Angular momentum compensation control method and system in case of satellite rotating component failure

Abstract

The application provides a kind of angular momentum compensation control method and system under the condition of satellite rotating component failure, comprising: rotating component rotating speed information communication error control step and module, rotating component rotating unit mechanical rotation failure control step and module, rotating component servo controller failure control step and module.The application solves the problem that satellite attitude safety is affected due to rotating component rotating speed information error, mechanical rotation failure, and unsuccessful multiple resets of servo controller, and ensures the stability and safety of satellite attitude when the above failures occur.

Description

Technical Field

[0001] This invention relates to the fields of satellite overall design and satellite attitude control technology, and more specifically, to a method and system for angular momentum compensation control in the event of a failure in a satellite's rotating components. Background Technology

[0002] To achieve imaging and ensure a certain swath width, some satellite passive microwave remote sensing payloads must use a rotating component scanning method. To guarantee the payload's field of view, the product has a large size, and the rotating components have large inertia and angular momentum. If the angular momentum is not compensated, it will affect the satellite's attitude, thereby affecting the payload's imaging quality and even the satellite's energy security.

[0003] After the satellite attitude and orbit control subsystem enters steady-state rotation control mode, the remote sensing payload is powered on. The rotational speed of its rotating components accelerates uniformly from zero to the target speed and is maintained near the target speed, then enters normal observation mode. The remote sensing payload switches its operating speed, uniformly accelerating (or decelerating) to another target speed and maintaining it near that target speed. The remote sensing payload stops operating, its speed gradually decelerating to zero and stopping at a designated position.

[0004] Currently available methods for angular momentum compensation of rotating components do not consider abnormal situations such as incorrect rotational speed information, mechanical rotational failures of rotating components, and errors in the servo controller of rotating components. In actual remote sensing payloads, the rotational speed information of rotating components is transmitted via satellite bus RT-RT or RT-BC-RT. Faults may occur during communication, leading to large jumps in rotational speed, checksum errors, and erroneous speeds entering the attitude and orbit control subsystem, causing attitude fluctuations or even divergence. During long-term operation of remote sensing payloads, bearing wear can occur due to bearing assembly problems and improper lubrication device design, sometimes resulting in rotational jamming, a rapid drop in rotational speed to zero, and the inability of the compensation wheel to compensate in time, leading to satellite attitude fluctuations or even divergence. Servo controller resets due to single-event events in space, with repeated unsuccessful resets, can prevent the rotating components from rotating normally, affecting angular momentum compensation control and satellite attitude.

[0005] Patent document CN110816898A discloses a three-stage instability judgment and control design method for a large angular momentum compensated satellite. When the satellite is under steady-state control via a three-axis flywheel, and its attitude deviates from the expected range, reaching the first-stage instability judgment condition, the satellite autonomously enters a magnetic control mode. If the satellite's attitude deviates from the expected range again, reaching the second-stage instability judgment condition, the satellite autonomously switches to a steady-state open-loop mode. Further, if the satellite loses sunlight while in a sunlit area, it enters a solar orientation mode. If the satellite's attitude deviates from the expected range again, reaching the third-stage instability judgment condition, the satellite autonomously enters a jet control mode, and after stabilization, returns to three-axis flywheel control. However, this method does not address detailed control schemes for different types of faults affecting the satellite's rotating components. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide an angular momentum compensation control method and system for satellite rotating component failures.

[0007] An angular momentum compensation control method for satellite rotating component failure provided by the present invention includes any one or more steps:

[0008] Rotating component speed information communication error control steps: When the speed information checksum is incorrect, the satellite autonomously determines not to update the speed for compensation control; when the speed information cannot correctly reflect the current actual speed, and the current speed information is introduced into the angular momentum compensation control, resulting in attitude deviation, the attitude and orbit control subsystem switches the control mode to magnetic control or jet control.

[0009] Rotating component rotation unit mechanical rotation fault control steps: When speed fluctuation occurs, switch the speed for angular momentum compensation control; when mechanism jamming occurs, the integrated electronic subsystem sends a command to request the attitude and track control subsystem to implement compensation wheel deceleration; if the attitude exceeds the tolerance, the attitude and track control subsystem switches the control mode to magnetic control or jet control.

