A position control method and device based on attitude control error feedforward compensation

Abstract

This invention provides a position control method and apparatus based on attitude control error feedforward compensation, relating to the field of rendezvous and docking technology. The method includes: calculating the orbital control error based on the attitude control error; determining the position error at the end of the long-range guidance segment under the influence of the orbital control error; calculating a corresponding compensation amount based on the position error at the end of the long-range guidance segment; and correcting the nominal position value based on the compensation amount, so as to use the corrected nominal position value for position control. This solution can achieve high-precision position control under large-pulse orbital control.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of rendezvous and docking technology, and in particular to a position control method and device based on attitude control error feedforward compensation. Background Technology

[0002] Both the 2-hour ultra-fast rendezvous and docking mission and a regular rendezvous and docking mission include a long-range guidance phase and a short-range autonomous control phase. To compress the total flight time, the long-range guidance phase must provide relatively accurate initial conditions for the short-range autonomous control phase within a minimal flight time. Due to the short flight time, the long-range guidance phase requires large-pulse control to increase the phase angle adaptability range. Furthermore, because of the short flight time, the transitions between the various flight phases of the rendezvous and docking are tight, demanding high control precision in each phase.

[0003] How to achieve high-precision position control under large pulse orbit control is an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a position control method and apparatus based on attitude control error feedforward compensation, which can achieve high-precision position control under large pulse orbit control.

[0005] In a first aspect, embodiments of the present invention provide a position control method based on attitude control error feedforward compensation, comprising:

[0006] Calculate orbit control error based on attitude control error;

[0007] Determine the position error at the end of the long-distance guide segment under the influence of the aforementioned track control error;

[0008] Calculate the corresponding compensation amount based on the position error at the end of the long-distance guidance segment;

[0009] The nominal position value is corrected based on the compensation amount, so that position control can be performed using the corrected nominal position value.

[0010] Secondly, embodiments of the present invention also provide a position control device based on attitude control error feedforward compensation, comprising:

[0011] The first calculation unit is used to calculate the orbit control error based on the attitude control error;

[0012] A determining unit is used to determine the position error at the end of the long-distance guide segment under the influence of the track control error.

[0013] The second calculation unit is used to calculate the corresponding compensation amount based on the position error at the end of the long-distance guidance segment;

[0014] The correction unit is used to correct the nominal position value according to the compensation amount, so as to use the corrected nominal position value for position control.

[0015] Thirdly, embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of this specification.

[0016] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the methods described in any embodiment of this specification.

[0017] This invention provides a position control method and apparatus based on attitude control error feedforward compensation. The method calculates the track control error based on the attitude control error, thereby determining the position error at the end of the long-range guide segment under the influence of the track control error. Since the position error at the end of the long-range guide segment is determined, a position correction compensation amount can be calculated based on this position error, and the nominal position value can be corrected using the compensation amount. Therefore, this solution addresses the impact of attitude control error on control accuracy during track control, employs a relative motion position error transmission method to achieve feedforward compensation of the position error, and thus realizes high-precision position control under large-pulse track control. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of a position control method based on attitude control error feedforward compensation provided in an embodiment of the present invention;

[0020] Figure 2 This is a flowchart of a method for determining track control error according to an embodiment of the present invention;

[0021] Figures 3-6 These are, respectively, the fluctuation curves of attitude control error on the pitch axis during the orbit control process when the Y-direction centroid deviation of the spacecraft is 0mm, 5mm, -15mm, and -26mm, as provided in an embodiment of the present invention.

[0022] Figure 7 This is a hardware architecture diagram of an electronic device provided in an embodiment of the present invention;

[0023] Figure 8 This is a structural diagram of a position control device based on attitude control error feedforward compensation provided in an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0025] In rapid rendezvous and docking missions, the short flight time and tight transitions between flight phases necessitate extremely high control precision for each phase. Therefore, it is crucial to address the challenge of on-orbit computation of large-pulse, high-precision guidance and control for rapid rendezvous and docking missions with limited flight time. This invention addresses the impact of attitude control precision during orbit control by analyzing attitude control errors, their influence on the accuracy of velocity increments in orbit control errors, and the impact of orbit control precision on position accuracy transfer. This analysis enables feedforward compensation to achieve high-precision position control under large-pulse orbit control.

[0026] The following describes the specific implementation of the above concept.

