A fault-tolerant momentum gear train control method and device

Abstract

The present invention discloses a fault-tolerant momentum wheel control method and device, belonging to the field of satellite attitude control. The method comprises: based on the envelope capability of the satellite platform, determining a momentum wheel configuration scheme and a configuration scheme that meet the envelope capability; if it is determined that there is a failed angular momentum wheel in the large angular momentum momentum wheel train, using the target angular momentum of the remaining angular momentum wheel to feedforward compensate the load platform rotation angular momentum to form the whole satellite zero momentum, using the large moment momentum wheel train to compensate the non-rotating axis angular momentum generated by the large angular momentum momentum wheel train; if it is determined that there is a failed moment wheel in the large moment momentum wheel train, establishing a new target angular momentum for the large angular momentum momentum wheel train, and the large moment momentum wheel train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum wheel train to achieve the whole satellite zero momentum control. The present invention can use another wheel train to compensate for the interference caused by the failed wheel when a failed wheel appears in one wheel train, thereby achieving a smooth transition of the attitude of the whole satellite.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite attitude control, and in particular to a fault-tolerant momentum gear train control method and device. Background Art

[0002] In order to solve the control problem of complex multi-body satellites with high dynamics and large payloads, the satellite platform uses momentum wheel actuators to complete high-precision and high-stability control of the on-board attitude. However, when using the momentum wheel system to control the entire satellite, if a momentum wheel fails, the gyroscopic torque will interfere with the attitude of the entire satellite. How to control the entire satellite when the momentum wheel fails is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present invention provides a fault-tolerant momentum gear train control method and device. The technical solution is as follows:

[0004] In one aspect, a fault-tolerant momentum gear train control method is provided, the method comprising:

[0005] Based on the envelope capability of the satellite platform, a momentum wheel configuration scheme and a configuration scheme that meet the envelope capability are determined in advance; the envelope capability includes angular momentum envelope capability and control torque envelope capability; the configuration scheme is: equipped with at least three large angular momentum momentum wheel trains and equipped with at least four large torque momentum wheel trains;

[0006] In the process of controlling the whole satellite using the determined momentum wheel configuration scheme and configuration scheme:

[0007] If it is determined that there is a failed angular momentum wheel in the large angular momentum momentum wheel train, the target angular momentum of the remaining angular momentum wheel is used to feedforward compensate the rotational angular momentum of the load platform to form the zero momentum of the whole star, and the large torque momentum wheel train is used to compensate the non-rotational axis angular momentum generated by the large angular momentum momentum wheel train;

[0008] If it is determined that there is a failed torque wheel in the large torque momentum gear train, a new target angular momentum is established for the large angular momentum momentum gear train. The large torque momentum gear train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum gear train to achieve zero momentum control of the entire star.

[0009] On the other hand, a fault-tolerant momentum gear train control device is provided, the device comprising:

[0010] A determination unit is used to determine, based on the envelope capability of the satellite platform in advance, a momentum wheel configuration scheme and a configuration scheme that meet the envelope capability; the envelope capability includes angular momentum envelope capability and control torque envelope capability; the configuration scheme is: equipped with at least three large angular momentum momentum wheel trains and equipped with at least four large torque momentum wheel trains;

[0011] A control unit is used for performing the whole-satellite control process by using the determined momentum wheel configuration scheme and configuration scheme: if it is determined that there is a failed angular momentum wheel in the large angular momentum momentum wheel train, the target angular momentum of the remaining angular momentum wheels is used to feedforward compensate the rotational angular momentum of the load platform to form the whole-satellite zero momentum, and the large-torque momentum wheel train is used to compensate the non-rotating axis angular momentum generated by the large-torque momentum wheel train; if it is determined that there is a failed torque wheel in the large-torque momentum wheel train, a new target angular momentum is established for the large-angular momentum momentum wheel train, and the large-torque momentum wheel train absorbs the angular momentum change caused by the speed control of the large-angular momentum momentum wheel train to achieve the whole-satellite zero momentum control.

[0012] On the other hand, a computer device is provided, which includes a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of the above-mentioned fault-tolerant momentum gear train control method.

[0013] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned fault-tolerant momentum gear train control method are implemented.

[0014] On the other hand, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the above-mentioned fault-tolerant momentum gear train control method are implemented.

[0015] The technical solution provided by the present invention can at least bring the following beneficial effects:

[0016] The gear train is configured by taking into account the angular momentum envelope capability and the control torque envelope capability, and the two gear trains are used to control the entire satellite together. When there is a failed angular momentum wheel in the large angular momentum momentum train, the target angular momentum of the remaining angular momentum wheel is used to feedforward compensate the load platform rotation angular momentum to form the zero momentum of the entire satellite, and the large torque momentum train is used to compensate the non-rotating axis angular momentum generated by the large angular momentum momentum train; when there is a failed torque wheel in the large torque momentum train, a new target angular momentum is established for the large angular momentum momentum train, and the large torque momentum train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum train to achieve zero momentum control of the entire satellite. It can be seen that in this scheme, when a failed wheel appears in one of the gear trains, the interference caused by the failed wheel is compensated by the other gear train, thereby achieving a smooth transition of the attitude of the entire satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a flow chart of a fault-tolerant momentum gear train control method provided by one embodiment of the present invention;

[0019] Figure 2 It is a structural diagram of a fault-tolerant momentum gear train control device provided by one embodiment of the present invention;

[0020] Figure 3 It is a hardware architecture diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] Please refer to Figure 1 , an embodiment of the present invention provides a fault-tolerant momentum gear train control method, the method comprising:

[0023] Step 100, based on the envelope capability of the satellite platform, determine in advance a momentum wheel configuration scheme and a configuration scheme that meet the envelope capability; the envelope capability includes angular momentum envelope capability and control torque envelope capability; the configuration scheme is: equipping at least three large angular momentum momentum wheel trains and equipping at least four large torque momentum wheel trains;

[0024] Step 102, in the process of controlling the entire satellite using the determined momentum wheel configuration scheme and the configuration scheme: if it is determined that there is a failed angular momentum wheel in the large angular momentum momentum wheel train, the target angular momentum of the remaining angular momentum wheels is used to feedforward compensate the rotational angular momentum of the load platform to form zero momentum of the entire satellite, and the large torque momentum wheel train is used to compensate the non-rotating axis angular momentum generated by the large angular momentum momentum wheel train; if it is determined that there is a failed torque wheel in the large torque momentum wheel train, a new target angular momentum is established for the large angular momentum momentum wheel train, and the large torque momentum wheel train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum wheel train to achieve zero momentum control of the entire satellite.

[0025] In the embodiment of the present invention, the gear train is configured by taking into account the angular momentum envelope capability and the control torque envelope capability, and the two gear trains are used to jointly control the whole satellite. When there is a failed angular momentum wheel in the large angular momentum momentum gear train, the target angular momentum of the remaining angular momentum wheel is used to feedforward compensate the rotational angular momentum of the load platform to form the zero momentum of the whole satellite, and the large torque momentum gear train is used to compensate the non-rotating axis angular momentum generated by the large angular momentum momentum gear train; when there is a failed torque wheel in the large torque momentum gear train, a new target angular momentum is established for the large angular momentum momentum gear train, and the large torque momentum gear train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum gear train to achieve zero momentum control of the whole satellite. It can be seen that in this scheme, when a failed wheel appears in one of the gear trains, the interference caused by the failed wheel is compensated by the other gear train, thereby achieving a smooth transition of the attitude of the whole satellite.

[0026] Described below Figure 1 How the various steps are performed.

[0027] First, for step 100, based on the envelope capability of the satellite platform, a momentum wheel configuration scheme and a configuration scheme that meet the envelope capability are determined in advance.

[0028] In the embodiment of the present invention, the envelope capability of the satellite platform includes angular momentum envelope capability and control torque envelope capability.

[0029] The angular momentum envelope capability can be determined based on the angular momentum derotation requirements of large rotating payloads and the attitude maneuver requirements of the entire satellite. Specifically:

[0030] Assume that the load mass m of the load platform is of the same magnitude as the mass of the satellite platform, and the moment of inertia of the load platform about the rotation axis is I=[I xx ,I xy ,I xz ;I xy ,I yy ,I yz ;I xy ,I xz ,I zz ], the x-axis speed at the track height is ω, then the corresponding angular momentum of the rotation axis during the movement of the load platform is h = I xx ω. Large angular momentum Momentum gear train rotation axis angular momentum h q Satisfy the following envelope condition h q >h. x, y, z are rotation axes, and any two rotation axes are combined into a corresponding plane.

[0031] The control torque envelope capability can also be determined based on the angular momentum derotation requirements of large rotating payloads and the attitude maneuver requirements of the entire satellite, specifically:

[0032] Determine the static unbalance disturbance of the satellite platform introduced by the deviation of the mass center of the load platform from the geometric center. The disturbance torque of the disturbance is Torq_s=mrω 2 L co-frequency interference; where r is the distance of the load platform mass center from the rotation axis, and L is the projection distance from the platform connection point to the load platform mass center radius r in the direction of the rotation axis;

[0033] Determine the disturbance introduced by the dynamic unbalance of the load platform inertia product. The disturbance torque of this disturbance is the amplitude Torq_d=U d ω 2 The same-channel interference of d is the unbalanced moment of inertia of the load platform;

[0034] Determine the satellite platform disturbance introduced by the asymmetry of the main axis inertia of the payload platform. The disturbance torque of the disturbance is Torq_i=ω×ω orb ×sqrt[I yz 2 +(I yy –I zz ) 2 ] is twice the frequency interference; where ω orb is the orbital angular velocity, sqrt square root operation;

[0035] Determine the control torque T of the high torque-momentum gear train based on the above disturbance q Satisfy the following envelope conditions: T q >Torq_s+Torq_d+Torq_i+Torq_out; where Torq_out is the external environment interference torque of the orbiting satellite, which is determined according to the satellite orbit conditions.

[0036] In the embodiment of the present invention, based on the envelope capability of the satellite platform, the momentum wheel configuration scheme is: equipped with at least three large angular momentum momentum wheel trains and at least four large torque momentum wheel trains. Among them, the large angular momentum momentum wheel train is used to compensate for the angular momentum generated by the rotation process of the load platform to achieve zero momentum control of the whole satellite; the large torque momentum wheel train is used to compensate for the various disturbance torques transmitted by the load platform through the rotating joint and the environmental interference torque, and provide control torque for the satellite platform.

[0037] The momentum wheel configuration scheme is:

[0038] The projection angle of the large angular momentum momentum wheel in the YOZ plane is (360 degrees / n) and is installed with cone symmetry. The momentum envelope of a single large angular momentum momentum wheel is not less than (k×h / 3) / cos(ang), where ang is the angle between the installation axis of the large angular momentum momentum wheel and the direction of the rotation axis, k is the momentum envelope coefficient, generally k>130%, and n is the number of large angular momentum momentum wheels;

[0039] The high-torque momentum wheel is in a pyramid configuration with the rotation axis as the symmetry axis, and the angle between each high-torque momentum wheel and the rotation axis is ang_s. The torque capacity of a single high-torque momentum wheel projected on the YOZ plane is not less than 1.3×T q .