[0010] Rotating component servo controller fault control steps: When the integrated electronic subsystem detects that the rotating component servo controller has failed to reset continuously, the programmable rotating component is powered off, and a command is sent to request the attitude and track control subsystem to implement compensation wheel speed reduction according to the servo power failure stop time of the rotating component. If the attitude exceeds the tolerance, the attitude and track control subsystem switches the control mode to magnetic control or jet control.

[0011] Preferably, in the step of controlling errors in the rotational speed information communication of the rotating component:

[0012] For rotating component speed information, when the checksum is incorrect or not updated, the attitude and orbit control subsystem discards the rotating component speed information received in the current frame and uses the rotating component speed information with the correct checksum from the previous frame.

[0013] If the rotational speed information of the rotating component deviates from the actual rotational speed range by more than 10%, the satellite will autonomously determine not to use the current rotational speed of the rotating component as the speed for compensation control.

[0014] Preferably, in the mechanical rotation fault control step of the rotating component rotation unit:

[0015] If the fluctuation range exceeds 0.05% but is still less than 0.1%, select compensation based on the target speed; if the fluctuation range does not exceed 0.05%, select compensation based on the actual speed.

[0016] If the integrated electronic subsystem consistently detects a current greater than 1A and a scan cycle greater than 2200ms over 100 consecutive judgment cycles, it confirms a significant change in current and scan cycle, establishes an out-of-tolerance flag for current and scan cycle, and notifies the attitude and orbit control subsystem. The attitude and orbit control subsystem implements a speed reduction for the compensation wheel. If the compensation wheel cannot compensate for the rapid change in angular momentum of the rotating components caused by jamming, resulting in an out-of-tolerance attitude of the satellite, the attitude and orbit control subsystem switches the control mode to magnetic control or jet control.

[0017] Preferably, in the fault control step of the rotating component servo controller:

[0018] If the servo controller of the rotating component fails to reset continuously, the servo controller is reset due to a single-particle event in space. However, multiple resets still fail to complete the power-on initialization and cannot enter the normal working state. The integrated electronic subsystem detects and establishes a reset failure flag. The programmable rotating component servo controller is powered off and sends an internal command to request the attitude and track control subsystem to implement a compensation wheel speed reduction based on the servo power-off stop time.

[0019] Preferably, in the fault control step of the rotating component servo controller:

[0020] Based on the stopping time of the rotating component when the servo controller is powered off during ground testing, the descent speed of the compensation wheel is set to match the descent time of the compensation wheel speed with that of the rotating component speed. If the fastest deceleration time of the compensation wheel is still greater than the descent time of the rotating component speed, the attitude and orbit control subsystem is requested to perform attitude deviation diagnosis, and the jet control mode is selectively switched according to the diagnosis results.

[0021] An angular momentum compensation control system for satellite rotating component failure provided by the present invention includes any one or more modules:

[0022] Rotating component speed information communication error control module: When the speed information checksum is incorrect, the satellite autonomously decides not to update the speed for compensation control; when the speed information cannot correctly reflect the current actual speed, and the current speed information is introduced into the angular momentum compensation control, resulting in attitude deviation, the attitude and orbit control subsystem switches the control mode to magnetic control or jet control.

[0023] Rotating component rotation unit mechanical rotation fault control module: When speed fluctuation occurs, the speed for angular momentum compensation control is switched; when mechanism jamming occurs, the integrated electronic subsystem sends a command to request the attitude and track control subsystem to implement compensation wheel deceleration; if the attitude exceeds the tolerance, the attitude and track control subsystem switches the control mode to magnetic control or jet control.

[0024] Rotating component servo controller fault control module: When the integrated electronic subsystem detects that the rotating component servo controller has failed to reset continuously, the programmable rotating component is powered off and a command is sent to request the attitude and track control subsystem to implement compensation wheel speed reduction according to the servo power failure stop time of the rotating component. If the attitude exceeds the tolerance, the attitude and track control subsystem switches the control mode to magnetic control or jet control.