[0027] Please refer to Figure 1 This invention provides a position control method based on attitude control error feedforward compensation, the method comprising:

[0028] Step 100: Calculate the trajectory control error based on the attitude control error;

[0029] Step 102: Determine the position error at the end of the long-distance guide segment under the influence of the track control error;

[0030] Step 104: Calculate the corresponding compensation amount based on the position error at the end of the long-distance guidance segment;

[0031] Step 106: Correct the nominal position value according to the compensation amount, so as to use the corrected nominal position value for position control.

[0032] In this embodiment of the invention, the orbital control error is calculated based on the attitude control error, and then the position error at the end of the long-range guidance segment under the influence of the orbital control error is determined. Since the position error at the end of the long-range guidance segment is determined, the compensation amount for position correction can be calculated based on this position error, and the nominal position value can be corrected using the compensation amount. Therefore, this solution starts with the impact of attitude control error on control accuracy during the orbital control process, and uses a relative motion position error transmission method to achieve feedforward compensation of the position error, thereby realizing high-precision position control under large-pulse orbital control.

[0033] The following description Figure 1 The execution method for each step is shown.

[0034] First, for step 100, the trajectory control error is calculated based on the attitude control error.

[0035] When the orbit control engine is activated, the orbit control process can cause significant disturbance torques to the attitude control due to spacecraft center of mass deviation, thrust installation deviation, and other factors. To counteract these disturbance torques, the orbit control process requires attitude control, which is typically achieved using phase plane attitude control methods.

[0036] In this embodiment of the invention, the orbital control error can be determined based on the attitude control error. Specifically, please refer to... Figure 2 The method may include the following steps:

[0037] Step 1000: Determine the impact of the disturbance of the trajectory control on the attitude control, and the resulting fluctuation state of the attitude control error in each of the three axes.

[0038] Step 1002: Based on the fluctuation state of the attitude control error in each of the three axes, calculate the average value of the attitude control error in each of the three axes.

[0039] Step 1004: Based on the average value of the attitude control error in each of the three axes, calculate the velocity increment generated by the attitude control error in each of the three axes, and use the generated velocity increment as the trajectory control error.

[0040] The three axes are the roll axis, pitch axis, and yaw axis.

[0041] The fluctuation state of attitude control error in each of the three axes can be based on the disturbance influence M. control The resulting data, obtained through analysis of the fluctuation states, can include at least three fluctuation states, each with a corresponding method for calculating the average attitude control error. Specifically, in step 1002, the average attitude control error in each of the three axes can be calculated as follows:

[0042] If the attitude control error fluctuates along this axis at -θ D ~θ D If the values ​​fluctuate between θ and θ, then the attitude control accuracy is θ. D If , then the average value on that axis is 0;

[0043] If the attitude control error fluctuates along this axis at -θ B ~θ B If the values ​​fluctuate between θ and θ, then the attitude control accuracy is θ. B If , then the average value on that axis is 0;

[0044] If the attitude control error is in a one-sided limit cycle on this axis, then the attitude control accuracy is θ. B Then the average value on this axis is: (θ) B -θ max ) / 2;

[0045] Where, θ D θ is the dead zone threshold in the phase plane control parameters. B θ is the threshold value for the high thrust region in the phase plane control parameters. max It represents the maximum value of the attitude of a one-sided limit cycle.

[0046] Based on the above calculation method, the average value of the attitude control error on the roll axis, pitch axis, and yaw axis can be calculated as follows:

[0047] Typical track control uses an accelerometer incremental shutdown method to execute pulses; attitude control errors do not introduce errors into the execution of velocity increments. Assume the velocity increment for track control is V. P The average value of attitude control error on the rolling axis It has no effect on the speed increment execution, while the average value θ of the attitude control error on the pitch axis ave This results in a velocity increment having a component in the Z-axis direction, and the average value ψ of the attitude control error on the yaw axis. ave To ensure that the velocity increment has a component in the Y-axis direction, in this embodiment of the invention, the velocity increment V generated by the attitude control error in each of the three axes can be calculated according to the following formula. X V Y V Z :

[0048] V X =0

[0049] V Z =V P sinθ ave

[0050] VY =V P sinψ ave

[0051] Among them, V P For the velocity increment of the orbit control, θ ave ψ is the average value of the attitude control error in the pitch axis direction. ave The average value of the attitude control error in the yaw axis direction.

[0052] Then, for step 102, the position error at the end of the long-distance guide segment under the influence of the track control error is determined.

