Satellite Orbit Insertion Rate Damping Method, System, Device, and Medium

Abstract

The present invention discloses an in-orbit rate damping method, system, device and medium for a satellite, which relates to the technical field of satellite attitude control. The method includes: the satellite is configured with an electric propulsion thruster having a two-dimensional vector adjustment mechanism, which is used as an actuator for rate damping and orbit control; based on the PID closed-loop control principle, the expected control torque corresponding to the rate damping is calculated; according to the rotation range of the two-dimensional vector adjustment mechanism, the torque envelope vector group of the electric propulsion thruster is determined; according to the expected control torque and the torque envelope vector group, the rotation angle of the two-dimensional vector adjustment mechanism is optimized and allocated to obtain an optimization result; the two-dimensional vector adjustment mechanism is controlled to rotate according to the optimization result. The present invention can simultaneously simplify the satellite attitude adjustment requirements during orbit control, adjust the thrust direction to the required thrust direction during orbit control by adjusting the electric propulsion thrust vector adjustment mechanism, and has strong engineering operability.

Description

Background Art

[0002] Earth satellites are classified according to their orbital altitudes into low Earth orbit satellites (abbreviation: "LEO satellites"), medium Earth orbit satellites (abbreviation: "MEO satellites"), and high Earth orbit satellites (abbreviation: "HEO satellites"). Among them, MEO satellites mainly refer to satellites with an orbital distance from the Earth's surface of 2,000 km to 20,000 km. It belongs to non-geostationary Earth satellites and is mainly used as a supplement and extension of terrestrial mobile communication systems. It is organically combined with the ground public network to achieve global personal mobile communication and can also be used as a satellite navigation system. It has great advantages in global personal mobile communication and satellite navigation systems. MEO satellites combine the advantages of geostationary orbit and low orbit satellites, enabling true global coverage and more efficient frequency reuse. MEO communication satellites usually have a long on-orbit life and are equipped with a single electric propulsion system for orbit maintenance to meet the orbital requirements for communication service operation.

[0003] After the satellite is launched into the predetermined orbit by the launch vehicle and the separation of the satellite and the rocket is carried out, due to the movement of the rocket itself and the action of the separation mechanism during the separation of the satellite and the rocket, the separated satellite rotates relative to the inertial space at a certain angular velocity, and often the three-axis angular velocity is relatively large, exceeding the angular momentum absorption capacity of the flywheel and unable to directly enter the service operation attitude. In order to eliminate the influence of the satellite-rocket separation disturbance and reduce the angular velocity of the satellite body attitude, it is necessary to perform rate damping on the satellite.

[0004] Currently, for the satellite rate damping scheme after satellite-rocket separation, there are jet damping with a jet propulsion as the actuator, magnetic damping with a magnetic torquer as the actuator, wheel control damping with a flywheel as the actuator, etc. The rate damping scheme with an electric propulsion as the actuator and its engineering implementation are relatively few. Since for MEO satellites, especially those with an orbital altitude of 10,000 km, the magnetic field strength in the satellite operation environment is extremely weak. If the magnetic damping scheme is used, the damping time is extremely long and it is not suitable for magnetic damping control. Jet damping can be selected for damping control, but jet damping is only executed once in the orbit insertion section. After the execution is completed, the propulsion device is left on the satellite body as a useless device. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method, system, device and medium for the orbit insertion rate damping of a satellite in view of the deficiencies of the prior art, specifically as follows:

[0006] 1) In the first aspect, the present invention provides a method for the orbit insertion rate damping of a satellite, and the specific technical solution is as follows:

[0007] The satellite is configured with an electric propulsion thruster having a two-dimensional vector adjustment mechanism, and the electric propulsion thruster is used as the actuator for rate damping and orbit control;

[0008] Based on the PID closed-loop control principle, calculate the expected control torque corresponding to the rate damping;

[0009] Determine the torque envelope vector group of the electric propulsion thruster according to the rotation range of the two-dimensional vector adjustment mechanism;

[0010] Optimize and distribute the rotation angle of the two-dimensional vector adjustment mechanism according to the expected control torque and the torque envelope vector group to obtain the optimization result;

[0011] Control the two-dimensional vector adjustment mechanism to rotate according to the optimization result.