[0040] Then, for step 102, the determined momentum wheel configuration scheme and configuration scheme are used to perform the whole satellite control process: if it is determined that there is a failed angular momentum wheel in the large angular momentum momentum wheel train, the target angular momentum of the remaining angular momentum wheels is used to feedforward compensate the rotational angular momentum of the load platform to form zero momentum of the whole satellite, and the large torque momentum wheel train is used to compensate the non-rotating axis angular momentum generated by the large angular momentum momentum wheel train; if it is determined that there is a failed torque wheel in the large torque momentum wheel train, a new target angular momentum is established for the large angular momentum momentum wheel train, and the large torque momentum wheel train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum wheel train to achieve zero momentum control of the whole satellite.

[0041] The following describes the whole star control methods when there are failed wheels in the two momentum gear trains.

[0042] 1. There are failed angular momentum wheels in large angular momentum momentum gear trains

[0043] When there is a failed angular momentum wheel in the large angular momentum momentum wheel train, the target angular momentum of the remaining angular momentum wheel can be used to feedforward compensate the rotation angular momentum of the load platform to form the zero momentum of the whole satellite, and the high-torque momentum wheel train can be used to compensate the angular momentum of the non-rotating axis generated by the large angular momentum wheel train, so that the attitude of the whole satellite can be smoothly transitioned.

[0044] In the embodiment of the present invention, the target angular momentum of the residual angular momentum wheel is used to feed-forward compensate the rotational angular momentum of the load platform to form the whole-star zero momentum, specifically, the following steps A1-A3 are included:

[0045] A1: Estimate the real-time angular momentum of the failed angular momentum wheel based on the multi-order fitting method of friction torque;

[0046] Specifically, this step A1 may include:

[0047] S1: determining the real-time angular momentum of the failed angular momentum wheel in the previous control cycle; if the failed angular momentum wheel fails in the current control cycle, the real-time angular momentum before the failure is used as the real-time angular momentum in the previous control cycle;

[0048] S2: Calculate the real-time angular momentum h_Est of the failed angular momentum wheel in the current control cycle using the following formula:

[0049] h_Est=h_Est_last-(Mdf_FricM2×Mdf_UT×h_Est_last×h_Est_last×sgn(h_Est_last)+Mdf_FricM×Mdf_UT×h_Est_last + Mdf_FricS×Mdf_UT×sgn(h_Est_last))×Tc

[0050] Wherein, h_Est_last is the real-time angular momentum of the failed angular momentum wheel in the previous control cycle, and the initial value is the last measured value before the momentum wheel failed; Mdf_UT is the torque-voltage coefficient of the large angular momentum momentum wheel train, Mdf_FricM2, Mdf_FricM, and Mdf_FricS are the second-order term, first-order term, and constant term of the compensation voltage corresponding to the friction torque, sgn(x) is the sign function used to calculate x, and Tc is the control period;

[0051] S3: Using the real-time angular momentum in the current control cycle, enter the next control cycle and return to execute S1.

[0052] Since the failed angular momentum wheel will gradually slow down under the action of friction after failure, the real-time angular momentum of the failed angular momentum wheel in each control cycle can be determined by estimating the reduced angular momentum in each control cycle.

[0053] A2: Determine the target angular momentum of the remaining angular momentum wheels according to the real-time angular momentum of the failed angular momentum wheel;

[0054] Specifically, this step A2 may include:

[0055] The nominal angular momentum RWGr2.h_Nom of the large angular momentum momentum gear train is calculated using the following formula:

[0056] RWGr2.h_Nom= RWGr2.Cbs× RWGr2.Dsb ×([-I xx ×ω;0;0]-RW2[err].Vbs× h_Est);

[0057] Among them, RWGr2.Cbs is the conversion matrix from the large angular momentum momentum wheel system to the satellite system, and the vector corresponding to the failed angular momentum wheel is 0; RWGr2.Dsb is the conversion matrix from the satellite system to the large angular momentum momentum wheel system; I xx is the moment of inertia of the load platform on the xx rotation axis; ω is the x-axis speed at the track height; RW2[err].Vbs is the installation vector of the failed angular momentum wheel; h_Est is the real-time angular momentum of the failed angular momentum wheel;

[0058] The target angular momentum of the residual angular momentum wheel is calculated using the following formula:

[0059] RW2[i].h_Nom= RWGr2.Dsb×RWGr2.h_Nom

[0060] Among them, RW2[i].h_Nom is the target angular momentum of the i-th residual angular momentum wheel.

[0061] In one embodiment of the present invention, in order to ensure the control capability of the large angular momentum gear train over the direction of the rotation axis, RWGr2.Dsb is calculated as follows:

[0062] If all large angular momentum wheels are valid, RWGr2.Dsb is calculated as follows:

[0063] RWGr2.Dsb= RWGr2.Cbs T ×( RWGr2.Cbs× RWGr2.Cbs T ) -1 ;

[0064] If there is a failed angular momentum wheel in the large angular momentum wheel train, the row vector of RWGr2.Dsb corresponding to the effective angular momentum wheel is [1 / 2 / cos(ang),0,0], and the row vector of RWGr2.Dsb corresponding to the failed angular momentum wheel is [0,0,0]; where ang is the angle between the installation axis of the large angular momentum wheel and the direction of the rotation axis.

