Satellite Attitude Maneuvering Control Method, System, Computer Device, and Storage Medium

Abstract

The present invention discloses a satellite attitude maneuver control method, system, computer device and storage medium, which relates to the technical field of satellite attitude control. The method includes: when a satellite performing orbit control needs to perform an attitude maneuver, performing attitude maneuver path planning for the satellite; adjusting the thrust direction of an electric propulsion thruster to a desired thrust direction; calculating a first desired torque of the satellite during open-loop control and a second desired torque of the satellite during closed-loop control based on the attitude maneuver path planning result; performing switching allocation for the open-loop control and closed-loop control of the satellite, and controlling an attitude control actuator on the satellite to generate the first desired torque or the second desired torque according to the switching allocation result. When a satellite performing orbit control needs to perform an attitude maneuver, the present invention can achieve fast and small overshoot attitude maneuvers for the satellite, and has strong engineering operability, and is particularly suitable for attitude maneuvers of low-earth orbit communication satellites during orbit control.

Description

Background Art

[0002] Low Earth Orbit (LEO) satellites are relatively close to the Earth's surface and have advantages such as high bandwidth, low latency, and small path loss, with a richer range of application scenarios. The construction of a LEO communication satellite network is a necessary condition for achieving lower-cost and more popular mobile satellite communication services. In recent years, using large LEO communication satellite constellations to provide broadband access services globally has received extensive attention. With the gradual maturity of LEO satellites led by Starlink, wide-coverage, high-speed, and general-purpose satellite communication is expected to lead the next round of transformation in human communication methods. Currently, several LEO communication satellite constellations are being built in China.

[0003] Long-life satellites all need to perform orbit adjustments. For example, the orbit adjustments of LEO communication satellites include initial orbit capture, orbit maintenance during long-term operation, and significant orbit maneuvers as needed. Initial orbit capture, i.e., initial orbit error correction, aims to correct the initial orbit of the satellite provided by the launch vehicle to an orbit within the allowable error range of the design. Currently, LEO communication satellites often form satellite-ground and inter-satellite communication networks through constellation layouts. Orbit maintenance during long-term operation is to eliminate the influence of various perturbation factors, especially the influence of atmospheric drag on the satellite orbit, to maintain the required satellite trajectory. In particular, precise control of the in-plane phase, orbit inclination, right ascension of the ascending node, etc. of the satellite orbit is required to maintain the satellite constellation configuration and keep the communication network unaffected by the constellation configuration.

[0004] The satellite completes orbit control by applying velocity increments in different directions of radial, vertical, and tangential in the geocentric orbit coordinate system. For example, the adjustment of the orbit altitude is achieved by applying a velocity increment in the tangential direction in the geocentric orbit coordinate system at the apogee or perigee position, and the adjustment of the orbit inclination is achieved by applying a velocity increment in the vertical direction in the geocentric orbit coordinate system.

[0005] Currently, LEO communication satellites are often equipped with one Hall thruster for orbit control. Since the thruster is arranged in a fixed direction of the satellite body and there is no thrust vector adjustment mechanism configured for the thruster, when the satellite performs orbit control, first, a mission plan is made to plan the implementation time of the orbit control mission and the satellite attitude requirements at the time of implementation. According to the mission plan results, the satellite performs attitude maneuvers in advance and adjusts the thrust direction to the geocentric orbit system direction required for orbit parameter adjustment through attitude adjustment. Then, the thruster is ignited at the planned time to achieve orbit parameter control.