[0012] The beneficial effects of an in-orbit rate damping method for a satellite provided by the present invention are as follows:

[0013] Considering that the satellite uses electric propulsion as the actuator for long-term in-orbit orbit maintenance and control, coordinating the orbit control and in-orbit damping control requirements, and selecting an electric propulsion system with a thrust vector adjustment mechanism as the actuator for in-orbit rate damping, the present invention can also simplify the satellite attitude adjustment requirements during orbit control, and adjust the thrust direction to the required thrust direction during orbit control by adjusting the electric propulsion thrust vector adjustment mechanism; the present invention is applicable to the rate damping after the separation of the in-orbit satellite and the launch vehicle for a 10,000 Km medium-orbit satellite, and has strong engineering operability.

[0014] On the basis of the above solution, an in-orbit rate damping method for a satellite of the present invention can also be improved as follows.

[0015] Further, it also includes: determining the layout of the electric propulsion thruster in the satellite.

[0016] Further, optimizing and distributing the rotation angle of the two-dimensional vector adjustment mechanism according to the expected control torque and the torque envelope vector group to obtain the optimization result, including:

[0017] Calculate the included angle between the expected control torque and each torque vector in the torque envelope vector group respectively, and judge whether the minimum included angle among all the included angles is less than the included angle threshold. When the judgment result is yes, the rotation angle corresponding to the minimum included angle is determined as the optimization result.

[0018] Further, the satellite is a medium-orbit satellite.

[0019] 2) In the second aspect, the present invention also provides an in-orbit rate damping system for a satellite, and the specific technical solution is as follows:

[0020] It includes an expected torque determination module, a torque envelope vector group determination module, an optimization module, and a control module;

[0021] The expected torque determination module is used for: calculating the expected control torque corresponding to the rate damping based on the PID closed-loop control principle, where the satellite is equipped with an electric propulsion thruster with a two-dimensional vector adjustment mechanism, and the electric propulsion thruster is used as the actuator for rate damping and orbit control;

[0022] The moment envelope vector group determination module is used to: determine the moment envelope vector group of the electric propulsion thruster according to the rotation range of the two-dimensional vector adjustment mechanism;

[0023] The optimization module is used to: optimize and allocate the rotation angles of the two-dimensional vector adjustment mechanism according to the desired control moment and the moment envelope vector group to obtain an optimization result;

[0024] The control module is used to: control the two-dimensional vector adjustment mechanism to rotate according to the optimization result.

[0025] Based on the above solution, the orbit injection rate damping system of a satellite according to the present invention can also be improved as follows.

[0026] Furthermore, it further includes a layout module, and the layout module is used to: determine the layout of the electric propulsion thruster in the satellite.

[0027] Furthermore, the optimization module is specifically used to:

[0028] Calculate the angles between the desired control moment and each moment vector in the moment envelope vector group respectively, and judge whether the minimum angle among all the angles is less than the angle threshold. When the judgment result is yes, the rotation angle corresponding to the minimum angle is determined as the optimization result.

[0029] Furthermore, the satellite is a medium orbit satellite.

[0030] 3) In a third aspect, the present invention also provides a computer device, which includes a processor. The processor is coupled with a memory, and at least one computer program is stored in the memory. The at least one computer program is loaded and executed by the processor so that the computer device can implement any one of the above satellite orbit injection rate damping methods.

[0031] 4) In a fourth aspect, the present invention also provides a computer-readable storage medium, in which at least one computer program is stored. The at least one computer program is loaded and executed by the processor so that the computer can implement any one of the above satellite orbit injection rate damping methods.