[0065] Therefore, RWGr2.Dsb can be calculated according to whether there is a failed angular momentum wheel in the large angular momentum momentum gear train.

[0066] A3: Use the satellite control system to control the residual angular momentum wheel from the angular momentum measurement value to the target angular momentum in a closed loop.

[0067] After determining the target angular momentum assigned to each residual angular momentum wheel, the residual angular momentum wheel can be controlled from the angular momentum measurement value to the target angular momentum in a closed loop, thereby feedforward compensating the load platform rotation angular momentum and forming the whole star zero momentum.

[0068] In the embodiment of the present invention, a large torque momentum gear train is used to compensate for the non-rotating shaft angular momentum generated by a large angular momentum momentum gear train, specifically, the following steps B1-B2 are included:

[0069] B1: Determine the true angular momentum of the large angular momentum gear train system and the nominal angular momentum of the large moment momentum gear train system;

[0070] Taking the case where the number of large angular momentum wheels is 3 and the number of large moment momentum wheels is 4 as an example, the real angular momentum RWGr2.h of the large angular momentum momentum wheel system and the nominal angular momentum RWGr.h_Nom of the large moment momentum wheel system are calculated by the following formula:

[0071] RWGr2.h = RW2.Cbs×[ RW2[0].h; RW2[1].h; RW2[2].h];

[0072] RWGr.h_Nom=RWGr.Cbs×[RW[0].h_Nom;RW[1].h_Nom;RW[2].h_Nom;RW[3].h_Nom]-[0; RWGr2.h [1]; RWGr2.h [2]];

[0073] Among them, RW2.Cbs is the conversion matrix of the large angular momentum wheel system to the satellite main system. When any large angular momentum wheel fails, the vector of the corresponding wheel is reset to zero; RW2[i].h is the angular momentum measurement value of the i-th large angular momentum wheel, i=0, 1, 2; RW[j].h_Nom is the nominal angular momentum set for the j-th high torque wheel system considering the large angular momentum wheel pulling torque, j=0, 1, 2, 3. The high torque wheel system compensates the components RWGr2.h [1] and RWGr2.h [2] of RWGr2.h on the second and third axes.

[0074] B2: Determine the nominal angular momentum allocated to each high-torque momentum wheel based on the real angular momentum of the large-angular-momentum momentum wheel system and the nominal angular momentum of the large-torque momentum wheel system.

[0075] The nominal angular momentum assigned to each high-torque momentum wheel is calculated using the following formula:

[0076] RWGr.FFh_Nom= - RWGr.Dsb× [0; RWGr2.h [1]; RWGr2.h [2]];

[0077] RW[j].h_Nom = RW[j].h_Nom_n +RWGr.FFh_Nom[j];

[0078] Among them, RWGr.FFh_Nom is an intermediate parameter; RWGr.Dsb is the conversion matrix from the large torque momentum gear train to this system, RW[j].h_Nom is the nominal angular momentum assigned to the jth large torque momentum wheel, and RW[j].h_Nom_n is the nominal angular momentum set for the large torque momentum gear train without considering the pulling torque of the large angular momentum momentum wheel.

[0079] In the embodiment of the present invention, when there is a failed angular momentum wheel in the large angular momentum momentum wheel train, the real-time angular momentum of the failed angular momentum wheel is estimated according to the multi-order fitting method of the friction torque, and is included in the estimation of the angular momentum of the whole star, and then compensated to the speed control target angular momentum of the remaining angular momentum wheels, so as to avoid reading a sudden change in speed to cause erroneous jet injection when the large angular momentum momentum wheel fails, and at the same time ensure that a smooth attitude transition is achieved during the speed decline process of the failed angular momentum wheel.

[0080] 2. There is a failed torque wheel in the high torque-momentum gear train

[0081] When there is a failed torque wheel in the large torque momentum gear train, a new target angular momentum can be established for the large angular momentum momentum gear train. The large torque momentum gear train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum gear train to achieve zero momentum control of the entire star.

[0082] In the embodiment of the present invention, the whole satellite control can be performed in the following manner:

[0083] When it is determined that there is a failed torque wheel in the large torque-momentum gear train, the large angular momentum momentum wheel is planned as follows:

[0084] The maneuvering direction RWGr2.E_RC is planned as follows:

[0085] RWGr2.E_RC = RWGr2.Δh / norm(RWGr2.Δh);

[0086] Among them, RWGr2.Δh is the deviation of the synthetic angular momentum of the large angular momentum momentum wheel from the nominal value; norm is the modulo operation;

[0087] The maneuvering speed RWGr2.h_Nom_RC and maneuvering time Cnt_Rcplan are planned as follows:

[0088] RWGr2.h_Nom_RC= RWGr2.h-RWGr2.E_RC× RWGr2.Lmt_dΔh;

[0089] Cnt_Rcplan =floor (norm(RWGr2.Δh) / RWGr2.Lmt_dΔh);

[0090] Among them, RWGr2.h is the real angular momentum of the large angular momentum momentum train, RWGr2.Lmt_dΔh is the planning step length; floor is the rounding down operation;

[0091] Complete planning trajectory tracking in each cycle:

[0092] RWGr2.h_Nom_RC=RWGr2.h_Nom_RC_last-RWGr2.E_RC×RWGr2.Lmt_dΔh;

[0093] Cnt_Rcplan= Cnt_Rcplan-1;

[0094] RW2[i].h_Nom=RWGr2.Dsb×(RWGr2.h_Nom_RC);

[0095] Among them, RWGr2.h_Nom_RC_last is the maneuvering rate of the previous cycle; RW2[i].h_Nom is the new target angular momentum of the i-th large angular momentum momentum wheel; RWGr2.Dsb is the conversion matrix from the satellite system to the large angular momentum momentum wheel system.