[0053] Because the flight time of the long-range guidance segment is short, this embodiment of the invention introduces the concept of CW relative motion to describe the impact of orbit control on position error. The analytical solution of the CW equation is as follows:

[0054]

[0055] Where x(t), y(t), and z(t) are the relative positions on the three axes at the end of the long-distance guidance segment. Let x0, y0, and z0 represent the relative velocities on the three axes at the end of the long-range guidance segment, and x0, y0, and z0 represent the relative positions on the three axes at the initial moment. Let ω be the relative velocity on the three axes at the initial moment. oT denoted as the orbital angular velocity of the target spacecraft, and t is the time from the pulse moment to the end of the long-range guidance segment.

[0056] Primarily considering the positional impact, under the influence of track control errors, the positional error at the end of the long-distance guidance segment is:

[0057]

[0058]

[0059]

[0060] Where, ω oT denoted as the orbital angular velocity of the target spacecraft, and t is the time from the pulse moment to the end of the long-range guidance segment.

[0061] Next, for step 104, the corresponding compensation amount is calculated based on the position error at the end of the long-distance guidance segment.

[0062] Compensation in the Y-axis plane is relatively difficult during orbit control design. This embodiment of the invention does not consider error compensation, which can be performed in other flight phases of the mission. However, Z-axis position error compensation will result in a velocity increment V. PNo compensation is made for changes in the trajectory position. Therefore, the embodiments of the present invention mainly consider compensation for the trajectory position.

[0063] In this embodiment of the invention, in order to make the state at the end of the long-range guidance segment reach the initial conditions of the short-range autonomous control segment, multiple large pulses are required to achieve velocity increment. If an error occurs in the earlier pulse, it can be corrected by the later pulse. However, the later pulse cannot be corrected by the later pulse. Therefore, the position error needs to be calculated and corrected by the feedforward compensation method.

[0064] In this embodiment of the invention, the corresponding compensation amount can be calculated based on the position error at the end of the long-range guidance segment, which may specifically include:

[0065] Based on the velocity increments corresponding to the last two pulses of the long-range guidance segment, the error component of the velocity increment of the track control in the Z-axis is calculated.

[0066] Based on the time from the pulse moment to the end of the long-distance guide segment for each pulse and the error component, calculate the position deviation of each pulse in the trajectory;

[0067] The sum of the positional deviations of the two pulses in the trajectory is used as the compensation amount;

[0068] The positional deviation of each pulse in the trajectory can be calculated using the following formula:

[0069]

[0070] Where i = 1, 2; δX i V represents the position deviation of the i-th pulse in the trace among the last two pulses. Zi Let t be the error component of the velocity increment in the track control corresponding to the i-th pulse along the Z-axis. i It represents the time from the pulse moment to the end of the long-distance guide segment of the i-th pulse in the last two pulses.

[0071] The compensation amount for the position error of the trace is: δX1 + δX2.

[0072] Finally, for step 106, the nominal position value is corrected according to the compensation amount, so as to use the corrected nominal position value for position control.

[0073] The correction method is as follows: the difference between the nominal position value and the compensation amount is used as the corrected nominal position value.

[0074] Assume the nominal value of the trace's location is X q The corrected nominal position value is: X q =X q -(δX1+δX2).

[0075] The following analysis uses a two-pulse long-range guidance segment as an example to analyze the impact of the orbit control process on attitude control error and the effect of compensation.

[0076] Both track control pulses are at 50 m / s. The first pulse is executed at approximately 1200 seconds, and the second pulse is executed at approximately 3800 seconds. Please refer to [reference needed]. Figures 3-6 The figures show the fluctuation curves of attitude control error on the pitch axis during the orbit control process when the Y-axis centroid deviation of the spacecraft is 0 mm, 5 mm, -15 mm, and -26 mm, respectively. The average values ​​of attitude control error on the pitch axis during the orbit control process are calculated to be 0.0081 deg, 0.5585 deg, -0.4826 deg, and -0.5497 deg, respectively.

[0077] Table 1 shows the average attitude control error on the pitch axis and the resulting position deviation under different centroid deviations.

[0078] Table 1:

[0079] Serial Number Centroid (mm) Average pitch attitude (deg) Theoretical position deviation (m) 1 0 0.0081 23.5 2 5 0.5585 1619.65 3 -15 -0.4826 -1399.54 4 -26 -0.5497 -1594.13

[0080] By compensating for the position error of the trajectory and simulating again after compensation, the actual position error at the end of the long-distance guidance segment is shown in Table 2.