[0032] It should be noted that for the beneficial effects obtained by the technical solutions of the second to fourth aspects of the present invention and the corresponding possible implementation manners, reference can be made to the technical effects of the first aspect and its corresponding possible implementation manners above, which will not be elaborated here. Description of the Drawings

[0033] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0034] Figure 1Schematic diagram of the orbit injection rate damping method for a satellite according to an embodiment of the present invention;

[0035] Figure 2 Schematic diagram for defining the thruster coordinate system;

[0036] Figure 3 Schematic diagram for obtaining the moment envelope vector group;

[0037] Figure 4 Schematic diagram of the process for optimizing and distributing the rotation angle of the two-dimensional vector adjustment mechanism;

[0038] Figure 5 Schematic diagram of the structure of an orbit injection rate damping system for a satellite according to an embodiment of the present invention;

[0039] Figure 6 Schematic diagram of the structure of a computer device according to an embodiment of the present invention. Specific embodiments

[0040] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail with reference to the accompanying drawings.

[0041] As Figure 1 shown, an orbit injection rate damping method for a satellite according to an embodiment of the present invention includes the following steps:

[0042] S1. Among them, the satellite is equipped with an electric propulsion thruster with a two-dimensional vector adjustment mechanism, and the electric propulsion thruster is used as the actuator for rate damping and orbit control;

[0043] The layout principles of the electric propulsion thruster in the satellite include:

[0044] 1) The selected layout position of the electric propulsion thruster on the satellite body is far from the centroid of the satellite;

[0045] 2) The rotation range of the two-dimensional rotation mechanism does not interfere with the satellite body and other equipment on the satellite;

[0046] 3) The rotation range of the electric propulsion thruster needs to consider the influence of the thruster plume angle.

[0047] S2. Based on the PID closed-loop control principle, calculate the desired control moment corresponding to the rate damping;

[0048] Among them, the process of calculating the desired control moment corresponding to the rate damping based on the PID closed-loop control principle includes:

[0049] S20. By reading the output value of the angular velocity sensor gyro on the satellite, calculate the attitude angular velocity of the satellite body coordinate system relative to the inertial system Unit: rad / s.

[0050] S21. Determine the desired control torque corresponding to the rate damping where K p is the proportionality coefficient.

[0051] As Figure 2 shown in the thruster coordinate definition, the vector from the coordinate origin O to point T in the figure represents the opposite direction of the thrust vector. As shown in the figure, the vector is projected and decomposed into the vector from the origin O to point Q and the vector from point Q to point T α represents the azimuth angle of rotation of the two-dimensional vector adjustment mechanism. The vector is positive when its projection on the OXY plane is in the first quadrant of the O-X-Y coordinate system and negative when it is in the second quadrant; β represents the elevation angle of rotation of the two-dimensional vector adjustment mechanism. The β angle is positive when the vector is in the same direction as the positive direction of the coordinate axis OZ and negative when it is in the opposite direction. Based on the two-dimensional motion range supported by the two-dimensional vector adjustment mechanism and the allowable rotation range determined by the satellite layout design, the maximum and minimum values of α can be comprehensively obtained. This range is the azimuth angle rotation range or azimuth angle rotation envelope; based on the two-dimensional motion range supported by the two-dimensional vector adjustment mechanism and the allowable rotation range determined by the satellite layout design, the maximum and minimum values of β can be comprehensively obtained. This range is the elevation angle rotation range or elevation angle rotation envelope. When the electric propulsion thruster with a two-dimensional vector adjustment mechanism is configured on the satellite, the position vector of the electric propulsion thruster in the satellite body coordinate system can be determined, and the thrust and the azimuth angle of rotation of the thrust vector adjustment mechanism corresponding to when the thrust passes through the center of mass of the satellite can be determined. Also, the thrust and the elevation angle of rotation of the thrust vector adjustment mechanism corresponding to when the thrust passes through the center of mass of the satellite can be determined, and the transformation matrix RM from the thruster coordinate system O-X-Y-Z to the satellite body coordinate system Ob-Xb-Yb-Zb bT can be determined.

