CMG non-inductive running-in method for realizing dynamic and continuous on-satellite planning task

Abstract

The invention relates to a CMG non-inductive running-in method for achieving dynamic and continuous on-satellite planning tasks, and belongs to the field of agile satellite attitude and orbit control and autonomous planning tasks. Numbering control moment gyroscopes of the satellites, and recording the control moment gyroscopes as CMGi; cutting off the CMGi from an on-satellite control system; controlling the frame of the CMGi to move for a preset time at a preset positive angular rate; controlling the frame of the CMGi to move for a preset time at a preset negative angular rate; rotating the frame of the CMGi to 0 degree; rotating a rotor of the CMGi to a preset rotating speed; the frame of the CMGi is rotated to 0 degree again, and the rotor of the CMGi is kept at the preset rotating speed; reintroducing the CMGi into an on-satellite control system; non-inductive running-in of the CMGi is completed; according to the method provided by the invention, the dual requirements of users on sudden CMG fault handling and task planning continuity are met, and the method can be suitable for satellite design which has an autonomous task planning function and adopts a CMG group control scheme.

Description

Technical Field

[0001] The present invention belongs to the field of agile satellite attitude and orbit control and autonomous planning tasks, and relates to a CMG senseless running-in method for realizing dynamic continuity of on-board planning tasks. Background Art

[0002] Batch execution of on-orbit planned missions has become one of the main working modes of imaging satellites. The control moment gyro (CMG) that provides agile maneuverability for satellites needs to be run-in from time to time (slow-speed frame rotates at a fixed angular rate) to achieve maintenance and repair of key components, thereby improving the on-orbit reliability of the system. When applying the traditional CMG run-in method to batch satellites for autonomous mission planning, three problems were encountered:

[0003] First, the handling efficiency is low. The CMG running-in operation is initiated by an uplink command from the ground station, which requires product and system designers to develop a process and monitor the status throughout the process. The running-in process for a single CMG product generally lasts 4 to 5 hours, and only one CMG product is allowed to be run-in at a time. Therefore, when the number of satellites in orbit increases, especially when missions are performed in batches, the contradiction between the on-orbit maintenance hours increased by CMG running-in and the limited manpower of designers becomes increasingly prominent.

[0004] Second, the handling risk is high. Limited by measurement and control resources and in order to reduce risks, traditional CMG running-in is carried out in an open-loop manner and mainly overseas. Ground personnel are unable to detect and handle abnormal situations in the CMG running-in process in a timely manner, which poses a high risk.

[0005] Third, user tasks are affected. The traditional CMG running-in process requires interrupting user tasks before startup and restarting them after completion, which has a significant impact on the autonomy, continuity and completion efficiency of satellite planning tasks with long-term continuous planning and multi-satellite coordination. Summary of the invention

[0006] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and propose a CMG senseless running-in method for realizing dynamic continuity of on-board planning tasks, thereby solving the dual needs of users for sudden CMG failure handling and planning task continuity, and can be applicable to satellite designs with autonomous mission planning functions and adopting a CMG group control solution.

[0007] The solution of the present invention is:

[0008] A CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks, comprising:

[0009] Step 1: number the control moment gyro of the satellite, denoted as CMGi; wherein i is the serial number of the control moment gyro, i=1, 2, 3, 4, 5, 6;

[0010] Step 2: When a CMGi needs to be run-in, the CMGi is removed from the onboard control system; at the same time, the onboard control system controls the other five control moment gyros to continue to maintain the current satellite mission;

[0011] Step 3: Control the frame of CMGi to move at a preset positive angular rate for a preset time; and determine whether the frame of CMGi moves normally and whether the state of the onboard control system is suitable for running-in; when the frame moves normally and the state of the onboard control system is suitable for running-in, proceed to step 4; when the frame moves abnormally or the state of the onboard control system is not suitable for running-in, stop running-in and record the exit position StepNum=1;

[0012] Step 4: Control the frame of CMGi to move at a preset negative angular rate for a preset time; and determine whether the frame of CMGi moves normally and whether the state of the onboard control system is suitable for running-in; when the frame moves normally and the state of the onboard control system is suitable for running-in, proceed to step 5; when the frame moves abnormally or the state of the onboard control system is not suitable for running-in, stop running-in, and record the exit position StepNum=2;