[0025] Preferably, in the rotating component speed information communication error control module:

[0026] For rotating component speed information, when the checksum is incorrect or not updated, the attitude and orbit control subsystem discards the rotating component speed information received in the current frame and uses the rotating component speed information with the correct checksum from the previous frame.

[0027] If the rotational speed information of the rotating component deviates from the actual rotational speed range by more than 10%, the satellite will autonomously determine not to use the current rotational speed of the rotating component as the speed for compensation control.

[0028] Preferably, in the mechanical rotation fault control module of the rotating component rotation unit:

[0029] If the fluctuation range exceeds 0.05% but is still less than 0.1%, select compensation based on the target speed; if the fluctuation range does not exceed 0.05%, select compensation based on the actual speed.

[0030] If the integrated electronic subsystem consistently detects a current greater than 1A and a scan cycle greater than 2200ms over 100 consecutive judgment cycles, it confirms a significant change in current and scan cycle, establishes an out-of-tolerance flag for current and scan cycle, and notifies the attitude and orbit control subsystem. The attitude and orbit control subsystem implements a speed reduction for the compensation wheel. If the compensation wheel cannot compensate for the rapid change in angular momentum of the rotating components caused by jamming, resulting in an out-of-tolerance attitude of the satellite, the attitude and orbit control subsystem switches the control mode to magnetic control or jet control.

[0031] Preferably, in the fault control module of the rotating component servo controller:

[0032] If the servo controller of the rotating component fails to reset continuously, the servo controller is reset due to a single-particle event in space. However, multiple resets still fail to complete the power-on initialization and cannot enter the normal working state. The integrated electronic subsystem detects and establishes a reset failure flag. The programmable rotating component servo controller is powered off and sends an internal command to request the attitude and track control subsystem to implement a compensation wheel speed reduction based on the servo power-off stop time.

[0033] Preferably, in the fault control module of the rotating component servo controller:

[0034] Based on the stopping time of the rotating component when the servo controller is powered off during ground testing, the descent speed of the compensation wheel is set to match the descent time of the compensation wheel speed with that of the rotating component speed. If the fastest deceleration time of the compensation wheel is still greater than the descent time of the rotating component speed, the attitude and orbit control subsystem is requested to perform attitude deviation diagnosis, and the jet control mode is selectively switched according to the diagnosis results.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. This invention solves the problem of satellite attitude safety being affected by incorrect rotation speed information of rotating components.

[0037] 2. This invention solves the problem of satellite attitude safety being affected by mechanical rotation failure of rotating components.

[0038] 3. This invention solves the problem of satellite attitude safety being affected by multiple unsuccessful resets of the servo controller of the rotating component.

[0039] 4. The present invention can ensure the stability and safety of the satellite attitude when the above-mentioned faults occur. Attached Figure Description

[0040] 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:

[0041] Figure 1 This is a schematic diagram of the angular momentum compensation control system for the satellite rotating component of the present invention.

[0042] Figure 2 This is a schematic diagram of the process steps of the attitude and orbit control subsystem of the satellite rotating component angular momentum compensation control system of the present invention.

[0043] Figure 3 This is a schematic diagram of the process steps of the integrated electronic subsystem of the satellite rotating component angular momentum compensation control system of the present invention. Detailed Implementation

[0044] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0045] This invention provides an angular momentum compensation control method for satellite rotating component failures, belonging to the fields of satellite overall design and satellite attitude control technology. The failure modes and countermeasures for the rotating components include the following three aspects:

[0046] (1) Rotating component speed information communication error. Preferred example (a): When the speed information checksum is incorrect, the speed for compensation control is not updated, and the onboard autonomous judgment does not update the speed for compensation control; for the checksum error of the rotating component speed information, the checksum algorithm adopted is XOR check. When the checksum is incorrect (e.g., inconsistent with the expectation for 1 cycle) or not updated (e.g., not updated for 3 consecutive cycles), the attitude and orbit control subsystem discards the rotating component speed information received in the current cycle and uses the rotating component speed information with a correct checksum from the previous cycle. Preferred example (b): The speed information cannot correctly reflect the current actual speed, and the speed information is introduced into the angular momentum compensation control, causing the attitude to exceed the tolerance; the attitude and orbit control subsystem then switches the control mode to ensure attitude safety. When the speed information shows a jump in large number, the speed for compensation control does not use the current large number, and the onboard autonomous judgment does not use the current large number as the speed for compensation control; where a jump in large number refers to abnormal data, and a large number refers to abnormal data. The rotational speed information of the rotating component cannot accurately reflect the current actual speed. The speed deviates from the actual speed range by more than 10%. Specifically, the speed information exceeds the theoretical speed range, or is several times or even orders of magnitude greater than the actual speed.