[0006] Low Earth Orbit (LEO) communication satellites often carry large-area solar panels, which usually have the characteristics of low fundamental frequency, weak damping, and modal density. To avoid the impact of attitude maneuvers on the solar panels and achieve rapid maneuvers simultaneously, the ideal requirements for attitude maneuvers are no overshoot and rapid attitude maneuvers. Currently, quaternions are often used to describe the attitude of satellites during large-angle attitude maneuvers, and the PID closed-loop control theory is used for attitude control. There is relatively little research on simple and efficient control methods for large-angle attitude maneuvers during regular orbit control of LEO communication satellites. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a satellite attitude maneuver control method, system, computer device, and storage medium in view of the deficiencies of the prior art, specifically as follows:

[0008] 1) In the first aspect, the present invention provides a satellite attitude maneuver control method, and the specific technical solution is as follows:

[0009] When a satellite that needs to perform orbit control also needs to perform an attitude maneuver, based on the trapezoidal attitude maneuver path planning method, combined with the attitude at the initial moment of the satellite's attitude maneuver and the final desired attitude, perform attitude maneuver path planning for the satellite to obtain the attitude maneuver path planning result, where the satellite is equipped with an electric propulsion thruster, and the electric propulsion thruster is not equipped with a two-dimensional vector adjustment mechanism;

[0010] According to the configuration position of the electric propulsion thruster on the satellite and the target parameters for satellite orbit control, adjust the thrust direction of the electric propulsion thruster to the desired thrust direction, and the desired thrust direction corresponds to the final desired attitude;

[0011] Based on the attitude maneuver path planning result, calculate the first desired torque of the satellite during open-loop control and calculate the second desired torque of the satellite during closed-loop control;

[0012] Perform switching allocation for the open-loop control and closed-loop control of the satellite to obtain the switching allocation result;

[0013] According to the switching allocation result, control the attitude control actuator on the satellite to generate the first desired torque or the second desired torque.

[0014] The beneficial effects of the satellite attitude maneuver control method provided by the present invention are as follows:

[0015] When a satellite that needs to perform orbit control also needs to perform an attitude maneuver, the method proposed by the present invention can achieve rapid and small-overshoot attitude maneuvers for the satellite, with strong engineering operability, and is particularly suitable for attitude maneuvers during orbit control of LEO communication satellites.

[0016] Based on the above solution, the satellite attitude maneuver control method of the present invention can also be improved as follows.

[0017] Further, it further includes: determining the layout of the electric propulsion thrusters in the satellite.

[0018] Further, calculating a second desired moment of the satellite during closed-loop control includes:

[0019] Calculating the second desired moment of the satellite during closed-loop control based on the PID control theory.

[0020] Further, the satellite is: a low-earth orbit communication satellite.

[0021] 2) In a second aspect, the present invention further provides an attitude maneuver control system for a satellite, and the specific technical solution is as follows:

[0022] It includes an attitude maneuver path planning module, a thrust direction adjustment module, an open / closed-loop attitude maneuver control quantity calculation module, an attitude maneuver open / closed-loop control switching and distribution module, and a control module;

[0023] The attitude maneuver path planning module is used for: when a satellite performing orbit control needs to perform an attitude maneuver, based on the trapezoidal attitude maneuver path planning method, combining the attitude at the initial moment of the satellite's attitude maneuver and the final desired attitude, performing attitude maneuver path planning on the satellite to obtain the attitude maneuver path planning result, wherein the satellite is equipped with electric propulsion thrusters, and the electric propulsion thrusters are not equipped with two-dimensional vector adjustment mechanisms;

[0024] The thrust direction adjustment module is used for: according to the configuration position of the electric propulsion thrusters on the satellite and the target parameters for orbit control of the satellite, adjusting the thrust direction of the electric propulsion thrusters to the desired thrust direction, and the desired thrust direction corresponds to the final desired attitude;

[0025] The open / closed-loop attitude maneuver control quantity calculation module is used for: based on the attitude maneuver path planning result, calculating a first desired moment of the satellite during open-loop control and calculating a second desired moment of the satellite during closed-loop control;

[0026] The attitude maneuver open / closed-loop control switching and distribution module is used for: performing switching and distribution on the open-loop control and closed-loop control of the satellite to obtain the switching and distribution result;

[0027] The control module is used for: according to the switching and distribution result, controlling the attitude control actuator on the satellite to generate a first desired moment or a second desired moment.

