Attitude control microthruster

Abstract

This invention relates to a micro-thrust generator for attitude and orbit control. It includes a housing, a main air circuit board, side air circuit board I, side air circuit board II, an air circuit block, a storage tank, attitude control valves, orbit control valves, a pressure reducing valve, and a piezoelectric proportional pilot valve. The air circuit block is cross-shaped, connected to the main air circuit board at the top and the storage tank at the bottom. Side air circuit boards I and II are diagonally arranged on the sides of the air circuit block and connected to the main air circuit board. A piezoelectric valve is connected to each of the two side plates of side air circuit board I, and the four piezoelectric valves form the attitude control valve. A solenoid valve is connected to each of the four cross-shaped sides of the air circuit block, with the plane of the four solenoid valves perpendicular to the main axis of the storage tank. A solenoid valve mounted on the main axis of the storage tank is connected to the upper surface of the air circuit block, and the five solenoid valves form the orbit control valve. The pressure reducing valve and the piezoelectric proportional pilot valve are both connected to the air circuit block. This invention can generate thrust in multiple directions in space to achieve attitude and orbit control. It has a simple structure, is easy to install, and is reliable in operation.

Description

Technical Field

[0001] This invention belongs to the technical field of attitude and orbit control propulsion systems for micro and nano satellites, and specifically relates to an attitude and orbit control micro thruster. Background Technology

[0002] Micro-propulsion systems are the power devices that enable attitude control and orbital maneuvers for micro and nanosatellites, providing technical support and related guarantees for wide-area collaborative applications, precise positioning, attitude control, and long-term on-orbit operation capabilities of micro and nanosatellites. Miniature thrusters can achieve orbit control and attitude adjustment, therefore, they have strict requirements regarding weight, size, power consumption, and cost. Currently used micro-propulsion systems mainly include cold gas micro-thrusters, electric micro-thrusters, and chemical micro-thrusters. Traditional cold gas micro-thrusters are too large, electric micro-thrusters have relatively small thrust, and chemical micro-thrusters have complex structures that are difficult to miniaturize. Therefore, existing micro-thrusters cannot simultaneously meet the requirements of small size, high precision, and long operating time, and cannot adequately meet the attitude and orbit control needs of micro and nanosatellites. Summary of the Invention

[0003] This application addresses the structural and technical deficiencies of existing micro-nano star micro-propulsion systems by providing an attitude and orbit control micro-thruster.

[0004] The technical solution to achieve the purpose of this invention is: a micro thruster for attitude and track control, including a housing (1), a main air circuit board, a side air circuit board I, a side air circuit board II, an air circuit block, a storage tank, an attitude control valve, a track control valve, a pressure reducing valve and a piezoelectric proportional pilot valve disposed in the housing;

[0005] The gas block is cross-shaped, connected to the main gas block at the top and to the storage tank at the bottom. Side gas blocks I and II are diagonally arranged on the side of the gas block and connected to the main gas block. Side gas blocks I and II have the same structure. Side gas blocks I is right-angled, and a piezoelectric valve is connected to each of the two side plates of side gas blocks I. The four piezoelectric valves form the attitude control valve.

[0006] Each of the four sides of the cross-shaped gas block is connected to a solenoid valve. The plane of the four solenoid valves is perpendicular to the main axis of the storage tank. The upper surface of the gas block is connected to a solenoid valve installed on the main axis of the storage tank. The five solenoid valves form the rail control valve.

[0007] Both the pressure reducing valve and the piezoelectric proportional pilot valve are connected to the gas circuit block and are used to regulate the gas.

[0008] Furthermore, the shell is a one-piece machined structure, connected to the main air circuit board by bolts, and the bottom has a separately machined bottom cover to seal the storage tank into a cube, and the attitude control micro thruster is set as a cube structure with a side length of no more than 100mm.

[0009] Furthermore, the gas circuit block and the storage tank are connected by bolts through threaded holes on them, and the main gas circuit board is connected to the gas circuit block by bolts.

[0010] Side air passage plate I and side air passage plate II are connected to the main air passage plate via bolts through threaded holes on them.

[0011] Furthermore, the pressure reducing valve is connected to the air passage block by bolts, and a sealing ring is pressed between its air outlet and air inlet and the air passage block;

[0012] After being regulated by the pressure reducing valve, the gas is transported through the gas passage of the gas block and the main gas passage plate to the air inlet of the attitude control valve composed of four piezoelectric valves, namely piezoelectric valve II, piezoelectric valve III, piezoelectric valve IV and piezoelectric valve V. When an attitude control signal is input, different attitude control valves are opened according to different input instructions to complete different attitude control actions.