[0047] (2) Mechanical rotation failure of the rotating component's rotating unit. Preferred example (a): When speed fluctuation occurs, the speed for angular momentum compensation control is switched. Specifically, the speed for angular momentum compensation control is switched remotely from the ground to compensate for the actual speed or the target speed. When the rotating component is in steady-state rotation, the actual speed deviates slightly from the target speed (not exceeding 0.1%), but the speed in the speed information can still objectively reflect the actual speed. According to the amplitude of the speed fluctuation, an appropriate speed for angular momentum compensation control is selected. If the fluctuation amplitude is large (exceeding 0.05% but still less than 0.1%), compensation based on the target speed is selected; if the fluctuation amplitude is small (not exceeding 0.05%), compensation based on the actual speed can be selected. Preferred example (b): When the mechanism jams, the integrated electronic subsystem detects an increase in the current of the mechanism motor and an increase in the scanning cycle. The programmable rotating component shuts down the drive and sends a command to request the attitude and track control subsystem to implement a rapid descent of the compensation wheel. The attitude and track control subsystem then implements a speed reduction of the compensation wheel according to the jamming and stopping time of the rotating component. If the attitude exceeds the tolerance, the attitude and track control subsystem switches the control mode to ensure attitude safety. Due to a mechanical malfunction, the rotational speed of the rotating component rapidly decreased to zero, the current increased significantly, and the scanning period lengthened (normally, the current is 0–0.5A and the period is 1700ms ± 1ms; abnormally, the current is greater than 1A and the period is greater than 2200ms). After the integrated electronic subsystem continuously judged for 100 cycles and confirmed the significant changes in current and scanning period, it established an out-of-tolerance flag for current and scanning period and notified the attitude and orbit control subsystem. The attitude and orbit control subsystem implemented a rapid descent of the compensation wheel. If the compensation wheel could not compensate for the rapid change in angular momentum of the rotating component caused by jamming, resulting in an out-of-tolerance attitude of the satellite, the attitude and orbit control subsystem switched control modes (to magnetic control or jet control) to ensure the safety of the satellite's attitude.

[0048] (3) Rotating component servo controller failure. When the integrated electronic subsystem detects that the rotating component servo controller has failed to reset repeatedly, the programmable rotating component is powered off, i.e., the programmable rotating component shuts down its drive and sends a command to the attitude and orbit control subsystem to implement a compensation wheel speed reduction based on the servo's power-off stop time. If the attitude exceeds the tolerance, the attitude and orbit control subsystem switches the control mode to ensure attitude safety. For the rotating component servo controller failing to reset repeatedly due to a single-event event in space, but failing to complete power-on initialization after multiple resets and thus unable to enter normal working state, the integrated electronic subsystem detects and establishes a "reset failure" flag. The programmable rotating component servo controller is powered off and sends an internal command to the attitude and orbit control subsystem to implement a compensation wheel speed reduction based on the servo's power-off stop time. If the attitude exceeds the tolerance, the attitude and orbit control subsystem switches the control mode (to magnetic control or jet control) to ensure satellite attitude safety.

[0049] This invention solves the problem that communication, mechanical or servo controller failures in rotating components affect angular momentum compensation control and thus satellite attitude safety.

[0050] The present invention will now be described in more detail.

[0051] The angular momentum compensation control task is mainly completed collaboratively by the rotating component, the integrated electronic subsystem, and the attitude and trajectory control subsystem. Specifically, the rotating component receives speed commands (target speed) from the servo controller and rotates accordingly. Speed ​​pulses and current signals are collected and processed by the information unit into scan cycles, and current signals are sent to the integrated electronic subsystem via a bus. The processed target speed and actual speed (including checksums) are then sent to the attitude and trajectory control subsystem via the bus as inputs for angular momentum compensation control. The integrated electronic subsystem mainly monitors the status of the rotating component (scan cycle, current, servo controller reset) and interacts with the attitude and trajectory control subsystem. The attitude and trajectory control subsystem mainly performs attitude determination, attitude control, angular momentum compensation control, fault diagnosis, and reconfiguration.