[0013] Step 5, rotate the frame of CMGi to 0°; and after a preset time interval, determine whether the frame state of CMGi is normal and whether the state of the onboard control system is suitable for running-in; when the frame state of CMGi is normal and the state of the onboard control system is suitable for running-in, enter step 6 after a preset time interval; when the frame state of CMGi is abnormal or the state of the onboard control system is not suitable for running-in, stop running-in and record the exit position StepNum=3;

[0014] Step 6, rotate the rotor of CMGi to a preset speed; and determine whether the rotor state of CMGi is normal and whether the state of the onboard control system is suitable for running-in; when the rotor state is normal and the state of the onboard control system is suitable for running-in, enter step 7 after a preset time interval; when the rotor state is abnormal or the state of the onboard control system is not suitable for running-in, stop running-in and record the exit position StepNum=4;

[0015] Step 7, rotate the frame of CMGi to 0° again, keep the rotor of CMGi at the preset speed; reintroduce CMGi into the onboard control system; and determine whether the working mode of CMGi is normal and whether the state of the onboard control system is suitable for running-in; when the working mode of CMGi is normal and the state of the onboard control system is suitable for running-in, enter step 8 after a preset time interval; when the working mode of CMGi is abnormal or the state of the onboard control system is not suitable for running-in, stop running-in, record the exit position StepNum=5, and enter step 9;

[0016] Step 8: Complete the CMGi's sensorless running-in; the onboard control system controls the six control moment gyros to continue to maintain the current satellite mission;

[0017] Step 9: Determine at which step the running-in situation occurs based on the recorded StepNum.

[0018] In the above-mentioned CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks, in step 2, the method for determining whether CMGi needs to be run-in is:

[0019] S21, CMGi has not been introduced into the onboard control system for multiple consecutive control cycles;

[0020] S22. According to the CMG product usage specifications, CMGi needs to be maintained;

[0021] When S11 or S12 is satisfied, it is determined that CMGi needs to be run-in; otherwise, it is determined that CMGi does not need to be run-in.

[0022] In the above-mentioned CMG sensorless running-in method for realizing dynamic and continuous on-board planning tasks, in the step 2, when the satellite is currently in the solar orientation mode or the earth orientation mode, CMGi is directly cut off from the on-board control system, and the high-speed rotor is reduced from the nominal speed to 0; when the satellite is currently in a non-solar orientation mode and the earth orientation mode, after the satellite is switched to the solar orientation mode or the earth orientation mode for 1 second, CMGi is cut off from the on-board control system, and the high-speed rotor is reduced from the nominal speed to 0.

[0023] In the above-mentioned CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks, in step 3, the method for judging whether the frame of CMGi moves normally is:

[0024] S31, after the frame of CMGi moves for 10s, the difference between the rotation speed of CMGi and the expected rotation speed is within the range of ±2° / s;

[0025] S32, CMGi frame movement is normal;

[0026] When S31 and S32 are satisfied, it is determined that the frame motion of CMGi is normal; otherwise, it is determined that the frame motion of CMGi is abnormal.

[0027] In the above-mentioned CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks, in step 4, the method for judging whether the frame of CMGi moves normally is:

[0028] S41, after the frame of CMGi moves for 10s, the difference between the rotation speed of the frame of CMGi and the expected rotation speed is within the range of ±2° / s;

[0029] S42, CMGi frame movement is normal;

[0030] When S41 and S42 are satisfied, it is determined that the frame motion of CMGi is normal; otherwise, it is determined that the frame motion of CMGi is abnormal.

[0031] In the above-mentioned CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks, in step 5, the method for judging whether the CMGi framework state is normal is:

[0032] S51, the preset time interval is 90 seconds; after 90 seconds, the difference between the rotation angle of the frame of CMGi and 0° is within the range of ±1°;

[0033] S52, CMGi working mode is normal;

[0034] When S51 and S52 are satisfied, it is determined that the framework state of CMGi is normal; otherwise, it is determined that the framework state of CMGi is abnormal.