[0028] Based on the above solution, an attitude maneuver control system for a satellite according to the present invention can also be improved as follows.

[0029] Further, it further includes a thruster-star layout design module, and the thruster-star layout design module is used for: determining the layout of the electric propulsion thrusters in the satellite.

[0030] Further, the open-closed loop attitude maneuver control quantity calculation module is further specifically configured to: calculate the second expected torque of the satellite during closed-loop control based on the PID control theory.

[0031] Further, the satellite is: a low-earth orbit communication satellite.

[0032] 3) In a third aspect, the present invention further provides a computer device, which includes a processor. The processor is coupled to 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 implements any one of the above satellite attitude maneuver control methods.

[0033] 4) In a fourth aspect, the present invention further 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 a processor so that a computer implements any one of the above satellite attitude maneuver control methods.

[0034] 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 may be made to the above technical effects of the first aspect and its corresponding possible implementation manners, which will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objects, and advantages of the present invention will become more apparent:

[0036] Figure 1 It is a schematic flowchart of a satellite attitude maneuver control method according to an embodiment of the present invention;

[0037] Figure 2 It is a schematic diagram of the attitude maneuver path planning result;

[0038] Figure 3 It is a schematic diagram of the attitude angular acceleration at each moment in the attitude angular acceleration planning result;

[0039] Figure 4 It is a schematic diagram of the attitude angular velocity at each moment in the attitude angular velocity planning result;

[0040] Figure 5 It is a schematic diagram of the attitude angular position at each moment in the attitude angular position planning result;

[0041] Figure 6 It is a schematic layout diagram of the electric propulsion thrusters;

[0042] Figure 7 It is a schematic flowchart of the switching allocation process;

[0043] Figure 8 Schematic diagram of the attitude Euler angle data during satellite motion;

[0044] Figure 9 Schematic diagram of the attitude angular velocity data during satellite motion;

[0045] Figure 10 Schematic diagram of the flywheel speed data during satellite motion;

[0046] Figure 11 Schematic diagram of the structure of an attitude maneuver control method for a satellite according to an embodiment of the present invention;

[0047] Figure 12 Schematic diagram of the structure of a computer device according to an embodiment of the present invention. Detailed implementation manners

[0048] 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.

[0049] As Figure 1 shown, an attitude maneuver control method for a satellite according to an embodiment of the present invention includes the following steps:

[0050] S1. When a satellite performing orbit control needs to perform an attitude maneuver, based on the trapezoidal attitude maneuver path planning method, combining the attitude at the initial moment of the satellite's attitude maneuver and the final desired attitude, perform attitude maneuver path planning on the satellite to obtain the attitude maneuver path planning result. Among them, the satellite is equipped with an electric propulsion thruster, and the electric propulsion thruster is not equipped with a two-dimensional vector adjustment mechanism.

[0051] Among them, the attitude maneuver path planning result includes: the time period occupied by the process of adjusting from the attitude at the initial moment of the satellite's attitude maneuver to the final desired attitude, the attitude angular acceleration planning result within this time period, the attitude angular velocity planning result within this time period, and the attitude angular position planning result within this time period. This time period is divided into 3 sub-time periods, which are, in chronological order, the constant acceleration motion segment time T1, the uniform motion segment time T2, and the constant acceleration motion segment time T3. T1, T2, and T3 are also planned by the trapezoidal attitude maneuver path planning method. The attitude angular acceleration planning result includes: the attitude angular acceleration at each moment within this time period; the attitude angular velocity planning result includes: the attitude angular velocity at each moment within this time period; the attitude angular position planning result includes: the attitude angular position at each moment within this time period; Denote the attitude angular acceleration as Denote the attitude angular velocity as vPlan_ω, and denote the attitude angular position as The changes in the attitude angular acceleration, attitude angular velocity, and attitude angular position within the three sub-time periods are as Figure 2 shown, specifically as follows:

[0052] 1) The planned result of the attitude angular acceleration is as follows:

[0053] 2) The planned result of the attitude angular velocity is as follows:

[0054]

[0055] 3) The planned result of the attitude angular position is as follows:

[0056]

[0057] Wherein, is the attitude angular velocity at the start of the planning, i.e., the attitude angular velocity at the initial moment of the satellite's attitude maneuver, is the attitude angular position at the start of the planning, i.e., the attitude angular position at the initial moment of the satellite's attitude maneuver, is the angular position at the end of the planning, i.e., the angular position of the satellite's final desired attitude. a is the maximum value of the attitude angular acceleration during the period from the initial attitude adjustment of the satellite to the final desired attitude. b is the minimum value of the attitude angular velocity during the period from the initial attitude adjustment of the satellite to the final desired attitude. is the maximum value of the attitude angular velocity during the period from the initial attitude adjustment of the satellite to the final desired attitude. a and b are set according to the satellite's attitude maneuverability. is obtained by the trapezoidal attitude maneuver path planning method. It should be noted that in the above text is an overall representation, the "a" in it cannot be understood as "the maximum value of the attitude angular acceleration a during the period from the initial attitude adjustment of the satellite to the final desired attitude".

[0058] In an embodiment, the period from the initial attitude adjustment of the satellite to the final desired attitude is 94.5 s, specifically between the 200th s and the 294.5th s. T1, T2, and T3 are respectively: 28.5 s, 38.2 s, 27.8 s. The planned result of the attitude angular acceleration is as Figure 3 shown, the planned result of the attitude angular velocity is as Figure 4 shown, and the planned result of the attitude angular position is as Figure 5 shown.

[0059] S2. According to the configuration position of the electric propulsion thruster on the satellite and the target parameters for orbit control of the satellite, adjust the thrust direction of the electric propulsion thruster to the desired thrust direction, and the desired thrust direction corresponds to the final desired attitude.

[0060] Among them, the specific explanation of the expected thrust direction corresponding to the final expected attitude is as follows: The thrust direction required for the satellite's final expected attitude is the expected thrust direction, which is consistent with the thrust direction adjusted by the electric propulsion thruster.

[0061] Among them, for the position of the electric propulsion thruster configured on the satellite, the selected thrust passes through the satellite's center of mass and is arranged in the negative Y-axis direction of the satellite body coordinate system, as Figure 6 shown; when adjusting the thrust direction of the electric propulsion thruster through attitude maneuver, the attitude maneuver angle is mostly ±90°; the target parameters are the orbital elements. If adjusting the semi-major axis of the orbit, the tangential direction of the geocentric orbit coordinate system is taken as the expected thrust direction to adjust the thrust direction of the electric propulsion thruster to the tangential direction of the geocentric orbit coordinate system; if adjusting the right ascension of the ascending node, the vertical direction of the geocentric orbit coordinate system is taken as the expected thrust direction to adjust the thrust direction of the electric propulsion thruster to the vertical direction of the geocentric orbit coordinate system.

[0062] S3. Based on the attitude maneuver path planning results, calculate the first expected torque of the satellite in open-loop control and the second expected torque of the satellite in closed-loop control.

[0063] Among them, the first expected torque is: M K represents the first expected torque. The first expected torque can be understood as: the torque that needs to be generated by the actuator for the satellite to perform attitude open-loop control, is the planned attitude angular acceleration of the x-axis, is the planned attitude angular acceleration of the y-axis, is the planned attitude angular acceleration of the z-axis, and J xx 、J yy 、J zz are the main inertia parameters of the satellite.

[0064] Among them, based on the PID control theory, calculate the second expected torque of the satellite in closed-loop control. The second expected torque is: M C =-k D ·Δω - k P ·Δq, M C is the second expected torque. The second expected torque can be understood as: the torque that needs to be generated by the actuator for the satellite to perform attitude closed-loop control, Δω is the error angular velocity, Δq is the vector part of the attitude deviation quaternion, Δq0 is the scalar part of the deviation quaternion, k D is the differential coefficient, k P is the proportional coefficient, k D and k P are both diagonal matrices.

