, H_OU_Z], and the unit is Nms, so that H_OU_X=((Wbiz*Jxy-Wbiy*Jzx)*Wbix+(-Wbiz*Jyy-Wbiy*Jyz)*Wbiy+(Wbiz*Jyx+Wbiy*Jzz)*Wbiz)*Tnh_g; ​ H_OU_Y = ((Wbiz*Jxx+Wbix*Jzx)*Wbix+(-Wbiz*Jxy+Wbix*Jyz)*Wbiy+(-Wbiz*Jzx-Wbix*Jzz)*Wbiz)*Tnh_g; H_OU_Z = ((-Wbiy*Jxx- Wbix*Jxy)*Wbix+(Wbiy*Jxy+Wbix*Jyy)*Wbiy+(Wbiy*Jzx+Wbix*Jyx)*Wbiz)*Tnh_g; Wherein, H_OU_X is the X axis component of the coupling angular momentum increment, H_OU_Y is the Y axis component of the coupling angular momentum increment, H_OU_Z is the Z axis component of the coupling angular momentum increment, Wbix is the X axis current inertial system angular velocity, Wbiy is the Y axis current inertial system angular velocity, Wbiz is the Z axis current inertial system angular velocity, Jxx is the X axis satellite principal moment of inertia, Jxy is the satellite inertia product of the X axis and the Y axis, Jzx is the satellite inertia product of the Z axis and the X axis, Jyy is the Y axis satellite principal moment of inertia, Jyz is the satellite inertia product of the Y axis and the Z axis, Jyx is the satellite inertia product of the Y axis and the X axis, Jzz is the Z axis satellite principal moment of inertia, Tnh_g is the calculation period.

4. The autonomous switching method of cross-airspace satellite attitude control strategy based on environment prediction according to claim 1, characterized in that, The reaction wheel group angular momentum increment is calculated, comprising: Let the reaction wheel group angular momentum increment be: H_Wheel = [H_Wheel_X, H_Wheel_Y, H_Wheel_Z], unit: Nms, then: H_Wheel_X = (R11*Speed1+R12*Speed2+R13*Speed3+R14*Speed4)-(R11*Speed1_pre+R12*Speed2_pre+R13*Speed3_pre+R14*Speed4_pre); H_Wheel_Y = (R21*Speed1+R22*Speed2+R23*Speed3+R24*Speed4)-(R21*Speed1_pre+R22*Speed2_pre+R23*Speed3_pre+R24*Speed4_pre); H_Wheel_Z = (R31*Speed1+R32*Speed2+R33*Speed3+R34*Speed4)-(R31*Speed1_pre+R32*Speed2_pre+R33*Speed3_pre+R34*Speed4_pre); Wherein, H_Wheel_X is the X axis component of the reaction wheel group angular momentum increment, H_Wheel_Y is the Y axis component of the reaction wheel group angular momentum increment, H_Wheel_Z is the Z axis component of the reaction wheel group angular momentum increment, Rmn is the constituent element of the reaction wheel installation matrix, indicating the element of the mth row and the nth column, Speed* is the current shot reaction wheel speed, Speed*_pre is the previous shot reaction wheel speed, and * is the reaction wheel serial number.

5. The autonomous switching method of cross-airspace satellite attitude control strategy based on environment prediction according to claim 1, characterized in that, The method for calculating the current X, Y, Z three-axis angular momentum of the reaction wheel comprises the following steps: H remainx = Rll * Speedl + R12 * Speed2 + R13 * Speed3 + R14 * Speed4 H remainy = R21 * Speed1 + R22 * Speed2 + R23 * Speed3 + R24 * Speed4 H remainz = R31 * Speed1 + R32 * Speed2 + R33 * Speed3 + R34 * Speed4 where H remainx is the current X-axis angular momentum of the reaction wheel, H remainy is the current Y-axis angular momentum of the reaction wheel, H remainz is the current Z-axis angular momentum of the reaction wheel, R mn is the constituent element of the reaction wheel mounting matrix, and Speed* is the current speed of the reaction wheel.

6. An environment prediction based cross-airspace satellite attitude control strategy autonomous switching system for implementing the method of any one of claims 1-5, characterized in that, The method comprises the following steps: The satellite environment disturbance torque estimation module is used for calculating the main angular momentum increment, the coupling angular momentum increment and the reaction wheel group angular momentum increment respectively, and estimating the satellite environment disturbance torque by using the main angular momentum increment, the coupling angular momentum increment and the reaction wheel group angular momentum increment; The control strategy autonomous switching module is used for autonomously switching the control strategy according to the estimated value of the satellite environment disturbance torque; wherein, taking a continuous orbit time as a period, if the accumulation of the current three-axis angular momentum of the reaction wheel in the current orbit exceeds the capacity of the current reaction wheel residual angular momentum, and the satellite environment disturbance torque is greater than half of the control torque of the magnetic torque device, the jet control strategy is autonomously switched to.

7. A computer terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program and can be used to execute the method in any one of claims 1-5, or run the system in claim 6.

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

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