[0035] In the above-mentioned CMG non-sensing running-in method for realizing dynamic and continuous on-board planning tasks, in step 6, the method for judging whether the rotor state of CMGi is normal is:

[0036] S61, after 890s of rotor movement of CMGi, the difference between the speed of CMGi's rotor and 7680rpm is within the range of ±5rpm°;

[0037] S62, CMGi working mode is normal;

[0038] When S61 and S62 are satisfied, it is determined that the rotor state of CMGi is normal; otherwise, it is determined that the rotor state of CMGi is abnormal.

[0039] In the above-mentioned CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks, in the steps 3, 4, 5, 6 and 7, the method for judging whether the state of the on-board control system is suitable for running-in is:

[0040] S71, the system is not in jet unloading state;

[0041] S72, the current mode is the sun orientation mode, the attitude maneuvering mode, the ground orientation mode, the attitude angular velocity preset mode or the uniform ground speed tracking mode;

[0042] When S71 and S72 are satisfied, it is determined that the state of the onboard control system is suitable for running-in; otherwise, it is determined that the state of the onboard control system is not suitable for running-in.

[0043] In the above-mentioned CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks, steps 2 to 7 are executed at time intervals.

[0044] In the above-mentioned CMG seamless running-in method for realizing dynamic and continuous on-board planning tasks, the time interval between step two and step three is 3600s; the time interval between step three and step four is 5400s; the time interval between step four and step five is 5400s; the time interval between step five and step six is ​​120s; and the time interval between step six and step seven is 900s.

[0045] The beneficial effects of the present invention compared with the prior art are:

[0046] (1) The present invention is different from the traditional command-by-command running-in method. Under normal circumstances, only one command (or autonomous on-board) is required to start the running-in process. The process parameters are configurable and the program status is recorded, which greatly reduces the dependence and consumption of measurement and control resources and human resources, and improves the efficiency of on-orbit disposal.

[0047] (2) The configuration parameters in the present invention can be dynamically adjusted according to the characteristics of the on-orbit product and changes in user needs. Autonomous fault monitoring solves the problem of uncontrollable overseas operations of the traditional running-in method, improves the reliability of the running-in operation, and can quickly and effectively locate the cause and time of on-orbit running-in, the cause and time of running-in exit, and quickly analyze the current running-in status to provide a basis for subsequent analysis;

[0048] (3) The present invention is based on the dynamic interaction between the control system CMG running-in process and the autonomous mission planning parameters. When the CMG needs to be maintained on orbit, it can be processed immediately and introduced into the system in the shortest possible time. While autonomously handling CMG failures, two dynamic replannings are used to complete CMG failure repair and satellite on-orbit planning mission parameter adjustment in parallel, effectively solving the user's dual needs for sudden CMG failure handling and planning mission continuity, making rational use of resources, and ensuring user mission continuity. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a flow chart of the CMG non-sensing running-in process of the present invention. DETAILED DESCRIPTION

[0050] The present invention will be further described below in conjunction with the embodiments.

[0051] The present invention proposes a CMG non-sensing running-in method for realizing dynamic and continuous on-board planning tasks, which is defined as: without ground support, the satellite control system independently completes the running-in maintenance, running-in health management and running-in process planning task redistribution of the CMG conductive ring, which is called CMG non-sensing running-in. The characteristics of non-sensing running-in are reflected in:

[0052] 1) The response and processing time of CMG maintenance is shortened, and the on-orbit status recovery is accelerated.

[0053] 2) Faults during the running-in process can be monitored and handled autonomously.

[0054] 3) Re-plan the mission during the running-in period to ensure mission continuity and reduce the impact of CMG product maintenance on satellite use.

[0055] like Figure 1 As shown, the CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks specifically includes the following steps:

[0056] Step 1: number the control moment gyro of the satellite, denoted as CMGi; wherein i is the serial number of the control moment gyro, i=1, 2, 3, 4, 5, 6.

[0057] Step 2: When a CMGi needs to be run-in, the CMGi is removed from the onboard control system; at the same time, the onboard control system controls the other five control moment gyros to continue to maintain the current satellite mission.