[0013] Furthermore, the piezoelectric proportional pilot valve includes a piezoelectric pilot proportional valve main valve and piezoelectric valve I;

[0014] The piezoelectric pilot proportional valve main valve is connected to the threaded hole on the air passage block via bolts. Sealing rings are pressed between its inlet and outlet and the air passage block. The outlet of the piezoelectric pilot proportional valve main valve sends flow-controlled gas into the air passage block. The gas then flows through the air passage pipes in the air passage block to the rail control valve consisting of five solenoid valves: solenoid valve I, solenoid valve II, solenoid valve III, solenoid valve IV, and solenoid valve V. Solenoid valves I, II, III, IV, and V are normally closed. When a control signal is input, they are energized and opened, thus completing the rail control. Different rail control valves (soleoid valves I, II, III, IV, and V) are opened according to different input signals to complete different rail control actions. The outlet of the pressure reducing valve is connected to the inlet of piezoelectric valve I through the air passage of the air passage block.

[0015] Furthermore, the air block connects to a gas pressure sensor through its rail control air pressure sensor inlet. The gas pressure sensor is used to measure the gas pressure in real time and feed it back to the control system of the attitude control micro-thruster.

[0016] Furthermore, the side air circuit plate I is connected to a gas pressure sensor through its attitude control air pressure sensor inlet, which is used to feed back the gas pressure to the control system of the attitude control micro-thruster.

[0017] Furthermore, the piezoelectric pilot proportional valve main valve includes a pilot chamber, a pilot chamber diaphragm, an upper part of the main valve core, a lower part of the main valve core, a main valve outlet chamber, and a main valve inlet chamber;

[0018] Gas, depressurized by the pressure reducing valve, is sent to piezoelectric valve I through the gas path of the gas path block and the main gas path plate. The gas then enters the pilot chamber through the gas path in the main gas path plate via piezoelectric valve I. The diaphragm of the pilot chamber is connected and fixed to the upper part of the main valve core. Piezoelectric valve I is normally closed when not in operation. When a control signal is input, the piezoelectric element is energized, and piezoelectric valve I operates. Due to the inverse piezoelectric effect, the piezoelectric element deforms, and the deformation is related to the magnitude of the energized voltage. Piezoelectric valve I opens, and gas flows out through the outlet of piezoelectric valve I into the pilot chamber. When the pressure in the pilot chamber increases, the diaphragm of the pilot chamber below the chamber deforms downward, thereby contacting the upper part of the main valve core with the lower part of the main valve core. This causes the main valve core assembly to overcome the spring force and push downward, thereby opening the channel between the main valve inlet chamber and the main valve outlet chamber, and making the piezoelectric proportional pilot valve main valve work.

[0019] Furthermore, the main valve of the piezoelectric pilot proportional valve also includes a feedback chamber diaphragm and a feedback chamber;

[0020] There is an air passage connecting the main valve outlet to the feedback chamber. The feedback chamber diaphragm is integrated with the main valve core components. The pressure in the feedback chamber is based on the pressure in the outlet chamber. The displacement of the main valve core assembly is corrected by the pressure in the feedback chamber.

[0021] Furthermore, side air circuit plate I and side air circuit plate II are connected to the main air circuit plate via bolts through threaded holes on them, and piezoelectric valves II, III, IV and V are connected to side air circuit plate I and side air circuit plate II via bolts.

[0022] Solenoid valves I, II, III, IV, and V are mounted on the air passage block via a fixing plate and secured with bolts. The air inlets of solenoid valves I, II, III, IV, and V are sealed with sealing rings against the air passage block.

[0023] Compared with the prior art, the significant advantages of this invention are:

[0024] The attitude control micro thruster of this application has a simple structure, is easy to install, and is reliable in operation. Its overall structure after installation is a cube. When installed on a carrier, it does not require much change to its layout structure. It can be modified and upgraded on the existing external structure to better fit the application scenario, make it easier to carry out testing and mass production, and has low cost.