[0052] S3. According to the rotation range of the two-dimensional vector adjustment mechanism, determine the torque envelope vector group of the electric propulsion thruster, specifically including:

[0053] S30. Determine the position vector of the electric propulsion thruster in the satellite body coordinate system

[0054] S31. Set each torque vector in the torque envelope vector group to zero;

[0055] S32. Set the step length Step of the azimuth rotation angle of the two-dimensional vector adjustment mechanism α, and set the step length Step for adjusting the vertical rotation angle of the two-dimensional vector adjustment mechanism β ;

[0056] S33. Traverse the azimuth rotation envelope and elevation angle rotation envelope of the two-dimensional vector adjustment mechanism to determine the torque envelope vector group That is, with Step α 、Step β Traverse the azimuth rotation envelope and elevation angle rotation envelope of the two-dimensional vector adjustment mechanism to determine the thrust vector in the satellite body coordinate system It is: a function of α and β, Furthermore, determine the torque vector during each step calculation After all traversing the rotation range of the two-dimensional vector adjustment mechanism, the torque envelope vector group M can be determined. The torque envelope vector group M includes: Among them, Indicates: the torque vector obtained during the i-th step calculation, 1 ≤ i ≤ N, i is a positive integer, and N is the total number of step calculations, as Figure 3 Shown

[0057] S4. According to the expected control torque and the torque envelope vector group, optimize and allocate the rotation angles of the two-dimensional vector adjustment mechanism to obtain the optimization result;

[0058] S5. Control the two-dimensional vector adjustment mechanism to rotate according to the optimization result

[0059] Optionally, in S4, according to the expected control torque and the torque envelope vector group, optimize and allocate the rotation angles of the two-dimensional vector adjustment mechanism to obtain the optimization result, including:

[0060] S40. Calculate the angles between the expected control torque and each torque vector in the torque envelope vector group respectively, and judge whether the minimum angle among all the angles is less than the angle threshold. When the judgment result is yes, then determine the rotation angle corresponding to the minimum angle as the optimization result, specifically including:

[0061] S400. Traverse the torque envelope vector group M of the electric propulsion thruster, that is, traverse Calculate the angles between the expected control torque and each torque vector in the torque envelope vector group respectively, and form an angle vector

[0062] S401. Sort all the calculated angles to find the minimum angle θ min ;

[0063] S402. Record the rotation angles of the thrust vector corresponding to the minimum angle as: α n 、β m ;

[0064] S403. Determine the minimum included angle θ min Whether it is less than the included angle threshold δ0; if the included angle is less than the threshold δ0, the rotation angle that the thrust vector adjustment mechanism's rotating mechanism needs to execute is: α n , β m , otherwise the rotation angle that the thrust vector adjustment mechanism's rotating mechanism needs to execute is: As Figure 4 shown.

[0065] Optionally, in the above technical solution, the satellite is a medium - orbit satellite, and the medium - orbit satellite can be a medium - orbit communication satellite.

[0066] As Figures 2 to 4 shown, the present invention is described through the following embodiments, including:

[0067] S101. Layout the electric propulsion thruster:

[0068] The satellite is equipped with an electric propulsion thruster, and the electric propulsion thruster is equipped with a two - dimensional vector adjustment mechanism. Determine the layout of the electric propulsion thruster in the whole satellite. The layout principles of the electric propulsion thruster in the satellite include:

[0069] 1) The selected position of the thruster's body layout in the satellite is far from the satellite's center of mass;

[0070] 2) The rotation range of the two - dimensional rotating mechanism does not interfere with the satellite's body and other equipment on the satellite;

[0071] 3) When determining the rotation range of the electric propulsion thruster, the influence of the thruster plume angle needs to be considered.