[0058] The method to determine whether CMGi needs to be run-in is:

[0059] S21, CMGi has not been introduced into the onboard control system for multiple consecutive control cycles;

[0060] S22. According to the CMG product usage specifications, CMGi needs to be maintained;

[0061] When S11 or S12 is satisfied, it is determined that CMGi needs to be run-in; otherwise, it is determined that CMGi does not need to be run-in.

[0062] When the satellite is currently in the solar orientation mode or the earth orientation mode, CMGi is directly cut off from the on-board control system, and the high-speed rotor is decelerated from the nominal speed to 0; when the satellite is currently in a non-solar orientation mode or the earth orientation mode, wait for the satellite to enter the solar orientation mode or the earth orientation mode for 1 second, then CMGi is cut off from the on-board control system, and the high-speed rotor is decelerated from the nominal speed to 0.

[0063] Step 3, control the frame of CMGi to move at a preset positive angular rate for a preset time; and determine whether the frame of CMGi moves normally and whether the state of the onboard control system is suitable for running-in; when the frame moves normally and the state of the onboard control system is suitable for running-in, proceed to step 4; when the frame moves abnormally or the state of the onboard control system is not suitable for running-in, stop running-in and record the exit position StepNum=1.

[0064] The method to determine whether the CMGi frame is moving normally is:

[0065] S31. After the frame of CMGi moves for 10 seconds, the difference between the rotation speed of CMGi and the expected rotation speed is within the range of ±2° / s.

[0066] S32, CMGi frame movement is normal.

[0067] When S31 and S32 are satisfied, it is determined that the frame motion of CMGi is normal; otherwise, it is determined that the frame motion of CMGi is abnormal.

[0068] Step 4: Control the frame of CMGi to move at a preset negative angular rate for a preset time; and determine whether the frame of CMGi moves normally and whether the state of the onboard control system is suitable for running-in; when the frame moves normally and the state of the onboard control system is suitable for running-in, proceed to step 5; when the frame moves abnormally or the state of the onboard control system is not suitable for running-in, stop running-in, and record the exit position StepNum=2.

[0069] The method to determine whether the CMGi frame is moving normally is:

[0070] S41. After the frame of CMGi moves for 10 seconds, the difference between the rotation speed of the frame of CMGi and the expected rotation speed is within the range of ±2° / s.

[0071] S42, CMGi frame movement is normal.

[0072] When S41 and S42 are satisfied, it is determined that the frame motion of CMGi is normal; otherwise, it is determined that the frame motion of CMGi is abnormal.

[0073] Step 5, rotate the frame of CMGi to 0°; and after a preset time interval, determine whether the frame state of CMGi is normal and whether the state of the onboard control system is suitable for running-in; when the frame state of CMGi is normal and the state of the onboard control system is suitable for running-in, enter step 6 after a preset time interval; when the frame state of CMGi is abnormal or the state of the onboard control system is not suitable for running-in, stop running-in and record the exit position StepNum=3.

[0074] The method to determine whether the CMGi framework status is normal is:

[0075] S51, the preset time interval is 90s; after 90s, the difference between the rotation angle of the frame of CMGi and 0° is within the range of ±1°.

[0076] S52, CMGi working mode is normal.

[0077] When S51 and S52 are satisfied, it is determined that the framework state of CMGi is normal; otherwise, it is determined that the framework state of CMGi is abnormal.

[0078] Step 6. Rotate the rotor of CMGi to a preset speed; and determine whether the rotor state of CMGi is normal and whether the state of the onboard control system is suitable for running-in; when the rotor state is normal and the state of the onboard control system is suitable for running-in, enter step 7 after a preset time interval; when the rotor state is abnormal or the state of the onboard control system is not suitable for running-in, stop running-in and record the exit position StepNum=4.

[0079] The method to determine whether the rotor status of CMGi is normal is:

[0080] S61, after 890s of rotor movement of CMGi, the difference between the rotation speed of the rotor of CMGi and 7680rpm is within the range of ±5rpm°.

[0081] S62, CMGi working mode is normal.