[0052] The angular momentum compensation control receives the target speed and actual speed of the rotating component via the bus. After confirming the speed information, it generates a speed control command for the compensation wheel according to the following angular momentum compensation control law and outputs it to the compensation wheel.

[0053] The angular momentum compensation control law is as follows:

[0054]

[0055] In the above formula, ω bc To compensate for the wheel speed control command, J bc To compensate for the rotational inertia of the wheel, J xz To detect the moment of inertia of the head under rotating load, ω xz Where is the rotational speed of the rotating load, and K is the conversion factor.

[0056] When the checksum of the target speed and actual speed information packets transmitted by the information unit is incorrect or the checksum is not updated, the speed information format is shown in Table 1 below, and the checksum calculation method is shown in Table 2 below. The angular momentum compensation control function module automatically detects the checksum error, discards the speed information of the current step, and uses the speed information of the previous step with a correct checksum as the input of the angular momentum compensation control.

[0057] Table 1. Format Definition of Rotating Component Speed ​​Information (Attitude and Track Control Subsystem)

[0058]

[0059] Table 2 Verification and Calculation Methods

[0060]

[0061] The design value for the on-orbit speed range of a certain rotating component is 25° / s to 50° / s. When the target speed and actual speed transmitted by the information unit exceed 55° / s, the angular momentum compensation control function module discards the speed information of the current step and uses the speed information of the previous step within the threshold range as the input of the angular momentum compensation control.

[0062] When a rotating component jams, the motor current increases abnormally, the scanning period increases significantly, and the satellite attitude changes noticeably. If the integrated electronic subsystem detects that the current and scanning period exceed the threshold first, the programmable servo controller is powered off, and a rapid descent command (N800D) for the compensation wheel is sent to the attitude and orbit control subsystem. If the attitude and orbit control subsystem detects a first-level attitude error (AA00) first, it immediately sends a normal descent command (N300D) for the compensation wheel (rapid descent if N800D is responded to first), and simultaneously sends an attitude error flag to the integrated electronic subsystem, while the programmable servo controller is powered off. If a second-level attitude error (BB00) occurs, the attitude and orbit control subsystem autonomously switches to jet control mode to ensure satellite attitude safety.

[0063] When the servo controller attempts to reset and fails to reset multiple times, the integrated electronic subsystem detects the repeated unsuccessful reset flag, powers off the programmable servo controller, and simultaneously sends a normal descent command (N300D) to the attitude and orbit control subsystem. If a level 2 attitude deviation (BB00) occurs, the attitude and orbit control subsystem autonomously switches to jet control mode to ensure satellite attitude safety.

[0064] This invention also provides an angular momentum compensation control system for satellite rotating component failures, comprising: a rotating component rotation speed information communication error control module: when the rotation speed information verification is incorrect, the satellite autonomously determines not to update the rotation speed for compensation control; when the rotation speed information cannot correctly reflect the current actual rotation speed, and this current rotation speed information is introduced into the angular momentum compensation control, causing attitude deviation, the attitude and orbit control subsystem switches the control mode to magnetic control or jet control; a rotating component rotation unit mechanical rotation failure control module: when rotation speed fluctuations occur, the rotation speed for angular momentum compensation control is switched; when mechanism jamming occurs, the integrated electronic subsystem sends a command requesting the attitude and orbit control subsystem to implement compensation wheel deceleration; if attitude deviation occurs, the attitude and orbit control subsystem switches the control mode to magnetic control or jet control; a rotating component servo controller failure control module: when the integrated electronic subsystem detects that the rotating component servo controller has continuously failed to reset, the rotating component is powered off, and a command is sent requesting the attitude and orbit control subsystem to implement compensation wheel deceleration according to the servo power-off stop time of the rotating component; if attitude deviation occurs, the attitude and orbit control subsystem switches the control mode to magnetic control or jet control.