[0096] In the embodiment of the present invention, when it is determined that there is a failed torque wheel in the large torque momentum wheel train, a new target angular momentum is established for the large angular momentum momentum wheel train, so that the large angular momentum momentum wheel train forms a component in a plane perpendicular to the rotational angular momentum of the load, and the real-time target angular momentum is planned based on the initial target angular momentum direction during the speed (angular momentum) control process of the large angular momentum momentum wheel, so as to avoid the inconsistency of the speed control time of each axis of the satellite system, resulting in the angular momentum of the large torque momentum wheel deviating from the expected value. Finally, the angular momentum change caused by the speed (angular momentum) control of the large angular momentum momentum wheel is absorbed by the large torque momentum wheel train, thereby establishing an angular momentum bias for the remaining single large torque momentum wheel to avoid long-term low-speed operation.

[0097] Please refer to Figure 2 The embodiment of the present invention provides a fault-tolerant momentum gear train control device, the device comprising:

[0098] The determination unit 200 is used to determine, based on the envelope capability of the satellite platform in advance, a momentum wheel configuration scheme and a configuration scheme that meet the envelope capability; the envelope capability includes angular momentum envelope capability and control torque envelope capability; the configuration scheme is: equipping at least three large angular momentum momentum wheel trains and equipping at least four large torque momentum wheel trains;

[0099] The control unit 202 is used to use the determined momentum wheel configuration scheme and configuration scheme to perform the whole satellite control process: if it is determined that there is a failed angular momentum wheel in the large angular momentum momentum wheel train, the target angular momentum of the remaining angular momentum wheels is used to feedforward compensate the rotation angular momentum of the load platform to form the zero momentum of the whole satellite, and the large torque momentum wheel train is used to compensate the non-rotating axis angular momentum generated by the large angular momentum momentum wheel train; if it is determined that there is a failed torque wheel in the large torque momentum wheel train, a new target angular momentum is established for the large angular momentum momentum wheel train, and the large torque momentum wheel train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum wheel train to achieve zero momentum control of the whole satellite.

[0100] In one embodiment of the present invention, when the control unit executes the method of using the target angular momentum of the residual angular momentum wheel to feedforward compensate the rotation angular momentum of the load platform to form the zero momentum of the whole satellite, it specifically includes: estimating the real-time angular momentum of the failed angular momentum wheel according to the multi-order fitting method of the friction torque; determining the target angular momentum of the residual angular momentum wheel according to the real-time angular momentum of the failed angular momentum wheel; and controlling the closed-loop control of the residual angular momentum wheel from the angular momentum measurement value to the target angular momentum by using the satellite control system.

[0101] In one embodiment of the present invention, when the control unit executes the method of estimating the real-time angular momentum of the failed angular momentum wheel according to the multi-order fitting method of the friction torque, the method specifically includes:

[0102] S1: determining the real-time angular momentum of the failed angular momentum wheel in the previous control cycle; if the failed angular momentum wheel fails in the current control cycle, the real-time angular momentum before the failure is used as the real-time angular momentum in the previous control cycle;

[0103] S2: Calculate the real-time angular momentum h_Est of the failed angular momentum wheel in the current control cycle using the following formula:

[0104] h_Est=h_Est_last-(Mdf_FricM2×Mdf_UT×h_Est_last×h_Est_last×sgn(h_Est_last)+Mdf_FricM×Mdf_UT×h_Est_last + Mdf_FricS×Mdf_UT×sgn(h_Est_last))×Tc

[0105] Wherein, h_Est_last is the real-time angular momentum of the failed angular momentum wheel in the previous control cycle, and the initial value is the last measured value before the momentum wheel failed; Mdf_UT is the torque-voltage coefficient of the large angular momentum momentum wheel train, Mdf_FricM2, Mdf_FricM, and Mdf_FricS are the second-order term, first-order term, and constant term of the compensation voltage corresponding to the friction torque, sgn(x) is the sign function used to calculate x, and Tc is the control period;

[0106] S3: Using the real-time angular momentum in the current control cycle, enter the next control cycle and return to execute S1.

[0107] In one embodiment of the present invention, when the control unit executes the step of determining the target angular momentum of the residual angular momentum wheel, the following steps are specifically performed:

[0108] The nominal angular momentum RWGr2.h_Nom of the large angular momentum momentum gear train is calculated using the following formula:

[0109] RWGr2.h_Nom= RWGr2.Cbs× RWGr2.Dsb ×([-I xx ×ω;0;0]-RW2[err].Vbs× h_Est);

[0110] Among them, RWGr2.Cbs is the conversion matrix from the large angular momentum momentum wheel system to the satellite system, and the vector corresponding to the failed angular momentum wheel is 0; RWGr2.Dsb is the conversion matrix from the satellite system to the large angular momentum momentum wheel system; I xx is the moment of inertia of the load platform on the xx rotation axis; ω is the x-axis speed at the track height; RW2[err].Vbs is the installation vector of the failed angular momentum wheel; h_Est is the real-time angular momentum of the failed angular momentum wheel;

[0111] The target angular momentum of the residual angular momentum wheel is calculated using the following formula:

[0112] RW2[i].h_Nom= RWGr2.Dsb×RWGr2.h_Nom

[0113] Among them, RW2[i].h_Nom is the target angular momentum of the i-th residual angular momentum wheel.