[0025] In terms of main control thrust and flow regulation, a piezoelectric pilot proportional valve is used. A piezoelectric pilot proportional valve is a pilot proportional valve controlled by the piezoelectric effect. It is used to precisely regulate the flow and pressure of fluid media. Its main principle is that when the pilot valve is working, gas enters the pilot chamber, which increases the pressure in the pilot chamber and causes the diaphragm in the pilot chamber to deform. This causes the main valve core assembly to move downward, opening the gas passage between the main valve inlet and outlet, allowing the main valve to start working.

[0026] The piezoelectric pilot-operated proportional valve incorporates a feedback system. A gas passage at the main valve outlet connects to the feedback chamber, where the diaphragm is integrated with the main valve core. The pressure within the feedback chamber is determined by the outlet pressure, and this pressure corrects the displacement of the main valve core. When the actual flow rate at the main valve outlet is significantly higher than the preset flow rate, the gas creates greater pressure in the feedback chamber. This causes the diaphragm to deform upwards, displacing the main valve core upwards and reducing the airflow area between the inlet and outlet. This reduces the flow rate at the main valve outlet, bringing the actual flow rate down to the preset level. Conversely, when the actual flow rate is significantly lower than the preset flow rate, the pressure in the feedback chamber is insufficient to deform the diaphragm, preventing feedback. Feedback is triggered again when the actual flow rate exceeds the preset flow rate once more. This feedback system design allows for more precise flow regulation, resulting in higher accuracy in thrust control at each outlet valve.

[0027] In terms of layout, the lateral solenoid valves are arranged in a cross shape on a plane perpendicular to the main shaft, and one solenoid valve is installed on the main shaft as the main thrust valve. The distribution is simple and reasonable, making it easier to change the track control. The four piezoelectric valves are installed on the side air passage plate, with two of them placed at 90° to each other. This saves space to a great extent while also enabling different control commands to be completed to a great extent, which facilitates attitude control.

[0028] The storage tank and gas block are connected by threads, with only one side in contact. If the working time needs to be increased, the storage tank can be appropriately lengthened without changing other structures, which is very convenient. Attached Figure Description

[0029] Figure 1 A schematic diagram of the attitude control micro-thruster;

[0030] Figure 2 A schematic diagram of the internal structure of the attitude and orbit control micro-thruster housing;

[0031] Figure 3 This is a schematic diagram of the upper part of the internal structure of the attitude and orbit control micro-thruster.

[0032] Figure 4 A schematic diagram of the air block of the attitude control micro-thruster;

[0033] Figure 5 A reverse schematic diagram of the air block of the attitude control micro-thruster;

[0034] Figure 6 A schematic diagram of the main air circuit board of the attitude control micro-thruster;

[0035] Figure 7 A schematic diagram of the side air passage plate of the attitude control micro-thruster;

[0036] Figure 8 This is a schematic cross-sectional view of the main structure of a piezoelectric pilot proportional valve.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1-Housing, 2-Main air circuit board, 3-Side air circuit board I, 4-Side air circuit board II, 5-Air circuit block, 6-Storage tank, 7-Piezoelectric pilot proportional valve main valve, 9-Piezoelectric valve I, 10-Piezoelectric valve II, 11-Piezoelectric valve III, 12-Piezoelectric valve IV, 13-Piezoelectric valve V, 14-Solenoid valve I, 15-Solenoid valve II, 16-Solenoid valve III, 17-Solenoid valve IV, 18-Solenoid valve V, 501-Air circuit block pressure reducing pipe outlet, 502-Solenoid valve II inlet, 503-Pressure reducing valve inlet, 504-Pressure reducing valve inlet, 505-Solenoid valve V inlet, 506-Rail control air pressure sensor inlet, 507-Solenoid valve III inlet, 508-Solenoid valve IV inlet, 509-Piezoelectric pilot proportional valve main valve outlet, 51 0-Piezoelectric pilot proportional valve main valve inlet, 511-Solenoid valve I inlet, 201-Main air circuit board pressure reducing pipeline inlet, 202-Piezoelectric valve I inlet, 203-Piezoelectric valve I outlet, 204-Side air circuit board I inlet I, 205-Side air circuit board I inlet II, 206-Pilot outlet, 301-Piezoelectric valve II inlet, 302-Piezoelectric valve II outlet, 303-Attitude control air pressure sensor inlet, 304-Side air circuit board I inlet, 305-Attitude control nozzle, 701-Pilot chamber, 702-Pilot chamber diaphragm, 703-Main valve core upper component, 704-Feedback chamber diaphragm, 705-Feedback chamber, 706-Main valve core lower component, 709-Main valve outlet chamber, 710-Main valve inlet chamber. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0040] This application provides an attitude-orbiting micro-thrust device. Figure 1 This is a schematic diagram of the overall structure of the attitude and orbit control micro-thruster, which is a cube with overall dimensions of 100mm in length, 100mm in width, and 100mm in height. The shell 1 is a machined integral structure that serves as the outer shell of the entire attitude and orbit control micro-thruster, enclosing all other structures inside. The shell 1 is connected to the main air circuit board 2 through threaded holes, and a separately machined bottom cover seals the storage tank 6 within the cube.