[0065] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0066] In the preferred embodiment, this invention primarily addresses angular momentum compensation control and satellite attitude safety assurance under conditions of satellite rotating component failure. Angular momentum compensation employs a feedforward control method. A decoupled control method is used under normal conditions, while an integrated control method is adopted under conditions of compensation wheel failure. The first method uses RT-RT transmission for closed-loop synchronous compensation, while the second method uses open-loop synchronous compensation based on continuous ground-based data collection. Angular momentum compensation control parameters are designed based on the mass and motion characteristics of the rotating components. Two control methods are employed: closed-loop synchronous compensation and open-loop synchronous compensation for the rotating component's rotational speed. On-orbit telemetry data shows that the residual angular momentum under angular momentum compensation control is less than 0.1 Nms.

[0067] 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 changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for angular momentum compensation control under satellite rotating component failure conditions, characterized in that, Includes one or more steps: Rotating component speed information communication error control steps: When the speed information checksum is incorrect, the satellite autonomously determines not to update the speed for compensation control; when the current speed information cannot correctly reflect the current actual speed, and the current speed information is introduced into angular momentum compensation control, resulting in attitude deviation, the attitude and orbit control subsystem switches the control mode to magnetic control or jet control. Rotating component rotation unit mechanical rotation fault control steps: When speed fluctuation occurs, switch the speed for angular momentum compensation control; when mechanism jamming occurs, the integrated electronic subsystem sends a command to request the attitude and track control subsystem to implement compensation wheel deceleration; if the attitude exceeds the tolerance, the attitude and track control subsystem switches the control mode to magnetic control or jet control. Rotating component servo controller fault control steps: When the integrated electronic subsystem detects that the rotating component servo controller has failed to reset continuously, the programmable rotating component is powered off, and a command is sent to request the attitude and track control subsystem to implement compensation wheel speed reduction according to the servo power failure stop time of the rotating component. If the attitude exceeds the tolerance, the attitude and track control subsystem switches the control mode to magnetic control or jet control.

2. The angular momentum compensation control method for satellite rotating component failure according to claim 1, characterized in that, In the error control step of the rotating component speed information communication: For rotating component speed information, when the checksum is incorrect or not updated, the attitude and orbit control subsystem discards the rotating component speed information received in the current frame and uses the rotating component speed information with the correct checksum from the previous frame. If the rotational speed information of the rotating component deviates from the actual rotational speed range by more than 10%, the satellite will autonomously determine not to use the current rotational speed of the rotating component as the speed for compensation control.

3. The angular momentum compensation control method for satellite rotating component failure according to claim 1, characterized in that, In the mechanical rotation fault control steps of the rotating component rotation unit: If the fluctuation range exceeds 0.05% but is still less than 0.1%, then select compensation based on the target speed; if the fluctuation range does not exceed 0.05%, then select compensation based on the actual speed. If the integrated electronic subsystem consistently has a current greater than 1A and a scanning period greater than 2200ms in 100 consecutive judgment cycles, then it is confirmed that the current and scanning period have changed significantly, an out-of-tolerance flag for the current and scanning period is established, and the attitude and orbit control subsystem is notified. The attitude and orbit control subsystem implements a compensation wheel to reduce speed. If the compensation wheel cannot compensate for the rapid change in angular momentum of the rotating parts caused by jamming in time, resulting in the satellite attitude exceeding the tolerance, the attitude and orbit control subsystem switches the control mode to magnetic control or jet control.

4. The angular momentum compensation control method for satellite rotating component failure according to claim 1, characterized in that, In the fault control steps of the rotating component servo controller: If the servo controller of the rotating component fails to reset continuously, the servo controller is reset due to a single-particle event in space. However, multiple resets still fail to complete the power-on initialization and cannot enter the normal working state. The integrated electronic subsystem detects and establishes a reset failure flag. The programmable rotating component servo controller is powered off and sends an internal command to request the attitude and track control subsystem to implement a compensation wheel speed reduction based on the servo power-off stop time.