[0114] In one embodiment of the present invention, when the control unit executes the establishment of a new target angular momentum for the large angular momentum momentum train, and the large torque momentum train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum train to achieve the whole star zero momentum control, it specifically includes:

[0115] When it is determined that there is a failed torque wheel in the large torque-momentum gear train, the large angular momentum momentum wheel is planned as follows:

[0116] The maneuvering direction RWGr2.E_RC is planned as follows:

[0117] RWGr2.E_RC = RWGr2.Δh / norm(RWGr2.Δh);

[0118] Among them, RWGr2.Δh is the deviation of the synthetic angular momentum of the large angular momentum momentum wheel from the nominal value; norm is the modulo operation;

[0119] The maneuvering speed RWGr2.h_Nom_RC and maneuvering time Cnt_Rcplan are planned as follows:

[0120] RWGr2.h_Nom_RC= RWGr2.h-RWGr2.E_RC× RWGr2.Lmt_dΔh;

[0121] Cnt_Rcplan =floor (norm(RWGr2.Δh) / RWGr2.Lmt_dΔh);

[0122] Among them, RWGr2.h is the real angular momentum of the large angular momentum momentum train, RWGr2.Lmt_dΔh is the planning step length; floor is the rounding down operation;

[0123] Complete planning trajectory tracking in each cycle:

[0124] RWGr2.h_Nom_RC=RWGr2.h_Nom_RC_last-RWGr2.E_RC×RWGr2.Lmt_dΔh;

[0125] Cnt_Rcplan= Cnt_Rcplan-1;

[0126] RW2[i].h_Nom=RWGr2.Dsb × (RWGr2.h_Nom_RC);

[0127] Among them, RWGr2.h_Nom_RC_last is the maneuvering rate of the previous cycle; RW2[i].h_Nom is the new target angular momentum of the i-th large angular momentum momentum wheel; RWGr2.Dsb is the conversion matrix from the satellite system to the large angular momentum momentum wheel system.

[0128] In one embodiment of the present invention, RWGr2.Dsb is calculated as follows:

[0129] If all large angular momentum wheels are valid, RWGr2.Dsb is calculated as follows:

[0130] RWGr2.Dsb= RWGr2.Cbs T ×( RWGr2.Cbs× RWGr2.Cbs T ) -1 ;

[0131] If there is a failed angular momentum wheel in the large angular momentum wheel train, the row vector of RWGr2.Dsb corresponding to the effective angular momentum wheel is [1 / 2 / cos(ang),0,0], and the row vector of RWGr2.Dsb corresponding to the failed angular momentum wheel is [0,0,0]; where ang is the angle between the installation axis of the large angular momentum wheel and the direction of the rotation axis.

[0132] It should be noted that the fault-tolerant momentum gear train control device provided in the above embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the fault-tolerant momentum gear train control device provided in the above embodiment and the fault-tolerant momentum gear train control method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0133] The embodiment of the present application also provides a computer device, please refer to Figure 3 The computer device includes a processor and a memory, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the fault-tolerant momentum gear train control method provided by the above-mentioned method embodiments.

[0134] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the fault-tolerant momentum gear train control method provided by the above-mentioned method embodiments.

[0135] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the fault-tolerant momentum gear train control method described in any of the above embodiments.

[0136] For the convenience of description, the above system or device is described by dividing it into various modules or units according to its functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0137] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0138] Finally, it should be noted that, in this article, relational terms such as first, second, third and fourth are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0139] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A fault-tolerant momentum gear train control method, characterized in that: The method comprises: Based on the envelope capability of the satellite platform, a momentum wheel configuration scheme and a configuration scheme that meet the envelope capability are determined in advance; the envelope capability includes angular momentum envelope capability and control torque envelope capability; the configuration scheme is: equipped with at least three large angular momentum momentum wheel trains and equipped with at least four large torque momentum wheel trains; In the process of controlling the whole satellite using the determined momentum wheel configuration scheme and configuration scheme: If it is determined that there is a failed angular momentum wheel in the large angular momentum momentum wheel train, the target angular momentum of the remaining angular momentum wheel is used to feedforward compensate the rotational angular momentum of the load platform to form the zero momentum of the whole star, and the large torque momentum wheel train is used to compensate the non-rotational axis angular momentum generated by the large angular momentum momentum wheel train; If it is determined that there is a failed torque wheel in the large torque momentum gear train, a new target angular momentum is established for the large angular momentum momentum gear train, and the large torque momentum gear train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum gear train to achieve zero momentum control of the whole star; The method of using the target angular momentum of the residual angular momentum wheel to feedforward and compensate the rotational angular momentum of the load platform to form the zero momentum of the whole satellite includes: estimating the real-time angular momentum of the failed angular momentum wheel in a multi-order fitting manner of the friction torque; determining the target angular momentum of the residual angular momentum wheel according to the real-time angular momentum of the failed angular momentum wheel; and controlling the closed-loop control of the residual angular momentum wheel from the angular momentum measurement value to the target angular momentum by using the satellite control system; The method of estimating the real-time angular momentum of the failed angular momentum wheel by multi-order fitting of the friction torque includes: S1: determining the real-time angular momentum of the failed angular momentum wheel in the previous control cycle; if the failed angular momentum wheel fails in the current control cycle, the real-time angular momentum before the failure is used as the real-time angular momentum in the previous control cycle; S2: Calculate the real-time angular momentum h_Est of the failed angular momentum wheel in the current control cycle using the following formula: h_Est=h_Est_last-(Mdf_FricM2×Mdf_UT×h_Est_last×h_Est_last×sgn(h_Est_last)+Mdf_FricM×Mdf_UT×h_Est_last + Mdf_FricS×Mdf_UT×sgn(h_Est_last)) ×Tc Wherein, h_Est_last is the real-time angular momentum of the failed angular momentum wheel in the previous control cycle, the initial value is the last measured value before the momentum wheel failed, Mdf_UT is the torque-voltage coefficient of the large angular momentum momentum wheel train, Mdf_FricM2, Mdf_FricM, Mdf_FricS are the second-order term, first-order term and constant term of the compensation voltage corresponding to the friction torque, sgn(x) is the sign function used to calculate x, and Tc is the control period; S3: Using the real-time angular momentum in the current control cycle, enter the next control cycle and return to execute S1.

