A CMG non-sensing running-in method to achieve dynamic and continuous on-board planning tasks

Abstract

The present invention relates to a CMG sensorless running-in method for realizing dynamic continuity of on-board planned tasks, belonging to the field of agile satellite attitude and orbit control and autonomous planned tasks. The method comprises the following steps: numbering the control moment gyroscopes of the satellites and recording them as CMGi; removing the CMGi from the on-board control system; controlling the frame of the CMGi to move at a preset positive angular rate for a preset time; controlling the frame of the CMGi to move at a preset negative angular rate for a preset time; rotating the frame of the CMGi to 0°; rotating the rotor of the CMGi to a preset speed; rotating the frame of the CMGi to 0° again, keeping the rotor of the CMGi at the preset speed; reintroducing the CMGi into the on-board control system; and completing the sensorless running-in of the CMGi. The method proposed by the present invention solves the dual needs of users for handling sudden CMG failures and maintaining the continuity of planned tasks, and is applicable to the design of satellites with an autonomous task planning function and adopting a CMG group control solution.

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 sensorless running-in method for realizing dynamic and continuous on-board planning tasks. Background Art

[0002] Batching planned on-orbit missions has become a primary operating mode for imaging satellites. The control moment gyros (CMGs) that provide agile maneuverability for satellites require periodic run-in (rotation at a fixed angular rate in a low-speed frame) to maintain and service key components, thereby improving system reliability on-orbit. Applying traditional CMG run-in methods to batches of satellites for autonomous mission planning presents three challenges:

[0003] First, the handling efficiency is low. The CMG run-in operation is initiated by an uplink command from the ground station, requiring product and system designers to develop a process and monitor the status throughout the process. The run-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, as the number of satellites in orbit increases, especially when missions are carried out in batches, the contradiction between the increased on-orbit maintenance hours caused by CMG run-in and the limited designer manpower becomes increasingly prominent.

[0004] Second, the handling risk is high. Due to limited measurement and control resources and to reduce risks, traditional CMG run-in is performed in an open-loop manner and primarily overseas. Ground personnel are unable to promptly detect and handle abnormalities during the CMG run-in process, resulting in a high risk.

[0005] Third, user missions are affected. The traditional CMG run-in process requires interrupting user missions before launch and restarting them after completion. This significantly impacts the autonomy, continuity, and completion efficiency of satellite planning missions involving 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 existing technology and propose a CMG non-sensing running-in method for realizing dynamic continuity of on-board planned tasks, which solves the dual needs of users for sudden CMG fault handling and continuous planned tasks, and can be applied to satellite designs with autonomous mission planning functions and adopting CMG group control solutions.

[0007] The solution of the present invention is:

[0008] A CMG non-sensing running-in method for achieving dynamic and continuous onboard mission planning includes:

[0009] Step 1: Number the control moment gyros of the satellites, denoted as CMGi; where i is the sequence number of the control moment gyros, 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 CMGi frame to move at a preset positive angular rate for a preset time; determine whether the CMGi frame is moving normally and whether the onboard control system is in a state suitable for running-in; if the frame is moving normally and the onboard control system is in a state suitable for running-in, proceed to Step 4; if the frame is not moving normally or the onboard control system is in a state not suitable for running-in, stop running-in and record the exit position StepNum = 1;

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

[0013] Step 5: Rotate the CMGi frame to 0°; and after a preset time interval, determine whether the CMGi frame status is normal and whether the onboard control system status is suitable for running-in; if the CMGi frame status is normal and the onboard control system status is suitable for running-in, proceed to Step 6 after a preset time interval; if the CMGi frame status is abnormal or the onboard control system status 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 status of CMGi is normal and whether the onboard control system status is suitable for running-in; if the rotor status is normal and the onboard control system status is suitable for running-in, proceed to Step 7 after a preset time interval; if the rotor status is abnormal or the onboard control system status is not suitable for running-in, stop running-in and record the exit position StepNum = 4;