[0072] As Figure 2 shown is the thruster coordinate definition. The vector from the coordinate origin O to point T in the figure represents the opposite direction of the thrust vector. As shown in the figure, decompose the vector into the vector from the origin O to point Q and the vector from point Q to point T α represents: the azimuth angle of the rotation of the two - dimensional vector adjustment mechanism. The projection of the vector in the OXY plane is positive in the first quadrant and negative in the second quadrant of the O - X - Y coordinate system; β represents the elevation angle of the rotation of the two - dimensional vector adjustment mechanism. The vector When in the same direction as the positive direction of the coordinate axis OZ, the angle β is positive, and when in the opposite direction, it is negative. According to the two-dimensional motion range supported by the two-dimensional vector adjustment mechanism and the allowable rotation range determined by the star layout design, the maximum and minimum values of α can be comprehensively obtained, and this range is the azimuth rotation range or azimuth rotation envelope; according to the two-dimensional motion range supported by the two-dimensional vector adjustment mechanism and the allowable rotation range determined by the star layout design, the maximum and minimum values of β can be comprehensively obtained, and this range is the elevation angle rotation range or elevation angle rotation envelope. When the electric propulsion thruster with a two-dimensional vector adjustment mechanism is configured on the satellite, determine the position vector of the electric propulsion thruster in the satellite body coordinate system Determine the thrust The azimuth angle of the thrust vector adjustment mechanism corresponding to passing through the satellite's center of mass Determine the thrust The elevation angle of the thrust vector adjustment mechanism corresponding to passing through the satellite's center of mass Determine the transformation matrix RM from the thruster coordinate system O-X-Y-Z to the satellite body coordinate system Ob-Xb-Yb-Zb bT 。

[0073] S102. Based on the PID closed-loop control principle, calculate the desired control torque corresponding to the rate damping. Specifically

[0074] S1020. By reading the output value of the angular velocity sensor gyro on the satellite, calculate the attitude angular velocity of the satellite body relative to the inertial system Unit: rad / s;

[0075] S1021. Determine the desired control torque corresponding to the rate damping where K p is the proportionality coefficient.

[0076] S103. According to the rotation range of the two-dimensional vector adjustment mechanism, determine the torque envelope vector group of the electric propulsion thruster, as Figure 3 shown, specifically including

[0077] S1030. Determine the position vector of the electric propulsion thruster in the satellite body coordinate system

[0078] S1031. Set each torque vector in the torque envelope vector group to zero;

[0079] S1032. Set the step length Step of the azimuth rotation angle of the two-dimensional vector adjustment mechanism α , and set the step length Step of the elevation rotation angle of the two-dimensional vector adjustment mechanism β ;

[0080] S1033. Traverse the azimuth rotation envelope and elevation rotation envelope of the two-dimensional vector adjustment mechanism to determine the torque envelope vector group That is, with Step α 、Step β Traverse the azimuth rotation envelope and elevation rotation envelope of the two-dimensional vector adjustment mechanism to determine the thrust vector in the satellite body coordinate system Is: a function of α and β, Furthermore, determine the torque vector during each step calculation After completely traversing the rotation range of the two-dimensional vector adjustment mechanism, the torque envelope vector group M can be determined. The torque envelope vector group M includes: Among them, Indicates: the torque vector obtained during the i-th step calculation, 1 ≤ i ≤ N, i is a positive integer, and N is the total number of step calculations

[0081] S104. Optimally allocate the rotation angles of the two-dimensional vector adjustment mechanism, as Figure 4 Shown, specifically including:

[0082] S1040. Traverse the torque envelope vector group M of the electric propulsion thruster, that is, traverse Calculate the angles between the expected control torque and each torque vector in the torque envelope vector group respectively, and form an angle vector

[0083] S1041. Sort all the calculated angles to find the minimum angle θ min ;

[0084] S1042. Record the rotation angles of the thrust vector corresponding to the minimum angle as: α n 、β m ;

[0085] S1043. Determine whether the minimum angle θ min Is less than the angle threshold δ0; if the angle is less than the threshold δ0, the rotation angles that the rotation mechanism of the thrust vector adjustment mechanism needs to execute are: α n 、β m Otherwise, the rotation angles that the rotation mechanism of the thrust vector adjustment mechanism needs to execute are:

[0086] In an in-orbit rate damping method for a satellite according to the present invention, the satellite is equipped with an electric propulsion thruster having a two-dimensional vector adjustment mechanism, and the electric propulsion thruster is used as an actuator for rate damping and orbit control; the desired control torque is calculated based on the PID closed-loop control principle; according to the rotation range of the vector mechanism, the torque envelope vector group of the thruster is determined; according to the desired control torque and the torque envelope vector group of the thruster, the rotation angle of the thrust vector adjustment mechanism is optimized and distributed, and the thrust vector adjustment mechanism rotates according to the optimization result to realize the damping control of the angular rate of the satellite body. In the present invention, the satellite orbit control and attitude control are coordinated, and a thruster with a vector adjustment mechanism is configured, and the engineering implementation is highly operable, especially suitable for medium-orbit communication satellites, specifically suitable for rate damping after separation of the in-orbit satellite and the launch vehicle of a 10,000 Km medium-orbit satellite, making the in-orbit control of the satellite after separation of the satellite and the launch vehicle more convenient and fast.

[0087] In the above embodiments, although the steps are numbered S1, S2, etc., they are only specific embodiments given by the present invention. Those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention. It can be understood that in some embodiments, it may include some or all of the above embodiments.

[0088] As Figure 5 shown, an in-orbit rate damping system 200 for a satellite according to an embodiment of the present invention includes a desired torque determination module 201, a torque envelope vector group determination module 202, an optimization module 203, and a control module 204;

[0089] The desired torque determination module 201 is configured to: calculate the desired control torque corresponding to rate damping based on the PID closed-loop control principle, wherein the satellite is equipped with an electric propulsion thruster having a two-dimensional vector adjustment mechanism, and the electric propulsion thruster is used as an actuator for rate damping and orbit control;

[0090] The torque envelope vector group determination module 202 is configured to: determine the torque envelope vector group of the electric propulsion thruster according to the rotation range of the two-dimensional vector adjustment mechanism;

[0091] The optimization module 203 is configured to: optimize and distribute the rotation angle of the two-dimensional vector adjustment mechanism according to the desired control torque and the torque envelope vector group to obtain an optimization result;

[0092] The control module 204 is configured to: control the two-dimensional vector adjustment mechanism to rotate according to the optimization result.

[0093] Optionally, in the above technical solution, it further includes a layout module, and the layout module is configured to: determine the layout of the electric propulsion thruster in the satellite.

[0094] Optionally, in the above technical solution, the optimization module 203 is specifically configured to:

[0095] Calculate the angles between the expected control torque and each torque vector in the torque envelope vector group, and determine whether the minimum angle among all the angles is less than the angle threshold. When the judgment result is yes, the rotation angle corresponding to the minimum angle is determined as the optimization result.

[0096] Optionally, in the above technical solution, the satellite is a medium-earth orbit satellite.

[0097] It should be noted that the beneficial effects of the orbit injection rate damping system 200 of a satellite provided in the above embodiments are the same as those of the orbit injection rate damping method of a satellite provided above, and will not be elaborated here. In addition, when the system provided in the above embodiments realizes its functions, only the division of the above function modules is used for illustration. In practical applications, the above functions can be allocated to different function modules according to needs, that is, the system is divided into different function modules according to the actual situation to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be seen in the method embodiments, which will not be elaborated here.

[0098] As Figure 6 shown, a computer device 300 according to an embodiment of the present invention, the computer device 300 includes a processor 320, the processor 320 is coupled to a memory 310, and at least one computer program 330 is stored in the memory 310. The at least one computer program 330 is loaded and executed by the processor 320 to enable the computer device 300 to implement any one of the above orbit injection rate damping methods for satellites. Specifically:

[0099] The computer device 300 may vary greatly due to configuration or performance differences, and may include one or more processors 320 (Central Processing Units, CPUs) and one or more memories 310. Among them, at least one computer program 330 is stored in the one or more memories 310, and the at least one computer program 330 is loaded and executed by the one or more processors 320 to enable the computer device 300 to implement any one of the orbit injection rate damping methods provided in the above embodiments. Of course, the computer device 300 may also have components such as wired or wireless network interfaces, keyboards, and input / output interfaces for input / output. The computer device 300 may also include other components for implementing the functions of the device, which will not be elaborated here.