2. The method according to claim 1, characterized in that Determining the target angular momentum of the residual angular momentum wheel comprises: The nominal angular momentum RWGr2.h_Nom of the large angular momentum momentum gear train is calculated using the following formula: RWGr2.h_Name= RWGr2.Cbs× RWGr2.Dsb ×([-I xx ×ω;0;0]-RW2[err].Vbs× h_Est); Among them, RWGr2.Cbs is the conversion matrix from the large angular momentum momentum wheel system to the satellite system, and the vector corresponding to the failed angular momentum wheel is 0; RWGr2.Dsb is the conversion matrix from the satellite system to the large angular momentum momentum wheel system; I xx is the moment of inertia of the load platform on the xx rotation axis; ω is the x-axis speed at the track height; RW2[err].Vbs is the installation vector of the failed angular momentum wheel; h_Est is the real-time angular momentum of the failed angular momentum wheel; The target angular momentum of the residual angular momentum wheel is calculated using the following formula: RW2[i].h_Nom= RWGr2.Dsb×RWGr2.h_Nom; Among them, RW2[i].h_Nom is the target angular momentum of the i-th residual angular momentum wheel.

3. The method according to claim 1, characterized in that The new target angular momentum is established for the large angular momentum momentum train, and the large torque momentum train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum train to achieve zero momentum control of the whole star, including: When it is determined that there is a failed torque wheel in the large torque-momentum gear train, the large angular momentum momentum wheel is planned as follows: The maneuvering direction RWGr2.E_RC is planned as follows: RWGr2.E_RC = RWGr2.Δh / norm(RWGr2.Δh); Among them, RWGr2.Δh is the deviation of the synthetic angular momentum of the large angular momentum momentum wheel from the nominal value; norm is the modulo operation; The maneuvering speed RWGr2.h_Nom_RC and maneuvering time Cnt_Rcplan are planned as follows: RWGr2.h_Nom_RC= RWGr2.h-RWGr2.E_RC× RWGr2.Lmt_dΔh; Cnt_Rcplan =floor (norm(RWGr2.Δh) / RWGr2.Lmt_dΔh); Among them, RWGr2.h is the real angular momentum of the large angular momentum momentum train, RWGr2.Lmt_dΔh is the planning step length; floor is the rounding down operation; Complete planning trajectory tracking in each cycle: RWGr2.h_Nom_RC=RWGr2.h_Nom_RC_last-RWGr2.E_RC×RWGr2.Lmt_dΔh; Cnt_Rcplan= Cnt_Rcplan-1; RW2[i].h_Nom=RWGr2.Dsb×(RWGr2.h_Nom_RC); Among them, RWGr2.h_Nom_RC_last is the maneuvering rate of the previous cycle; RW2[i].h_Nom is the new target angular momentum of the i-th large angular momentum momentum wheel; RWGr2.Dsb is the conversion matrix from the satellite system to the large angular momentum momentum wheel system.

4. The method according to claim 2 or 3, characterized in that: RWGr2.Dsb is calculated as: If all large angular momentum wheels are valid, RWGr2.Dsb is calculated as follows: RWGr2.Dsb= RWGr2.Cbs T ×( RWGr2.Cbs× RWGr2.Cbs T ) -1 ; If there is a failed angular momentum wheel in the large angular momentum wheel train, the row vector of RWGr2.Dsb corresponding to the effective angular momentum wheel is [1 / 2 / cos(ang),0,0], and the row vector of RWGr2.Dsb corresponding to the failed angular momentum wheel is [0,0,0]; where ang is the angle between the installation axis of the large angular momentum wheel and the direction of the rotation axis.