5. The angular momentum compensation control method for satellite rotating component failure according to claim 4, characterized in that, In the fault control steps of the rotating component servo controller: Based on the stop time of the rotating parts when the servo controller is powered off during ground testing, the descent speed of the compensation wheel is set so that the descent time of the compensation wheel speed matches the descent time of the rotating parts speed. If the fastest deceleration time of the compensation wheel is still greater than the time for the rotational speed of the rotating component to decrease, the attitude and orbit control subsystem is requested to perform attitude deviation diagnosis, and selectively switch to jet control mode based on the diagnosis results.

6. An angular momentum compensation control system for satellite rotating component failure, characterized in that, Includes one or more modules: Rotating component speed information communication error control module: When the speed information checksum is incorrect, the satellite autonomously decides not to update the speed for compensation control; when the current speed information cannot correctly reflect the current actual speed, and the current speed information is introduced into the angular momentum compensation control, resulting in attitude deviation, the attitude and orbit control subsystem switches the control mode to magnetic control or jet control. Rotating component rotation unit mechanical rotation fault control module: When speed fluctuation occurs, the speed for angular momentum compensation control is switched; when mechanism jamming occurs, the integrated electronic subsystem sends a command to request the attitude and track control subsystem to implement compensation wheel deceleration; if the attitude exceeds the tolerance, the attitude and track control subsystem switches the control mode to magnetic control or jet control. Rotating component servo controller fault control module: When the integrated electronic subsystem detects that the rotating component servo controller has failed to reset continuously, the programmable rotating component is powered off and a command is sent to request the attitude and track control subsystem to implement compensation wheel speed reduction according to the servo power failure stop time of the rotating component. If the attitude exceeds the tolerance, the attitude and track control subsystem switches the control mode to magnetic control or jet control.

7. The angular momentum compensation control system for satellite rotating component failure according to claim 6, characterized in that, In the rotating component speed information communication error control module: For rotating component speed information, when the checksum is incorrect or not updated, the attitude and orbit control subsystem discards the rotating component speed information received in the current frame and uses the rotating component speed information with the correct checksum from the previous frame. If the rotational speed information of the rotating component deviates from the actual rotational speed range by more than 10%, the satellite will autonomously determine not to use the current rotational speed of the rotating component as the speed for compensation control.

8. The angular momentum compensation control system for satellite rotating component failure according to claim 6, characterized in that, In the mechanical rotation fault control module of the rotating component rotation unit: If the fluctuation range exceeds 0.05% but is still less than 0.1%, then select compensation based on the target speed; if the fluctuation range does not exceed 0.05%, then select compensation based on the actual speed. If the integrated electronic subsystem consistently has a current greater than 1A and a scanning period greater than 2200ms in 100 consecutive judgment cycles, then it is confirmed that the current and scanning period have changed significantly, an out-of-tolerance flag for the current and scanning period is established, and the attitude and orbit control subsystem is notified. The attitude and orbit control subsystem implements a compensation wheel to reduce speed. If the compensation wheel cannot compensate for the rapid change in angular momentum of the rotating parts caused by jamming in time, resulting in the satellite attitude exceeding the tolerance, the attitude and orbit control subsystem switches the control mode to magnetic control or jet control.

9. The angular momentum compensation control system for satellite rotating component failure according to claim 8, characterized in that, In the fault control module of the rotating component servo controller: If the servo controller of the rotating component fails to reset continuously, the servo controller is reset due to a single-particle event in space. However, multiple resets still fail to complete the power-on initialization and cannot enter the normal working state. The integrated electronic subsystem detects and establishes a reset failure flag. The programmable rotating component servo controller is powered off and sends an internal command to request the attitude and track control subsystem to implement a compensation wheel speed reduction based on the servo power-off stop time.

10. The angular momentum compensation control system for satellite rotating component failure according to claim 9, characterized in that, In the fault control module of the rotating component servo controller: Based on the stop time of the rotating parts when the servo controller is powered off during ground testing, the descent speed of the compensation wheel is set so that the descent time of the compensation wheel speed matches the descent time of the rotating parts speed. If the fastest deceleration time of the compensation wheel is still greater than the time for the rotational speed of the rotating component to decrease, the attitude and orbit control subsystem is requested to perform attitude deviation diagnosis, and selectively switch to jet control mode based on the diagnosis results.

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