[0041] Figure 2 This is a schematic diagram of the internal structure of the attitude control micro thruster. The air circuit block 5 is connected to the storage tank 6 through its threaded hole, and the main air circuit plate 2 is connected to the air circuit block 5 through bolts.

[0042] Figure 3 This is a schematic diagram of the upper part of the internal structure of the attitude control micro thruster. The side air passage plate I3 and the side air passage plate II4 are connected to the main air passage plate 2 through the threaded holes on them by bolts.

[0043] The pressure reducing valve 8 is connected to the gas passage block 5 by bolts, and sealing rings are pressed between its outlet and inlet and the gas passage block. The pressure reducing valve 8 is a device used to control pressure in a fluid system. It maintains a stable pressure at the outlet of the working gas flowing through the valve by automatically adjusting the cross-sectional area of ​​the fluid passage. The main function of the pressure reducing valve 8 is to reduce the pressure in a high-pressure system to the required lower pressure range. It can also stabilize the flow rate, maintaining a relatively stable flow of the gas medium at the outlet of the pressure reducing valve 8 regardless of changes in the pressure entering the system.

[0044] Solenoid valves I14, II15, III16, IV17, and V18 are mounted on the air passage block 5 via a fixing plate and secured with bolts. These valves are all unidirectional, normally closed, lockable small solenoid valves. These valves offer significant advantages: fast response speed for rapid control of the fluid medium; low power consumption, suitable for the small micro-thrusters designed in this patent; compact structure, simple installation, and high reliability. Their inlets are sealed to the air passage block with sealing rings. The outlets of solenoid valves I14, II15, III16, and IV17 are arranged in a cross shape, each 90° apart, with their distribution plane perpendicular to the main axis of the tank 6 of the attitude-controlled micro-thruster. The outlet of solenoid valve V18 is coaxial with the main axis and extends outwards.

[0045] Figure 4 This is a frontal schematic diagram of the air path block 5 of the attitude control micro-thruster. Figure 5This is a reverse schematic diagram of the air passage block 5 of the attitude control micro-thruster. Air passage block 5 is a crucial structure in this design, located at the center of the overall structure. Its function is to connect the air source to the air inlets of various components within the structure. The internal air passages of this structure are divided into inlet and outlet channels. Gas from the air source enters the piezoelectric pilot proportional valve main valve inlet 510 and the pressure reducing valve inlet 503 through the inlet channel. After being regulated by the piezoelectric pilot proportional valve main valve 7 and the pressure reducing valve 8, the gas is then discharged. Gas controlled by the piezoelectric pilot proportional valve main valve 7 enters the pipe of air passage block 5 from the piezoelectric pilot proportional valve main valve outlet 509, and then passes through the solenoid valve inlets 511 (Solenoid Valve I), 502 (Solenoid Valve II), 507 (Solenoid Valve III), 508 (Solenoid Valve IV), and 505 (Solenoid Valve V) before being used in the respective valves. The gas, after being regulated by the pressure reducing valve 8, enters the pipeline at the pressure reducing valve inlet 504 and then enters the main gas circuit board 2 at the pressure reducing pipeline outlet 501 of the gas circuit block. The track control air pressure sensor inlet 506 is used to connect a gas pressure sensor so that the gas pressure here can be measured in real time and fed back to the control system of the attitude control micro-thruster.

[0046] Figure 6 This is a schematic diagram of the main air circuit board of the attitude control micro thruster. The gas reduced by pressure reducing valve 8 is transported through the pressure reducing pipe inlet 201 of the main air circuit board to the pressure reducing pipe inside the main air circuit board 2. The pressure reducing pipe can be regarded as a low-pressure chamber in the main air circuit board 2. Various pipes are processed to connect to this chamber, which respectively send out the reduced gas. The gas is transported to the piezoelectric valve I 9 through the air inlet 202 of the medium pressure solenoid valve I, and enters the side air circuit board I 3 through the air inlet I 204 and the air inlet II 205 of the side air circuit board I. The gas enters the side air circuit board II 4 in the same way.