5. A fault-tolerant momentum gear train control device, characterized in that: The device comprises: A determination unit is used to determine, based on the envelope capability of the satellite platform in advance, a momentum wheel configuration scheme and a configuration scheme that meet the envelope capability; the envelope capability includes angular momentum envelope capability and control torque envelope capability; the configuration scheme is: equipped with at least three large angular momentum momentum wheel trains and equipped with at least four large torque momentum wheel trains; A control unit is used for performing the whole-satellite control process using the determined momentum wheel configuration scheme and configuration scheme: if it is determined that there is a failed angular momentum wheel in the large angular momentum momentum wheel train, the target angular momentum of the remaining angular momentum wheels is used to feedforward compensate the rotational angular momentum of the load platform to form the whole-satellite zero momentum, and the large torque momentum wheel train is used to compensate the non-rotating axis angular momentum generated by the large angular momentum momentum wheel train; if it is determined that there is a failed torque wheel in the large torque momentum wheel train, a new target angular momentum is established for the large angular momentum momentum wheel train, and the large torque momentum wheel train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum wheel train to achieve the whole-satellite zero momentum control; When the control unit executes the feedforward compensation of the rotational angular momentum of the load platform using the target angular momentum of the residual angular momentum wheel to form the zero momentum of the whole satellite, the control unit specifically includes: estimating the real-time angular momentum of the failed angular momentum wheel according to the multi-order fitting method of the friction torque; determining the target angular momentum of the residual angular momentum wheel according to the real-time angular momentum of the failed angular momentum wheel; and controlling the closed-loop control of the residual angular momentum wheel from the angular momentum measurement value to the target angular momentum by using the satellite control system; When the control unit executes the method of estimating the real-time angular momentum of the failed angular momentum wheel according to the multi-order fitting method of the friction torque, the control unit specifically includes: S1: determining the real-time angular momentum of the failed angular momentum wheel in the previous control cycle; if the failed angular momentum wheel fails in the current control cycle, the real-time angular momentum before the failure is used as the real-time angular momentum in the previous control cycle; S2: Calculate the real-time angular momentum h_Est of the failed angular momentum wheel in the current control cycle using the following formula: h_Est=h_Est_last-(Mdf_FricM2×Mdf_UT×h_Est_last×h_Est_last×sgn(h_Est_last)+Mdf_FricM×Mdf_UT×h_Est_last + Mdf_FricS×Mdf_UT×sgn(h_Est_last)) ×Tc Wherein, h_Est_last is the real-time angular momentum of the failed angular momentum wheel in the previous control cycle, and the initial value is the last measured value before the momentum wheel failed; Mdf_UT is the torque-voltage coefficient of the large angular momentum momentum wheel train, Mdf_FricM2, Mdf_FricM, and Mdf_FricS are the second-order term, first-order term, and constant term of the compensation voltage corresponding to the friction torque, sgn(x) is the sign function used to calculate x, and Tc is the control period; S3: Using the real-time angular momentum in the current control cycle, enter the next control cycle and return to execute S1.

6. The device according to claim 5, characterized in that When the control unit executes the step of determining the target angular momentum of the residual angular momentum wheel, the control unit specifically includes: The nominal angular momentum RWGr2.h_Nom of the large angular momentum momentum gear train is calculated using the following formula: RWGr2.h_Name= RWGr2.Cbs× RWGr2.Dsb ×([-I xx ×ω;0;0]-RW2[err].Vbs× h_Est); Among them, RWGr2.Cbs is the conversion matrix from the large angular momentum momentum wheel system to the satellite system, and the vector corresponding to the failed angular momentum wheel is 0; RWGr2.Dsb is the conversion matrix from the satellite system to the large angular momentum momentum wheel system; I xx is the moment of inertia of the load platform on the xx rotation axis; ω is the x-axis speed at the track height; RW2[err].Vbs is the installation vector of the failed angular momentum wheel; h_Est is the real-time angular momentum of the failed angular momentum wheel; The target angular momentum of the residual angular momentum wheel is calculated using the following formula: RW2[i].h_Nom= RWGr2.Dsb×RWGr2.h_Nom Among them, RW2[i].h_Nom is the target angular momentum of the i-th residual angular momentum wheel.

7. The device according to claim 5, characterized in that When the control unit executes the establishment of a new target angular momentum for the large angular momentum momentum train and the large torque momentum train absorbs the angular momentum change caused by the speed control of the large angular momentum momentum train to achieve the whole star zero momentum control, the control unit specifically includes: When it is determined that there is a failed torque wheel in the large torque-momentum gear train, the large angular momentum momentum wheel is planned as follows: The maneuvering direction RWGr2.E_RC is planned as follows: RWGr2.E_RC = RWGr2.Δh / norm(RWGr2.Δh); Among them, RWGr2.Δh is the deviation of the synthetic angular momentum of the large angular momentum momentum wheel from the nominal value; norm is the modulo operation; The maneuvering speed RWGr2.h_Nom_RC and maneuvering time Cnt_Rcplan are planned as follows: RWGr2.h_Nom_RC= RWGr2.h-RWGr2.E_RC× RWGr2.Lmt_dΔh; Cnt_Rcplan =floor (norm(RWGr2.Δh) / RWGr2.Lmt_dΔh); Among them, RWGr2.h is the real angular momentum of the large angular momentum momentum train, RWGr2.Lmt_dΔh is the planning step length; floor is the rounding down operation; Complete planning trajectory tracking in each cycle: RWGr2.h_Nom_RC=RWGr2.h_Nom_RC_last-RWGr2.E_RC×RWGr2.Lmt_dΔh; Cnt_Rcplan= Cnt_Rcplan-1; RW2[i].h_Nom=RWGr2.Dsb × (RWGr2.h_Nom_RC); Among them, RWGr2.h_Nom_RC_last is the maneuvering rate of the previous cycle; RW2[i].h_Nom is the new target angular momentum of the i-th large angular momentum momentum wheel; RWGr2.Dsb is the conversion matrix from the satellite system to the large angular momentum momentum wheel system.

8. The device according to claim 6 or 7, characterized in that RWGr2.Dsb is calculated as: If all large angular momentum wheels are valid, RWGr2.Dsb is calculated as follows: RWGr2.Dsb= RWGr2.Cbs T ×( RWGr2.Cbs× RWGr2.Cbs T ) -1 ; If there is a failed angular momentum wheel in the large angular momentum wheel train, the row vector of RWGr2.Dsb corresponding to the effective angular momentum wheel is [1 / 2 / cos(ang),0,0], and the row vector of RWGr2.Dsb corresponding to the failed angular momentum wheel is [0,0,0]; where ang is the angle between the installation axis of the large angular momentum wheel and the direction of the rotation axis.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of any one of the methods described in claims 1-4.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 4 are implemented.

11. A computer program product, characterized in that The method comprises a computer program, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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