[0065] S4. Perform switching allocation for the open-loop control and closed-loop control of the satellite to obtain a switching allocation result;

[0066] Among them, the switching allocation result is the control torque that needs to be generated by the actuator according to the allocation logic. The switching allocation process for obtaining the switching allocation result is specifically as follows:

[0067] 1) The control torques on the X-axis, Y-axis, and Z-axis in the satellite body coordinate system that need to be generated by the actuator for attitude control are respectively denoted as: M X , M Y , M Z ;

[0068] 2) Denote the satellite time at the initial moment of the satellite attitude maneuver as T0, with the unit of s, and denote the current satellite time as t cur . Calculate the time difference Δt between t cur and T0 as: Δt = t cur - T0; The satellite time is the time on the satellite, and denote the initial power-on moment when the satellite enters the orbit as the satellite time 0 moment;

[0069] 3) Denote the switching angle threshold between the open-loop control and closed-loop control of the satellite attitude as: δ0;

[0070] 4) Denote the Euler axis angle obtained from the current satellite orbit system attitude quaternion as: α cur , and denote the target attitude Euler axis angle of the orbit system as: α d ;

[0071] 5) Calculate the angle difference Δα between α cur and α d as: Δα = α d - α cur ;

[0072] 6) Judge whether Δt is greater than T1 + T2 + T3 to obtain a first judgment result. When the first judgment result is yes, then: The calculation of the switching allocation of the attitude maneuver open-loop and closed-loop control ends.

[0073] When the first judgment result is no, judge whether Δα is greater than δ0 to obtain a second judgment result. When the second judgment result is no, then: When the second judgment result is yes, then: So far, the calculation of the switching allocation of the attitude maneuver open-loop and closed-loop control ends.

[0074] In one embodiment, the switching allocation process is as Figure 7 shown, including: calculating the time difference Δt between t cur and T0, judging whether Δt is greater than T1 + T2 + T3 to obtain a first judgment result. When the first judgment result is yes, then The calculation of the open-loop and closed-loop control switching and distribution for attitude maneuver ends. When the first judgment result is negative, calculate α cur and α d Calculate the angular difference Δα between them, Δα = α d -α cur , and determine whether Δα is greater than δ0 to obtain the second judgment result. When the second judgment result is negative, execute the closed-loop control calculation result, i.e., the second desired torque, When the second judgment result is positive, execute the open-loop control calculation result, i.e., the first desired torque, until the calculation of the open-loop and closed-loop control switching and distribution for attitude maneuver ends.

[0075] In the above embodiment of "the time period occupied by the process of adjusting the attitude from the initial moment of the satellite's attitude maneuver to the final desired attitude is 94.5 s, specifically between the 200th s and the 294.5th s, and T1, T2, and T3 are respectively: 28.5 s, 38.2 s, 27.8 s", the changes in the Euler angles of the satellite's motion attitude are as Figure 8 shown, the changes in the attitude angular velocity of the satellite during motion are as Figure 9 shown, and the changes in the flywheel speed of the satellite during motion are as Figure 10 shown. The flywheel is the attitude control actuator.

[0076] S5. According to the switching and distribution result, control the attitude control actuator on the satellite to generate the first desired torque or the second desired torque to adjust the attitude of the satellite at the initial moment of attitude maneuver to the final desired attitude.

[0077] Optionally, in the above technical solution, it further includes:

[0078] S01. Determine the layout of the electric propulsion thrusters in the satellite.