[0047] Figure 7 The diagram shows the side air circuit board of the attitude control micro thruster. Its function is to deliver the low-pressure gas from the main air circuit board to each attitude control valve, namely piezoelectric valve II10, piezoelectric valve III11, piezoelectric valve IV12, and piezoelectric valve V13. They are connected to the side air circuit board I3 and side air circuit board II4 by bolts and are divided into two groups, each group is installed vertically at 90°. Figure 7 The diagram shows one side of the side air passage plate I3. The depressurized gas from the main air passage plate 2 enters the side air passage plate I inlet 304, then passes through the piezoelectric valve II inlet 301 into the piezoelectric valve II 10, and finally enters the pipeline through the piezoelectric valve II outlet 302, exiting at the attitude control nozzle 305. The other three piezoelectric valves operate similarly. The attitude control air pressure sensor inlet 303 is used to connect a gas pressure sensor, which feeds back the gas pressure to the attitude control micro-thruster control system.

[0048] Lateral piezoelectric valves II10, III11, IV12, and V13 are used as attitude control valves. They remain normally closed when not in operation. Due to the inverse piezoelectric effect, the piezoelectric elements within them deform according to the applied voltage, thus opening the valves. Since the deformation of the piezoelectric elements is related to the magnitude of the applied voltage, controlling the voltage controls the flow rate of piezoelectric valves II10, III11, IV12, and V13, thereby achieving precise attitude control. Gas, reduced to a suitable pressure by pressure reducing valve 8, is transported through the gas passage of gas block 5 to the inlet of piezoelectric valves II10, III11, IV12, and V13. When an attitude control signal is input, different attitude control valves open according to different input commands, completing different attitude control actions.

[0049] The piezoelectric pilot proportional valve main valve 7 is connected to the threaded hole on the air passage block 5 by bolts, and its air inlet and outlet are also pressed with sealing rings between them and the air passage block 5.

[0050] Figure 8 The diagram shows a cross-sectional view of the main structure of the piezoelectric proportional pilot valve. The piezoelectric proportional pilot valve is generally composed of piezoelectric valve I9 ​​and piezoelectric pilot proportional valve main valve 7. Gas pressure reduced by pressure reducing valve 8 is sent to piezoelectric valve I9 ​​through the gas passage of gas passage block 5 and main gas passage plate 2. The gas then enters pilot chamber 701 through the gas passage in main gas passage plate 2 via piezoelectric valve I9. The diaphragm 702 of pilot chamber is connected and fixed to the valve core component 703 of piezoelectric pilot proportional valve main valve 7. When piezoelectric valve I9 ​​is ​​not in operation, it is normally closed. When a control signal is input, the piezoelectric element is energized, and piezoelectric valve I9 ​​operates. Due to the inverse piezoelectric effect, the piezoelectric element deforms, and the deformation is related to the magnitude of the energized voltage. Piezoelectric valve I9 ​​opens, and gas flows out through the outlet of piezoelectric valve I9 ​​into the pilot chamber 701 on the main valve 7 of the piezoelectric proportional pilot valve. When the pressure in the pilot chamber increases, the pilot chamber diaphragm 702 below the chamber deforms downward, thereby contacting the upper part 703 of the valve core with the lower part 706 of the valve core. This causes the main valve core assembly to overcome the spring force and push downward, thereby opening the channel between the inlet chamber 710 and the outlet chamber 709 of the main valve 7 of the piezoelectric proportional pilot valve, thus enabling the main valve 7 of the piezoelectric proportional pilot valve to operate. This is the overall working process of the piezoelectric pilot proportional valve. Its outlet flow rate is related to the opening amount of the channel gap of the lower component 706 of the valve core, and the gap amount is related to the pressure of the pilot chamber 701. This pressure is related to the deformation of the piezoelectric plate of the piezoelectric valve I9. By controlling the voltage of the piezoelectric valve I9, the flow rate of the piezoelectric proportional pilot valve can be precisely controlled.