[0082] When S61 and S62 are satisfied, it is determined that the rotor state of CMGi is normal; otherwise, it is determined that the rotor state of CMGi is abnormal.

[0083] Step 7, rotate the frame of CMGi to 0° again, keep the rotor of CMGi at the preset speed; reintroduce CMGi into the onboard control system; and determine whether the working mode of CMGi is normal and whether the state of the onboard control system is suitable for running-in; when the working mode of CMGi is normal and the state of the onboard control system is suitable for running-in, enter step 8 after a preset time interval; when the working mode of CMGi is abnormal or the state of the onboard control system is not suitable for running-in, stop running-in, record the exit position StepNum=5, and enter step 9;

[0084] Step 8: Complete the CMGi's sensorless running-in; the onboard control system controls the six control moment gyros to continue to maintain the current satellite mission;

[0085] Step 9: Determine at which step the running-in situation occurs based on the recorded StepNum.

[0086] In the design of the present invention, in step 3, step 4, step 5, step 6, and step 7, the method for judging whether the state of the onboard control system is suitable for running-in is:

[0087] S71. The system is not in jet unloading state.

[0088] S72: The current mode is the sun orientation mode, the attitude maneuvering mode, the ground orientation mode, the attitude angular velocity preset mode or the uniform ground speed tracking mode.

[0089] When S71 and S72 are satisfied, it is determined that the state of the onboard control system is suitable for running-in; otherwise, it is determined that the state of the onboard control system is not suitable for running-in.

[0090] Steps 2 to 7 are executed at time intervals. The time interval between step 2 and step 3 is 3600s; the time interval between step 3 and step 4 is 5400s; the time interval between step 4 and step 5 is 5400s; the time interval between step 5 and step 6 is 120s; and the time interval between step 6 and step 7 is 900s.

[0091] Example

[0092] When a CMG1 product of a certain satellite (with 6 CMG RealCmgNum configured and the CMG inductive running-in master switch enabled) fails, the control system of the satellite detects that the "CMG fault flag" is displayed as "fault", and the number of CMGs introduced into the system CmgNum is 5. When this phenomenon occurs for 2400 control cycles, the system automatically guides the running-in procedure to start. The specific operations are as follows:

[0093] 1. Set the "CMG non-sensing running-in master switch" to "disable".

[0094] 2. Determine that the CMG to be introduced is CMG1.

[0095] 3. The CMG1 non-sensing running-in sub-switch is read and displayed as enabled, so the CMG1 running-in process is entered through the "CMG1 running-in" described in Strategy 1, and the flag State_CMG_Maintain is updated to "yes", and the variable Num_CMG_Maintain is updated to 1. At the same time, the control software sends a status information message to the planning software to predict the non-sensing running-in fault; the planning software saves the current important characteristic parameters and performs the first re-planning according to the new mobility.

[0096] 4. During the running-in process, the control software autonomously monitors and diagnoses the state quantities and signs during the running-in process. Once an abnormality occurs, the program can be exited in time without waiting for ground personnel to find it, and the cause of the error can be recorded in the form of an error code, making the running-in process safe and controllable. The planning software receives control software messages at regular intervals until the running-in is completed.

[0097] 5. When all four stages of the CMG running-in procedure are completed, State_CMG_Maintain is updated to "No" and the variable Num_CMG_Maintain is updated to 0, indicating that the CMG1 running-in is completed normally. At this time, CMG1 has been introduced into the system (CmgNum is restored to 6).

[0098] 6. After the running-in is completed, the planning software restores the important characteristic parameters of the planning software and performs a second re-planning using the newly acquired time, orbit, maneuverability and saved mission information.

[0099] The above process lasts for 4 to 5 hours. During this process, all operations are autonomously issued and executed on the satellite. By utilizing the collaborative work of control software and planning software, the satellite reallocates and plans tasks according to its actual capabilities during the running-in period. It can complete the mission execution for the predetermined target without the user having to re-indicate the mission.

[0100] The present invention is different from the traditional instruction-by-instruction running-in method. Under normal circumstances, only one instruction (or autonomous onboard) is required to start the running-in process, and the process parameters are configurable and the program status is recorded, which greatly reduces the dependence on and consumption of measurement and control resources and human resources, and improves the efficiency of on-orbit disposal.