[0100] A computer-readable storage medium according to an embodiment of the present invention, in which at least one computer program is stored, and the at least one computer program is loaded and executed by a processor to enable a computer to implement any one of the above orbit injection rate damping methods for satellites.

[0101] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, an optical data storage device, etc.

[0102] In an exemplary embodiment, there is also provided a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes any one of the above satellite orbit injection rate damping methods.

[0103] It should be noted that the terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, rather than to limit a specific order or sequence. In appropriate cases, the order of use of similar objects may be interchanged, so that the embodiments of the present application described herein can be implemented in an order other than the illustrated or described order.

[0104] Those skilled in the art know that the present invention can be implemented as a system, a method, or a computer program product. Therefore, the present invention can be specifically implemented in the following forms: it can be completely hardware, can be completely software (including firmware, resident software, microcode, etc.), and can also be a combination of hardware and software, which is generally referred to as "circuit", "module", or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable media contain computer-readable program code.

[0105] Any combination of one or more computer-readable media may be employed. The computer-readable media may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program which can be used by or in connection with an instruction execution system, apparatus, or device.

[0106] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art may make variations, modifications, substitutions, and alterations to the above embodiments within the scope of the present invention.

Claims

1. A method for damping the orbital injection rate of a satellite, characterized in that, Including: A satellite is equipped with an electric propulsion thruster having a two-dimensional vector adjustment mechanism, and the electric propulsion thruster is used as an actuator for rate damping and orbit control; Based on the PID closed-loop control principle, calculate the expected control torque corresponding to rate damping; Among them, the process of calculating the desired control torque corresponding to the rate damping based on the PID closed-loop control principle includes: calculating the attitude angular velocity of the satellite body coordinate system relative to the inertial system by reading the output value of the angular velocity sensor gyro on the satellite Determine the desired control torque corresponding to the rate damping Among them, K p is the proportionality coefficient; According to the rotation range of the two-dimensional vector adjustment mechanism, determine the torque envelope vector group of the electric propulsion thruster, specifically including: Determine the position vector of the electric propulsion thruster in the satellite body coordinate system Set each moment vector in the moment envelope vector group to zero; set the step length Step of the azimuth rotation angle of the two-dimensional vector adjustment mechanism α , and set the step length Step of the elevation rotation angle of the two-dimensional vector adjustment mechanism β ; traverse the azimuth angle rotation envelope and elevation angle rotation envelope of the two-dimensional vector adjustment mechanism to determine the moment envelope vector group M, that is, with Step α , Step β Traverse the azimuth angle rotation envelope and elevation angle rotation envelope of the two-dimensional vector adjustment mechanism to determine the thrust vector in the satellite body coordinate system is: a function of α and β Furthermore, determine the moment vector for each step calculation After fully traversing the rotation range of the two-dimensional vector adjustment mechanism, the moment envelope vector group M can be determined. The moment envelope vector group M includes: Among them, represents: the moment vector obtained in the i-th step calculation, 1 ≤ i ≤ N, i is a positive integer, N is the total number of step calculations, α represents: the azimuth angle of rotation of the two-dimensional vector adjustment mechanism, and β represents: the elevation angle of rotation of the two-dimensional vector adjustment mechanism; According to the expected control torque and the torque envelope vector group, optimize and allocate the rotation angle of the two-dimensional vector adjustment mechanism to obtain an optimization result; Control the two-dimensional vector adjustment mechanism to rotate according to the optimization result.

2. The orbital rate damping method of a satellite according to claim 1, characterized in that It also includes: Determine the layout of the electric propulsion thruster in the satellite.