[0079] Among them, the layout principles of the electric propulsion thrusters on the satellite include:

[0080] 1) The electric propulsion thruster is not equipped with a two-dimensional vector adjustment mechanism, and the electric propulsion thruster is a Hall thruster;

[0081] 2) The layout principle of the propulsion system gas cylinders used in conjunction with the electric propulsion thrusters is: try to select the position with the smallest distance between the centroid of the gas cylinder and the centroid of the satellite;

[0082] 3) The position of the electric propulsion thruster configured on the satellite selects the thrust to pass through the centroid of the satellite and is arranged in the negative Y-axis direction of the satellite body coordinate system; when adjusting the thrust direction of the electric propulsion thruster through attitude maneuver, the attitude maneuver angle is mostly ±90°.

[0083] 4) The layout of other equipment on the satellite needs to avoid the influence range of the plume angle of the electric propulsion thruster.

[0084] Optionally, in the above technical solution, the satellite is: a low-earth orbit communication satellite.

[0085] 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.

[0086] As Figure 11 shown, an attitude maneuver control system 200 of a satellite according to an embodiment of the present invention includes an attitude maneuver path planning module 201, a thrust direction adjustment module 202, an open-loop and closed-loop attitude maneuver control quantity calculation module 203, an attitude maneuver open-loop and closed-loop control switching and distribution module 204, and a control module 205;

[0087] The attitude maneuver path planning module 201 is configured to: when a satellite performing orbit control needs to perform an attitude maneuver, based on the trapezoidal attitude maneuver path planning method, combine the attitude at the initial moment of the satellite's attitude maneuver and the final desired attitude, and perform attitude maneuver path planning on the satellite to obtain an attitude maneuver path planning result, where the satellite is equipped with an electric propulsion thruster, and the electric propulsion thruster is not equipped with a two-dimensional vector adjustment mechanism;

[0088] The thrust direction adjustment module 202 is configured to: adjust the thrust direction of the electric propulsion thruster to the desired thrust direction according to the configuration position of the electric propulsion thruster on the satellite and the target parameters for orbit control of the satellite, and the desired thrust direction corresponds to the final desired attitude;

[0089] The open-loop and closed-loop attitude maneuver control quantity calculation module 203 is configured to: calculate the first desired torque of the satellite during open-loop control and calculate the second desired torque of the satellite during closed-loop control based on the attitude maneuver path planning result;

[0090] The attitude maneuver open-loop and closed-loop control switching and distribution module 204 is configured to: perform switching and distribution on the open-loop control and closed-loop control of the satellite to obtain a switching and distribution result;

[0091] The control module is configured to: control the attitude control actuator on the satellite to generate the first desired torque or the second desired torque according to the switching and distribution result.

[0092] Furthermore, it further includes a thruster body layout design module, and the thruster body layout design module is configured to: determine the layout of the electric propulsion thruster in the satellite.

[0093] Further, the open-closed loop attitude maneuver control quantity calculation module is further specifically configured to: calculate the second expected torque of the satellite during closed-loop control based on the PID control theory.

[0094] Further, the satellite is: a low-earth orbit communication satellite.

[0095] It should be noted that the beneficial effects of the satellite attitude maneuver control system 200 provided in the above embodiments are the same as those of the satellite attitude maneuver control method provided above, and will not be elaborated here. In addition, when the system provided in the above embodiments realizes its functions, only the above-mentioned division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the system can be divided into different functional 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 found in the method embodiments, which will not be elaborated here.

[0096] As Figure 12 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 satellite attitude maneuver control methods. Specifically:

[0097] The computer device 300 may vary greatly due to configuration or performance, 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 satellite attitude maneuver control methods provided in the above embodiments. Of course, the computer device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input / output interface for input and output. The computer device 300 may also include other components for implementing the functions of the device, which will not be elaborated here.

[0098] 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 satellite attitude maneuver control methods.

[0099] 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, or the like.

[0100] 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 that 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 attitude maneuver control methods.

[0101] It should be noted that the terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects, and do not represent a limitation on 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.

[0102] 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.), or can be a combination of hardware and software, 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, which contain computer-readable program code.