[0101] The configuration parameters in the present invention can be dynamically adjusted according to the characteristics of the on-orbit products and changes in user needs. Autonomous fault monitoring solves the problem of uncontrollable overseas operations of traditional running-in methods, improves the reliability of running-in operations, and can quickly and effectively locate the cause and time of on-orbit running-in, the cause and time of running-in exit, and the running-in exit time, and quickly analyze the current running-in status to provide a basis for subsequent analysis.

[0102] The present invention is based on the dynamic interaction of the control system CMG running-in process and the autonomous mission planning parameters. When the CMG needs to be maintained on orbit, it can be processed immediately and introduced into the system in the shortest time. While autonomously handling CMG failures, two dynamic replannings are used to complete CMG failure repair and satellite on-orbit planning mission parameter adjustment in parallel, effectively solving the user's dual needs for sudden CMG failure handling and planning mission continuity, making rational use of resources, and ensuring user mission continuity.

[0103] The present invention proposes a CMG non-sensing running-in method for realizing dynamic and continuous on-board planning tasks, without consuming more than one day for fault interpretation, reporting, approval, application for observation circles, and annotation of instructions one by one for multiple circles, thereby reducing the burden on designers and satellite managers, and at the same time avoiding the need for traditional satellites to start a safe mode, shut down payloads, listen to tasks, clear program control instruction areas, and other operations in the event of a CMG failure, thereby quickly restoring the CMG working state and achieving user non-sensing of the CMG running-in process.

[0104] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A CMG non-sensing running-in method for realizing dynamic and continuous on-board planning tasks, characterized by: include: Step 1: number the control moment gyro of the satellite, denoted as CMGi; wherein i is the serial number of the control moment gyro, i=1, 2, 3, 4, 5, 6; Step 2: When a CMGi needs to be run-in, the CMGi is removed from the onboard control system; at the same time, the onboard control system controls the other five control moment gyros to continue to maintain the current satellite mission; Step 3: Control the frame of CMGi to move at a preset positive angular rate for a preset time; and determine whether the frame of CMGi moves normally and whether the state of the onboard control system is suitable for running-in; when the frame moves normally and the state of the onboard control system is suitable for running-in, proceed to step 4; when the frame moves abnormally or the state of the onboard control system is not suitable for running-in, stop running-in and record the exit position StepNum=1; Step 4: Control the frame of CMGi to move at a preset negative angular rate for a preset time; and determine whether the frame of CMGi moves normally and whether the state of the onboard control system is suitable for running-in; when the frame moves normally and the state of the onboard control system is suitable for running-in, proceed to step 5; when the frame moves abnormally or the state of the onboard control system is not suitable for running-in, stop running-in, and record the exit position StepNum=2; Step 5, rotate the frame of CMGi to 0°; and after a preset time interval, determine whether the frame state of CMGi is normal and whether the state of the onboard control system is suitable for running-in; when the frame state of CMGi is normal and the state of the onboard control system is suitable for running-in, enter step 6 after a preset time interval; when the frame state of CMGi is abnormal or the state of the onboard control system is not suitable for running-in, stop running-in and record the exit position StepNum=3; Step 6, rotate the rotor of CMGi to a preset speed; and determine whether the rotor state of CMGi is normal and whether the state of the onboard control system is suitable for running-in; when the rotor state is normal and the state of the onboard control system is suitable for running-in, enter step 7 after a preset time interval; when the rotor state is abnormal or the state of the onboard control system is not suitable for running-in, stop running-in and record the exit position StepNum=4; Step 7, rotate the frame of CMGi to 0° again, keep the rotor of CMGi at the preset speed; reintroduce CMGi into the onboard control system; and determine whether the working mode of CMGi is normal and whether the state of the onboard control system is suitable for running-in; when the working mode of CMGi is normal and the state of the onboard control system is suitable for running-in, enter step 8 after a preset time interval; when the working mode of CMGi is abnormal or the state of the onboard control system is not suitable for running-in, stop running-in, record the exit position StepNum=5, and enter step 9; Step 8: Complete the CMGi's sensorless running-in; the onboard control system controls the six control moment gyros to continue to maintain the current satellite mission; Step 9: Determine at which step the running-in situation occurs based on the recorded StepNum.