3. A method for damping the orbital velocity of a satellite according to claim 1, characterized in that, According to the expected control torque and the torque envelope vector group, optimize and allocate the rotation angle of the two-dimensional vector adjustment mechanism to obtain an optimization result, including: Calculate the angle between the expected control torque and each torque vector in the torque envelope vector group, and determine whether the minimum angle among all the angles is less than the angle threshold. When the judgment result is yes, determine the rotation angle corresponding to the minimum angle as the optimization result.

4. A method for damping the orbital velocity of a satellite according to any one of claims 1 to 3, characterized in that The satellite is a medium-earth orbit satellite.

5. An orbital rate damping system for a satellite, characterized in that, Including an expected torque determination module, a torque envelope vector group determination module, an optimization module, and a control module; The expected torque determination module is used to: Based on the PID closed-loop control principle, calculate the expected control torque corresponding to rate damping, where the satellite is equipped with an electric propulsion thruster having a two-dimensional vector adjustment mechanism, and the electric propulsion thruster is used as an actuator for rate damping and orbit control; Among them, the process of calculating the expected control torque corresponding to the rate damping based on the PID closed-loop control principle includes: calculating the attitude angular velocity of the satellite body coordinate system relative to the inertial system by reading the output value of the angular velocity sensor gyro on the satellite Determine the expected control torque corresponding to the rate damping Among them, K p is the proportionality coefficient; The torque envelope vector group determination module is used to: According to the rotation range of the two-dimensional vector adjustment mechanism, determine the torque envelope vector group of the electric propulsion thruster; specifically including: Determine the position vector of the electric propulsion thruster in the satellite body coordinate system Set each torque vector in the torque envelope vector group to zero; set the step length Step of the azimuth rotation angle of the two-dimensional vector adjustment mechanism α , and set the step length Step of the elevation rotation angle of the two-dimensional vector adjustment mechanism β ; Traverse the azimuth angle rotation envelope and elevation angle rotation envelope of the two-dimensional vector adjustment mechanism to determine the torque envelope vector group M, that is, with Step α , Step β Traverse the azimuth angle rotation envelope and elevation angle rotation envelope of the two-dimensional vector adjustment mechanism to determine the thrust vector in the satellite body coordinate system is: a function of α and β, and then determine the torque vector for each step calculation After traversing the entire rotation range of the two-dimensional vector adjustment mechanism, the torque envelope vector group M can be determined. The torque envelope vector group M includes: Among them, represents: the torque vector obtained in the i-th step calculation, 1 ≤ i ≤ N, i is a positive integer, N is the total number of step calculations, α represents: the azimuth angle of rotation of the two-dimensional vector adjustment mechanism, and β represents: the elevation angle of rotation of the two-dimensional vector adjustment mechanism; The optimization module is used to: According to the expected control torque and the torque envelope vector group, optimize and allocate the rotation angle of the two-dimensional vector adjustment mechanism to obtain an optimization result; The control module is used to: Control the two-dimensional vector adjustment mechanism to rotate according to the optimization result.

6. The orbital rate damping system of a satellite according to claim 5, characterized in that It also includes a layout module, and the layout module is used to: Determine the layout of the electric propulsion thruster in the satellite.

7. The orbit injection rate damping system of a satellite according to claim 5, characterized in that, The optimization module is specifically used to: Calculate the angle between the expected control torque and each torque vector in the torque envelope vector group, and determine whether the minimum angle among all the angles is less than the angle threshold. When the judgment result is yes, determine the rotation angle corresponding to the minimum angle as the optimization result.

8. A satellite orbit injection rate damping system according to any one of claims 5 to 7, characterized in that The satellite is a medium-earth orbit satellite.

9. A computer device, characterized in that, The computer device includes a processor, the processor is coupled with a memory, and at least one computer program is stored in the memory. The at least one computer program is loaded and executed by the processor to enable the computer device to implement an in-orbit rate damping method for a satellite according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor to enable a computer to implement an in-orbit rate damping method for a satellite according to any one of claims 1 to 4.

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