[0081] Table 2:

[0082]

[0083] Therefore, the positional error of the compensated trajectory does not exceed 100m.

[0084] like Figure 7 , Figure 8 As shown, this embodiment of the invention provides a position control device based on attitude control error feedforward compensation. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 7 The diagram shown is a hardware architecture diagram of an electronic device containing a position control device based on attitude control error feedforward compensation, according to an embodiment of the present invention. (Except for...) Figure 7 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 8 As shown, a device in a logical sense is formed by the CPU of its host electronic device reading the corresponding computer program from the non-volatile memory into memory and running it. This embodiment provides a position control device based on attitude control error feedforward compensation, comprising:

[0085] The first calculation unit 801 is used to calculate the trajectory control error based on the attitude control error;

[0086] Determining unit 802 is used to determine the position error at the end of the long-distance guide segment under the influence of the track control error;

[0087] The second calculation unit 803 is used to calculate the corresponding compensation amount based on the position error at the end of the long-distance guidance segment;

[0088] The correction unit 804 is used to correct the nominal position value according to the compensation amount, so as to use the corrected nominal position value for position control.

[0089] In one embodiment of the present invention, the first calculation unit is specifically used for: determining the fluctuation state of the attitude control error in each of the three axes due to the disturbance effect of the orbit control on the attitude control; calculating the average value of the attitude control error in each of the three axes based on the fluctuation state of the attitude control error in each of the three axes; calculating the velocity increment generated by the attitude control error in each of the three axes based on the average value of the attitude control error in each of the three axes, and using the generated velocity increment as the orbit control error.

[0090] In one embodiment of the present invention, when the first calculation unit calculates the average value of the attitude control error in each of the three axes based on the fluctuation state of the attitude control error in each of the three axes, it specifically includes:

[0091] The average value of the attitude control error in each of the three axes is calculated as follows:

[0092] If the attitude control error fluctuates at -θ on this axis D ~θ D If the value fluctuates between these values, then the average value on this axis is 0.

[0093] If the attitude control error fluctuates at -θ on this axis B ~θ B If the value fluctuates between these values, then the average value on this axis is 0.

[0094] If the attitude control error is in a one-sided limit cycle on this axis, then the average value on this axis is: (θ) B -θ max ) / 2;

[0095] Where, θ D θ is the dead zone threshold in the phase plane control parameters. B θ is the threshold value for the high thrust region in the phase plane control parameters. maxIt represents the maximum value of the attitude of a one-sided limit cycle.

[0096] In one embodiment of the present invention, when the first calculation unit calculates the velocity increments generated by the attitude control error in each of the three axes, it specifically includes:

[0097] The velocity increment V generated by the attitude control error in each of the three axes is calculated using the following formula. X V Y V Z :

[0098] V X =0

[0099] V Z =V P sinθ ave

[0100] V Y =V P sinψ ave

[0101] Among them, V P For the velocity increment of the orbit control, θ ave ψ is the average value of the attitude control error in the pitch axis direction. ave The average value of the attitude control error in the yaw axis direction.

[0102] In one embodiment of the present invention, under the influence of the track control error, the position error at the end of the long-distance guidance segment is:

[0103]

[0104]

[0105]

[0106] Where, ω oT denoted as the orbital angular velocity of the target spacecraft, and t is the time from the pulse moment to the end of the long-range guidance segment.

[0107] In one embodiment of the present invention, the second calculation unit is specifically used for: calculating the error component of the velocity increment of the track control on the Z-axis based on the velocity increments corresponding to the last two pulses of the long-range guidance segment; calculating the position deviation of each pulse in the track direction based on the time from the pulse moment to the end of the long-range guidance segment and the error component; and using the sum of the position deviations of the two pulses in the track direction as the compensation amount.

[0108] The correction unit is specifically used to take the difference between the nominal position value and the compensation amount as the corrected nominal position value.

[0109] In one embodiment of the present invention, the second calculation unit, when calculating the position deviation of each pulse in the trace, specifically includes:

[0110] The positional deviation of each pulse in the trajectory is calculated using the following formula:

[0111]

[0112] Where i = 1, 2; δX i V represents the position deviation of the i-th pulse in the trace among the last two pulses. Zi Let t be the error component of the velocity increment in the track control corresponding to the i-th pulse along the Z-axis. i It represents the time from the pulse moment to the end of the long-distance guide segment of the i-th pulse in the last two pulses.