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

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

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

[0018] In the above-mentioned CMG non-sensing 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 were not introduced into the onboard control system for multiple consecutive control cycles;

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

[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 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 decelerated from the nominal speed to 0; when the satellite is currently in the non-solar orientation mode and the earth orientation mode, after the satellite enters 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 decelerated 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 determining whether the CMGi frame moves normally is:

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

[0025] The frame motion of S32 and CMGi 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 determining whether the frame of CMGi is moving normally is:

[0028] S41, after the CMGi frame moves for 10 seconds, the difference between the rotation speed of the CMGi frame 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 status is normal is:

[0032] S51, the preset time interval is 90 seconds; after 90 seconds, the difference between the rotation angle of the CMGi frame 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 sensorless running-in method for realizing dynamic and continuous on-board planning missions, in step 6, the method for determining whether the rotor state of CMGi is normal is:

[0036] S61, after 890s of rotor movement of CMGi, the difference between the rotation speed of CMGi 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 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 the jet unloading state;

[0041] S72: The current mode is the sun orientation mode, attitude maneuvering mode, ground orientation mode, attitude angular velocity preset mode, or 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 non-sensing 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 differs from the traditional instruction-by-instruction run-in method. Under normal circumstances, only one instruction (or autonomous onboard) is required to initiate the run-in process. Furthermore, the process parameters are configurable and the program status is recorded. This greatly reduces the reliance on 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 in 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 quickly analyze the current running-in status to provide a basis for subsequent analysis.

[0048] (3) Based on the dynamic interaction between the control system CMG running-in process and autonomous mission planning parameters, the present invention enables immediate processing and introduction of CMG maintenance in orbit when it is needed. While autonomously handling CMG failures, the present invention utilizes two dynamic replanning steps to concurrently complete CMG failure repair and satellite on-orbit mission parameter adjustments. This effectively addresses the user's dual needs for handling sudden CMG failures and maintaining mission planning continuity, rationally utilizing resources, and ensuring mission continuity for users. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0051] This invention proposes a CMG sensorless running-in method that achieves dynamic and continuous onboard planning tasks. This method is defined as: without ground support, the satellite control system autonomously completes the running-in maintenance, running-in health management, and running-in process planning task redistribution of the CMG conductive ring. This method is called CMG sensorless running-in. The characteristics of sensorless running-in are as follows:

[0052] 1) The response and processing time for 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 in FIG, a CMG senseless running-in method for realizing dynamic and continuous on-board planning tasks includes the following steps:

[0056] Step 1: Number the control moment gyros of the satellites, denoted as CMGi; where i is the sequence number of the control moment gyros, 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 were not introduced into the onboard control system for multiple consecutive control cycles;

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

[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 Sun-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 the non-Sun-orientation mode or the Earth-orientation mode, CMGi is cut off from the on-board control system 1 second after the satellite enters the Sun-orientation mode or the Earth-orientation mode, and the high-speed rotor is decelerated from the nominal speed to 0.

[0063] Step 3: Control the CMGi frame to move at a preset positive angular rate for a preset time; and determine whether the CMGi frame moves normally and whether the onboard control system is in a state suitable for running-in; when the frame moves normally and the onboard control system is in a state suitable for running-in, proceed to step 4; when the frame moves abnormally or the onboard control system is in a state 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 CMGi frame moves for 10 seconds, the difference between the CMGi rotation speed 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 CMGi frame moves for 10 seconds, the difference between the rotation speed of the CMGi frame 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 CMGi frame to 0°; and after a preset time interval, determine whether the CMGi frame status is normal and whether the onboard control system status is suitable for running-in; when the CMGi frame status is normal and the onboard control system status is suitable for running-in, proceed to step 6 after a preset time interval; when the CMGi frame status is abnormal or the onboard control system status 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 90 seconds. After 90 seconds, the difference between the rotation angle of the CMGi frame and 0° is within the range of ±1°.

[0076] S52 and CMGi work in normal mode.