[0051] Simultaneously, a feedback system is designed inside the piezoelectric pilot proportional valve. Specifically, an air passage connects the outlet 709 of the main valve 7 to the feedback chamber 705. The feedback chamber diaphragm 704 of the feedback chamber 705 is integrated with the upper component 703 of the main valve core. The pressure within the feedback chamber 705 is based on the pressure of the outlet 709. This pressure in the feedback chamber 705 provides feedback correction for the displacement of the main valve core assembly (i.e., the upper component 703 and the lower component 706). When the actual flow rate at the main valve outlet 709 is significantly higher than the preset flow rate, a larger pressure is generated in the feedback chamber 705. This causes the feedback chamber diaphragm 702 of the feedback chamber 705 to deform upwards under pressure, thereby displacing the main valve core assembly upwards. This reduces the area of ​​the airflow passage between the main valve inlet chamber 710 and the outlet 709, thus reducing the flow rate at the main valve outlet 709 and bringing the actual flow rate down to the preset flow rate. When the actual flow rate at the main valve outlet 709 is too small compared to the preset flow rate, the pressure inside the feedback chamber 705 is too low to cause the diaphragm 702 in the feedback chamber to deform upwards. Therefore, feedback is insufficient. Feedback is only triggered when the actual flow rate is again larger than the preset flow rate. This feedback system design allows for more precise flow regulation by the piezoelectric proportional pilot valve, thereby increasing the accuracy of thrust control for each outlet valve.

[0052] The outlet of the piezoelectric proportional pilot valve main valve 7 delivers precisely controlled gas into the gas path block 5. The gas then flows through the gas path pipes in gas path block 5 to solenoid valves I14, II15, III16, IV17, and V18. These track control solenoid valves are normally closed; when a control signal is input, they are energized and opened, thus completing the track control operation. By opening different track control valves (I14, II15, III16, IV17, and V18) according to different input signals, different track control actions can be performed.

Claims

1. A micro-thrust device for attitude and trajectory control, characterized in that, Includes housing (1), main air circuit board (2), side air circuit board I (3), side air circuit board II (4), air circuit block (5), storage tank (6), attitude control valve, rail control valve, pressure reducing valve (8) and piezoelectric proportional pilot valve disposed in housing (1); The gas block (5) is cross-shaped. The gas block (5) is connected to the main gas block (2) at the top and to the storage tank (6) at the bottom. The side gas block I (3) and the side gas block II (4) are diagonally arranged on the side of the gas block (5) and connected to the main gas block (2). The side gas block I (3) and the side gas block II (4) have the same structure. The side gas block I (3) is right-angled. A piezoelectric valve is connected to each of the two side plates of the side gas block I (3). The four piezoelectric valves form the attitude control valve. A solenoid valve is connected to each of the four sides of the cross-shaped gas block (5). The plane of the four solenoid valves is perpendicular to the main axis of the storage tank (6). The upper surface of the gas block (5) is connected to a solenoid valve installed on the main axis of the storage tank. The five solenoid valves form a rail control valve. The pressure reducing valve (8) and the piezoelectric proportional pilot valve are both connected to the gas circuit block (5) for regulating the gas.

2. The attitude control micro-thruster according to claim 1, characterized in that, The shell (1) is an integrally machined structure, which is connected to the main air circuit plate (2) by bolts. The bottom has a separately machined bottom cover to seal the storage tank (6) into a cube, and the attitude control micro thruster is set as a cube structure with a side length of no more than 100mm.

3. The attitude control micro-thruster according to claim 2, characterized in that, The gas block (5) and the storage tank (6) are connected by bolts through the threaded holes on them, and the main gas block (2) is connected to the gas block (5) by bolts; Side air passage plate I (3) and side air passage plate II (4) are connected to the main air passage plate (2) by bolts through their threaded holes.

4. The attitude control micro-thruster according to claim 3, characterized in that, The pressure reducing valve (8) is connected to the gas passage block (5) by bolts, and a sealing ring is pressed between its outlet and inlet and the gas passage block; After being regulated by the pressure reducing valve (8), the gas is transported through the gas passage of the gas block (5) and the main gas passage plate (2) to the air inlet of the attitude control valve composed of four piezoelectric valves, namely piezoelectric valve II (10), piezoelectric valve III (11), piezoelectric valve IV (12) and piezoelectric valve V (13). When the attitude control signal is input, different attitude control valves are opened according to different input instructions to complete different attitude control actions.