[0113] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a position control device based on attitude control error feedforward compensation. In other embodiments of the present invention, a position control device based on attitude control error feedforward compensation may include more or fewer components than illustrated, or combine some components, split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0114] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0115] This invention also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a position control method based on attitude control error feedforward compensation according to any embodiment of this invention.

[0116] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform a position control method based on attitude control error feedforward compensation according to any embodiment of this invention.

[0117] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0118] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0119] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0120] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0121] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0122] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0123] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A position control method based on attitude control error feedforward compensation, characterized in that, include: Determine the impact of trajectory control disturbances on attitude control, and the resulting fluctuation state of attitude control error in each of the three axes. Based on the fluctuation state of the attitude control error in each of the three axes, the average value of the attitude control error in each of the three axes is calculated. Based on the average value of the attitude control error in each of the three axes, the velocity increment generated by the attitude control error in each of the three axes is calculated, and the generated velocity increment is used as the trajectory control error. Determine the position error at the end of the long-distance guide segment under the influence of the aforementioned track control error; Calculate the corresponding compensation amount based on the position error at the end of the long-distance guidance segment; The nominal position value is corrected based on the compensation amount, so that position control can be performed using the corrected nominal position value.

2. The method according to claim 1, characterized in that, The step of calculating the average value of the attitude control error in each of the three axes based on the fluctuation state of the attitude control error in each of the three axes includes: The average value of the attitude control error in each of the three axes is calculated as follows: If the attitude control error fluctuates along this axis as follows: If the value fluctuates between these values, then the average value on this axis is 0. If the attitude control error fluctuates along this axis as follows: If the value fluctuates between these values, then the average value on this axis is 0. If the attitude control error is in a unilateral limit cycle on this axis, then the average value on this axis is: ; in, The dead zone threshold is a parameter in the phase plane control parameters. This refers to the threshold value for the high-thrust region in the phase-plane control parameters. It represents the maximum value of the attitude of a one-sided limit cycle.

3. The method according to claim 1, characterized in that, The calculation of the velocity increments generated by the attitude control error in each of the three axes includes: The velocity increments generated by the attitude control error in each of the three axes are calculated using the following formula. , , : in, For the speed increment of track control, The attitude control error is the average value in the pitch axis direction. The average value of the attitude control error in the yaw axis direction.

4. The method according to claim 3, characterized in that, The determination of the position error at the end of the long-distance guide segment under the influence of the track control error includes: Under the influence of the aforementioned track control error, the position error at the end of the long-distance guidance segment is: in, The orbital angular velocity of the target spacecraft. This is the time from the pulse moment to the end of the long-distance guide segment.

5. The method according to claim 4, characterized in that, The calculation of the corresponding compensation amount based on the position error at the end of the long-range guidance segment includes: Based on the velocity increments corresponding to the last two pulses of the long-range guidance segment, the error component of the velocity increment of the track control in the Z-axis is calculated. Based on the time from the pulse moment to the end of the long-distance guide segment for each pulse and the error component, calculate the position deviation of each pulse in the trajectory; The sum of the positional deviations of the two pulses in the trajectory is used as the compensation amount; The step of correcting the nominal position value based on the compensation amount includes: using the difference between the nominal position value and the compensation amount as the corrected nominal position value.

6. The method according to claim 5, characterized in that, The calculation of the position deviation of each pulse in the track includes: The positional deviation of each pulse in the trajectory is calculated using the following formula: Where i = 1, 2; This represents the positional deviation of the i-th pulse in the trace direction among the last two pulses. Let be the error component of the speed increment in the track control corresponding to the i-th pulse along the Z-axis. It represents the time from the pulse moment to the end of the long-distance guide segment of the i-th pulse in the last two pulses.

7. A position control device based on attitude control error feedforward compensation, characterized in that, For performing the method according to any one of claims 1-6, comprising: The first calculation unit is used to calculate the orbit control error based on the attitude control error; A determining unit is used to determine the position error at the end of the long-distance guide segment under the influence of the track control error. The second calculation unit is used to calculate the corresponding compensation amount based on the position error at the end of the long-distance guidance segment; The correction unit is used to correct the nominal position value according to the compensation amount, so as to use the corrected nominal position value for position control.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program, implements the method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of any one of claims 1-6.

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