[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 status of CMGi is normal and whether the status of the onboard control system is suitable for running-in; when the rotor status is normal and the status of the onboard control system is suitable for running-in, proceed to step 7 after a preset time interval; when the rotor status is abnormal or the status 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 CMGi rotor status is normal is:

[0080] S61, after the rotor of CMGi moves for 890s, 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 CMGi frame to 0° again, keeping the CMGi rotor at the preset speed; reintroduce the CMGi into the onboard control system; and determine whether the CMGi's working mode is normal and whether the onboard control system is in a state suitable for running-in; if the CMGi's working mode is normal and the onboard control system is in a state suitable for running-in, proceed to Step 8 after a preset time interval; if the CMGi's working mode is abnormal or the onboard control system is in a state not suitable for running-in, stop the running-in, record the exit position StepNum = 5, and proceed to Step 9;

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

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

[0086] In the design of the present invention, in steps 3, 4, 5, 6, and 7, the method for determining 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, attitude maneuvering mode, ground orientation mode, attitude angular velocity preset mode, or 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 timed intervals. The time interval between step 2 and step 3 is 3600 seconds; the time interval between step 3 and step 4 is 5400 seconds; the time interval between step 4 and step 5 is 5400 seconds; the time interval between step 5 and step 6 is 120 seconds; and the time interval between step 6 and step 7 is 900 seconds.

[0091] Example

[0092] When a CMG1 product of a certain satellite (configured with 6 CMG RealCmgNum and the CMG sensorless running-in master switch enabled) fails, the satellite's control system 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 starts the running-in procedure. The specific operation is 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 run-in sub-switch is read and displayed as enabled. Therefore, the CMG1 run-in process begins via Strategy 1's "CMG1 Run-in" procedure. The State_CMG_Maintain flag is updated to "Yes," and the variable Num_CMG_Maintain is updated to 1. Simultaneously, the control software sends a status message to the planning software, providing a run-in fault prediction. The planning software saves the current key characteristic parameters and performs the first replanning based on the new maneuverability.

[0096] 4. During the run-in process, the control software autonomously monitors and diagnoses status variables and flags. If an anomaly occurs, it exits the program immediately without waiting for ground personnel to detect it. The cause of the error is recorded as an error code, ensuring a safe and controllable run-in process. The planning software periodically receives messages from the control software until the run-in is complete.

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

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

[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 execution of tasks for predetermined targets without the user having to re-enter the tasks.

[0100] This invention is different from the traditional instruction-by-instruction running-in method. Under normal circumstances, only one instruction (or autonomous on-board) 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 product 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 quickly analyze the current running-in status to provide a basis for subsequent analysis.

[0102] This system leverages the dynamic interaction between the control system's CMG run-in process and autonomous mission planning parameters. When a CMG requires on-orbit care or maintenance, it can be immediately addressed and introduced into the system in the shortest possible time. While autonomously handling CMG failures, it utilizes two dynamic replanning steps to concurrently complete CMG fault repair and adjust satellite on-orbit mission planning parameters. This effectively addresses the dual needs of users for handling sudden CMG failures and maintaining mission continuity, rationally utilizing resources, and ensuring mission continuity.

[0103] The present invention proposes a CMG run-in method for realizing dynamic and continuous on-board planning tasks without any feeling. It does not need to consume 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. At the same time, it avoids the need for traditional satellites to start safety mode, shut down payloads, listen to tasks, clear program control instruction areas and other operations in the event of a CMG failure, quickly restores the CMG working state, and makes users feel no need for the CMG run-in process.