2. A CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks according to claim 1, characterized in that: In step 2, the method for determining whether CMGi needs to be run-in is: S21, CMGi has not been introduced into the onboard control system for multiple consecutive control cycles; S22. According to the CMG product usage specifications, CMGi needs to be maintained; When S11 or S12 is met, it is judged that CMGi needs to be run-in; Otherwise, it is determined that CMGi does not need to be run-in.

3. A CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks according to claim 2, characterized in that: In the step 2, when the satellite is currently in the sun-orientation mode or the earth-orientation mode, CMGi is directly cut off from the onboard control system, and the high-speed rotor is decelerated from the nominal speed to 0; When the satellite is currently in non-solar orientation mode or earth orientation mode, 1 second after the satellite enters the solar orientation mode or earth orientation mode, CMGi is cut off from the onboard control system, and the high-speed rotor is decelerated from the nominal speed to 0.

4. A CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks according to claim 1, characterized in that: In step 3, the method for judging whether the frame of CMGi moves normally is as follows: S31, after the frame of CMGi moves for 10s, the difference between the rotation speed of CMGi and the expected rotation speed is within the range of ±2° / s; S32, CMGi frame movement is normal; When S31 and S32 are satisfied, it is judged that the frame motion of CMGi is normal; Otherwise, it is determined that the frame motion of CMGi is abnormal.

5. According to claim 1, a CMG non-sensing running-in method for realizing dynamic and continuous on-board planning tasks is characterized by: In step 4, the method for judging whether the frame of CMGi moves normally is as follows: S41, after the frame of CMGi moves for 10s, the difference between the rotation speed of the frame of CMGi and the expected rotation speed is within the range of ±2° / s; S42, CMGi frame movement is normal; When S41 and S42 are satisfied, it is judged that the frame motion of CMGi is normal; Otherwise, it is determined that the frame motion of CMGi is abnormal.

6. A CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks according to claim 1, characterized in that: In step 5, the method for determining whether the CMGi framework status is normal is: S51, the preset time interval is 90 seconds; after 90 seconds, the difference between the rotation angle of the frame of CMGi and 0° is within the range of ±1°; S52, CMGi working mode is normal; When S51 and S52 are satisfied, it is determined that the framework state of CMGi is normal; Otherwise, it is determined that the framework state of CMGi is abnormal.

7. A CMG non-sensing running-in method for realizing dynamic and continuous on-board planning tasks according to claim 1, characterized in that: In step 6, the method for judging whether the rotor state of CMGi is normal is: S61, after 890s of rotor movement of CMGi, the difference between the speed of CMGi's rotor and 7680rpm is within the range of ±5rpm°; S62, CMGi working mode is normal; When S61 and S62 are satisfied, it is determined that the rotor state of CMGi is normal; otherwise, it is determined that the rotor state of CMGi is abnormal.

8. The CMG non-sensing running-in method for realizing dynamic and continuous on-board planning tasks according to claim 1, characterized in that: In the steps 3, 4, 5, 6 and 7, the method for judging whether the state of the onboard control system is suitable for running-in is: S71, the system is not in jet unloading state; S72, the current mode is the sun orientation mode, the attitude maneuvering mode, the ground orientation mode, the attitude angular velocity preset mode or the uniform ground speed tracking mode; When S71 and S72 are satisfied, it is determined that the state of the onboard control system is suitable for running-in; otherwise, it is determined that the state of the onboard control system is not suitable for running-in.

9. The CMG non-sensing running-in method for realizing dynamic and continuous on-board planning tasks according to claim 1, characterized in that: Steps 2 to 7 are performed at time intervals.

10. A CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks according to claim 9, characterized in that: The time interval between step 2 and step 3 is 3600s; the time interval between step 3 and step 4 is 5400s; the time interval between step 4 and step 5 is 5400s; the time interval between step 5 and step 6 is 120s; and the time interval between step 6 and step 7 is 900s.

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