[0103] 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.

[0104] 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 changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A satellite attitude maneuvering control method, characterized in that: include: When a satellite performing orbit control needs to perform an attitude maneuver, based on a trapezoidal attitude maneuver path planning method, the attitude maneuver path planning is performed on the satellite in combination with the attitude at the initial moment of the attitude maneuver and the final expected attitude of the satellite, to obtain an attitude maneuver path planning result, wherein the satellite is equipped with an electric propulsion thruster, and the electric propulsion thruster is not equipped with a two-dimensional vector adjustment mechanism; According to the configuration position of the electric propulsion thruster on the satellite and the target parameters for orbit control of the satellite, adjusting the thrust direction of the electric propulsion thruster to a desired thrust direction, wherein the desired thrust direction corresponds to the final desired attitude; Based on the attitude maneuver path planning result, calculating a first expected torque of the satellite during open-loop control, and calculating a second expected torque of the satellite during closed-loop control; Performing switching allocation on the open-loop control and the closed-loop control of the satellite to obtain a switching allocation result; According to the switching allocation result, the attitude control actuator on the satellite is controlled to generate the first desired torque or the second desired torque.

2. A satellite attitude maneuvering control method according to claim 1, characterized in that: Also includes: The arrangement of the electric propulsion thrusters in the satellite is determined.

3. The satellite attitude maneuvering control method according to claim 1, characterized in that: Calculating a second desired torque of the satellite during closed-loop control, comprising: Based on PID control theory, a second desired torque of the satellite during closed-loop control is calculated.

4. A satellite attitude maneuvering control method according to any one of claims 1 to 3, characterized in that: The satellite is a low-orbit communication satellite.

5. A satellite attitude maneuvering control system, characterized in that: It includes an attitude maneuvering path planning module, a thrust direction adjustment module, an open-closed loop attitude maneuvering control quantity calculation module, an attitude maneuvering open-closed loop control switching allocation module and a control module; The attitude maneuvering path planning module is used to: when the satellite performing orbit control needs to perform attitude maneuvering, based on the trapezoidal attitude maneuvering path planning method, combine the attitude at the initial moment of the attitude maneuvering of the satellite and the final expected attitude, perform attitude maneuvering path planning on the satellite, and obtain the attitude maneuvering path planning result, wherein the satellite is equipped with an electric propulsion thruster, and the electric propulsion thruster is not equipped with a two-dimensional vector adjustment mechanism; The thrust direction adjustment module is used to adjust the thrust direction of the electric propulsion thruster to a desired thrust direction according to the configuration position of the electric propulsion thruster on the satellite and the target parameters for orbit control of the satellite, wherein the desired thrust direction corresponds to the final desired attitude; The open-loop and closed-loop attitude maneuver control amount calculation module is used to: calculate the first expected torque of the satellite during open-loop control based on the attitude maneuver path planning result, and calculate the second expected torque of the satellite during closed-loop control; The attitude maneuver open-loop and closed-loop control switching allocation module is used to: switch and allocate the open-loop control and closed-loop control of the satellite to obtain a switching allocation result; The control module is used to control the attitude control actuator on the satellite to generate the first desired torque or the second desired torque according to the switching allocation result.

6. A satellite attitude maneuvering control system according to claim 5, characterized in that: It also includes a thruster star body layout design module, which is used to determine the layout of the electric propulsion thrusters in the satellite.

7. A satellite attitude maneuvering control system according to claim 5, characterized in that: The open-loop and closed-loop attitude maneuver control quantity calculation module is also specifically used to calculate the second expected torque of the satellite during closed-loop control based on PID control theory.

8. A satellite attitude maneuvering control system according to any one of claims 5 to 7, characterized in that: The satellite is a low-orbit communication satellite.

9. A computer device, characterized in that: The computer device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the computer device implements a satellite attitude maneuvering control method as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements a satellite attitude maneuvering control method as described in any one of claims 1 to 4.

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