5. The attitude control micro-thruster according to claim 4, characterized in that, The piezoelectric proportional pilot valve includes a piezoelectric pilot proportional valve main valve (7) and a piezoelectric valve I (9); The piezoelectric pilot proportional valve main valve (7) is connected to the threaded hole on the air passage block (5) by bolts, and a sealing ring is pressed between its air inlet and outlet and the air passage block (5); the air outlet of the piezoelectric pilot proportional valve main valve (7) sends the flow-controlled gas into the air passage block (5), and the gas is connected to the rail control valve composed of five solenoid valves, namely solenoid valve I (14), solenoid valve II (15), solenoid valve III (16), solenoid valve IV (17), and solenoid valve V (18), through the air passage pipe in the air passage block (5). Solenoid valve I (14) Solenoid valves II (15), III (16), IV (17), and V (18) are normally closed. When a control signal is input, they are energized and opened to complete track control. Different track control valves, solenoid valves I (14), II (15), III (16), IV (17), and V (18), are opened according to different input signals to complete different track control actions. The outlet of pressure reducing valve (8) is connected to the inlet of piezoelectric valve I (9) through the air passage of air block (5).

6. The attitude control micro-thruster according to claim 5, characterized in that, The air block (5) is connected to the gas pressure sensor through the rail control air pressure sensor inlet (506) on it. The gas pressure sensor is used to measure the gas pressure in real time and feed it back to the control system of the attitude control micro thruster.

7. The attitude control micro-thruster according to claim 6, characterized in that, The side air circuit plate I (3) is connected to the gas pressure sensor through the attitude control air pressure sensor inlet (303) on it, which is used to feed back the gas pressure to the control system of the attitude control micro thruster.

8. The attitude control micro-thruster according to claim 7, characterized in that, The piezoelectric pilot proportional valve main valve (7) includes a pilot chamber (701), a pilot chamber diaphragm (702), an upper part of the main valve core (703), a lower part of the main valve core (706), a main valve outlet chamber (709), and a main valve inlet chamber (710). The gas depressurized by the pressure reducing valve (8) is sent to the piezoelectric valve I (9) through the gas passage of the gas passage block (5) and the main gas passage plate (2). The gas then enters the pilot chamber (701) through the gas passage in the main gas passage plate (2) via the piezoelectric valve I (9). The diaphragm (702) of the pilot chamber is connected and fixed to the component (703) on the valve core of the main valve. The piezoelectric valve I (9) is normally closed when it is not working. When the control signal is input, the piezoelectric element is energized and the piezoelectric valve I (9) works. Due to the inverse piezoelectric effect, the piezoelectric element deforms. The deformation is related to the energized voltage. Depending on the size, when piezoelectric valve I (9) is opened, gas flows out through the outlet of piezoelectric valve I (9) into the pilot chamber (701). When the pressure in the pilot chamber increases, the pilot chamber diaphragm (702) below the chamber deforms downward, thereby bringing the upper part (703) of the main valve core into contact with the lower part (706) of the main valve core. This causes the main valve core assembly to overcome the spring force and push downward, thereby opening the channel between the main valve inlet chamber (710) and the main valve outlet chamber (709), so that the piezoelectric proportional pilot valve main valve (7) works.

9. The attitude control micro-thruster according to claim 8, characterized in that, The piezoelectric pilot proportional valve main valve (7) also includes a feedback chamber diaphragm (704) and a feedback chamber (705); There is an air passage in the main valve outlet (709) connected to the feedback chamber (705). The feedback chamber diaphragm (704) of the feedback chamber (705) is connected to the main valve core component (703) as a whole. The pressure in the feedback chamber (705) is based on the pressure in the outlet (709). The displacement of the main valve core assembly is corrected by the pressure in the feedback chamber (705).

10. The attitude control micro-thruster according to claim 9, characterized in that, Side air circuit plate I (3) and side air circuit plate II (4) are connected to the main air circuit plate (2) by bolts through the threaded holes on them. Piezoelectric valve II (10), piezoelectric valve III (11), piezoelectric valve IV (12) and piezoelectric valve V (13) are connected to side air circuit plate I (3) and side air circuit plate II (4) by bolts. Solenoid valve I (14), solenoid valve II (15), solenoid valve III (16), solenoid valve IV (17), and solenoid valve V (18) are mounted on the air passage block (5) by a fixing plate and are secured with bolts. The air inlets of solenoid valve I (14), solenoid valve II (15), solenoid valve III (16), solenoid valve IV (17), and solenoid valve V (18) are pressed with sealing rings on the air passage block (5).

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