[0104] Although the present invention has been disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solutions 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 solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. A CMG non-sensing running-in method for achieving dynamic and continuous onboard planning tasks, characterized by: include: Step 1: Number the control moment gyros of the satellites, denoted as CMGi; where i is the sequence number of the control moment gyros, 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 CMGi frame to move at a preset positive angular rate for a preset time; determine whether the CMGi frame is moving normally and whether the onboard control system is in a state suitable for running-in; if the frame is moving normally and the onboard control system is in a state suitable for running-in, proceed to Step 4; if the frame is not moving normally or the onboard control system is in a state not suitable for running-in, stop running-in and record the exit position StepNum = 1; Step 4: Control the CMGi frame to move at a preset negative angular rate for a preset time; and determine whether the CMGi frame moves normally and whether the onboard control system is in a state suitable for running-in; if the frame moves normally and the onboard control system is in a state suitable for running-in, proceed to step 5; if the frame moves abnormally or the onboard control system is in a state not suitable for running-in, stop running-in, and record the exit position StepNum = 2; Step 5: Rotate the CMGi frame to 0°; and after a preset time interval, determine whether the CMGi frame status is normal and whether the onboard control system status is suitable for running-in; if the CMGi frame status is normal and the onboard control system status is suitable for running-in, proceed to Step 6 after a preset time interval; if the CMGi frame status is abnormal or the onboard control system status 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 status of CMGi is normal and whether the onboard control system status is suitable for running-in; if the rotor status is normal and the onboard control system status is suitable for running-in, proceed to Step 7 after a preset time interval; if the rotor status is abnormal or the onboard control system status is not suitable for running-in, stop running-in and record the exit position StepNum = 4; Step 7: Rotate the CMGi frame to 0° again, keeping the CMGi rotor at the preset speed; reintroduce the CMGi into the onboard control system; and determine whether the CMGi's working mode is normal and whether the onboard control system is in a state suitable for running-in; if the CMGi's working mode is normal and the onboard control system is in a state suitable for running-in, proceed to Step 8 after a preset time interval; if the CMGi's working mode is abnormal or the onboard control system is in a state not suitable for running-in, stop the running-in, record the exit position StepNum = 5, and proceed to Step 9; Step 8: Complete the CMGi's sensorless running-in; the onboard control system controls the six control moment gyros to continue maintaining the current satellite mission; Step 9: Determine at which step the running-in is stopped based on the recorded StepNum.

2. A CMG non-sensing running-in method for achieving 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 were not introduced into the onboard control system for multiple consecutive control cycles; S22. According to the CMG product usage specifications, CMGi needs maintenance; When S11 or S12 is met, it is determined that CMGi needs to be run-in; Otherwise, it is determined that the CMGi does not need to be run-in.

3. The CMG non-sensing running-in method for achieving dynamic and continuous on-board planning tasks according to claim 2, characterized in that: In 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. The CMG non-sensing running-in method for achieving dynamic and continuous on-board planning tasks according to claim 1, characterized in that: In step 3, the method for determining whether the frame of CMGi is moving normally is: S31, after 10s of frame motion of CMGi, the difference between the rotation speed of CMGi and the expected rotation speed is within the range of ±2° / s; The frame motion of S32 and CMGi is normal; When S31 and S32 are satisfied, the frame motion of CMGi is judged to be normal; Otherwise, it is determined that the frame motion of CMGi is abnormal.

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

6. The CMG non-sensing running-in method for achieving 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 CMGi frame 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 status of CMGi is normal; Otherwise, it is determined that the framework status of CMGi is abnormal.

7. The CMG non-sensing running-in method for achieving dynamic and continuous on-board planning tasks according to claim 1, characterized in that: In step 6, the method for determining whether the rotor state of CMGi is normal is: S61, after 890s of rotor movement of CMGi, the difference between the rotation speed of CMGi 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 achieving dynamic and continuous on-board planning tasks according to claim 1, characterized in that: In steps 3, 4, 5, 6, and 7, the method for determining whether the onboard control system is suitable for running-in is as follows: S71, the system is not in the jet unloading state; S72: The current mode is the sun orientation mode, attitude maneuvering mode, ground orientation mode, attitude angular velocity preset mode, or 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 achieving dynamic and continuous on-board planning tasks according to claim 1, characterized in that: Steps 2 to 7 are performed at time intervals.

10. The CMG non-sensing 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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