Reconfigurable counteractive flywheel torque control system

Abstract

The reconfigurable counteraction flywheel torque control system comprises a data acquisition unit, a model construction unit, a flywheel evaluation unit, a trajectory prediction unit and a torque control unit, operation data of a counteraction flywheel and a redundant flywheel are acquired to construct a flywheel DIKW model, the data are stored, recognized and converted by using a DIKW knowledge graph, and the torque control unit is used for controlling the torque of the redundant flywheel. According to the method, the use state of each reaction flywheel can be accurately obtained, then the reaction flywheel and the redundant flywheel needing to be replaced are evaluated, then the optimal replacement node can be obtained through the moving trajectory of the spacecraft, when the reaction flywheel and the redundant flywheel are replaced by the optimal replacement node, interference to the attitude of the spacecraft can be reduced to the maximum extent, and the reliability of the spacecraft is improved. After the reaction flywheels are replaced, use of the reaction flywheels can be scheduled to be in a consistent state, the situation that use of the whole spacecraft is affected by damage caused by excessive use of one reaction flywheel is avoided, and finally normal operation of the spacecraft is achieved by controlling the torque of the reaction flywheels.

Description

Technical Field

[0001] The invention relates to the field of aerospace technology, and in particular to a reconfigurable reaction flywheel torque control system. Background Art

[0002] In the high-tech field of aerospace, the attitude control of spacecraft undoubtedly plays a vital role. Take communication satellites as an example. They must be accurately aligned with ground stations to ensure stable transmission and high-quality reception of communication signals. Astronomical observation satellites need to stably and accurately point to the observation targets so as to capture clear, accurate and scientifically valuable data. The specific attitude maintenance of the space station plays an indispensable role in ensuring the daily life order of astronauts and the smooth implementation of various scientific research experiments. Behind all this, it is highly dependent on high-precision attitude control technology. At present, among the attitude control methods of many spacecraft, reaction flywheels occupy a dominant position. They generate control torque through their own high-speed rotation, thereby effectively changing the attitude of the spacecraft. Compared with other traditional or emerging attitude control methods, reaction flywheels have shown many significant advantages. Their control accuracy can meet the strict requirements of spacecraft for attitude fine-tuning in various complex mission scenarios. In addition, the relatively low energy consumption of reaction flywheels enables spacecraft to maintain attitude stability for a longer period of time under limited energy supply conditions.

[0003] In addition to the reaction flywheel in daily working state, the spacecraft is usually equipped with redundant flywheel. The space environment is extremely complex and harsh, full of various extreme factors and unknown risks, which makes the reaction flywheel face many potential failure risks during operation. For example, the motor as the power core of the reaction flywheel may fail suddenly due to long-term high-intensity operation, electromagnetic interference or aging of mechanical parts; the bearings are prone to wear, deformation and even damage when they are subjected to the huge pressure and friction generated by the high-speed rotation of the flywheel. The key value of the redundant flywheel is that when the main flywheel (that is, the normally operating reaction flywheel) encounters the above-mentioned failure, it can quickly and seamlessly take over its work to ensure the uninterrupted operation of the spacecraft's attitude control system, thereby ensuring the safe and stable flight of the spacecraft. In the actual operation of the spacecraft, due to its internal structure layout, Due to the combined effects of multiple factors such as thermal environment distribution and the difference in forces when various components work together, the wear of reaction flywheels in different positions during operation is not completely consistent. When one of the reaction flywheels cannot continue to operate normally due to long-term accumulated excessive wear, this will have a serious negative impact on the system stability and life cycle of the entire spacecraft, and may even cause the mission of the entire spacecraft to end prematurely. Therefore, from the perspective of ideal system operation, the most ideal state is to keep the wear of each reaction flywheel as balanced as possible. In this context, redundant flywheels can be used as backup reaction flywheel resources to switch the reaction flywheels in a timely manner. Moreover, after the switch is completed, the torque of the reaction flywheel can be controlled and adjusted in a timely and accurate manner to ensure the smooth transition of the spacecraft at the attitude control level and uninterrupted normal navigation.

[0004] However, in terms of the current technological status, the existing reaction flywheel management strategy still has obvious limitations. On the one hand, the evaluation of the use status of the reaction flywheel only remains at a relatively simple and preliminary level. The adopted evaluation methods and indicator systems are difficult to fully and accurately reflect the true health status and potential risks of the flywheel. The evaluation results often have large deviations and uncertainties. On the other hand, when replacing the reaction flywheel with the redundant flywheel, there is a lack of in-depth consideration and optimization design of the replacement time node. This leads to the fact that in the actual replacement process, due to the failure to fully combine the key factors such as the spacecraft's flight attitude, mission requirements and overall system stability at that time, the replacement operation is very likely to cause a large instantaneous disturbance to the spacecraft's attitude, thereby affecting the normal operation and mission execution of the spacecraft, and may even trigger a series of chain reactions, posing a potential threat to the safety and reliability of the spacecraft. Summary of the invention

[0005] In view of this, the present invention proposes a reconfigurable reaction flywheel torque control system, which can schedule the use of the reaction flywheel and the redundant flywheel to keep the use status consistent, and the replacement process will not cause significant disturbances to the attitude of the spacecraft.

[0006] The technical solution of the present invention is achieved in this way:

[0007] A reconfigurable reaction flywheel torque control system, comprising:

[0008] A data acquisition unit, used to collect real-time operating data of the reaction flywheel, and to acquire historical operating data of the reaction flywheel and the redundant flywheel;

[0009] A model building unit, used for building a flywheel DI KW model according to performance parameters, real-time operation data, and historical operation data;

[0010] A flywheel evaluation unit, used for obtaining the usage status of the reaction flywheel and the redundant flywheel by applying the flywheel DIKW model, and determining the redundant flywheel to be replaced and the replaced reaction flywheel based on the usage status;

[0011] The trajectory prediction unit is used to predict the motion trajectory and attitude of the spacecraft and obtain the best replacement node;

[0012] A torque control unit, used for replacing the redundant flywheel to be replaced and the reaction flywheel to be replaced at the best replacement node, and performing torque feedback control on all reaction flywheels in use;

[0013] The data acquisition unit, the model building unit, the flywheel evaluation unit, the trajectory prediction unit and the torque control unit are data-connected in sequence, and the flywheel evaluation unit is data-connected to the torque control unit.

[0014] Preferably, the execution steps of the data acquisition unit include:

[0015] Step S11, arranging a sensor group on the reaction flywheel and the redundant flywheel;

[0016] Step S12, obtaining real-time operating data of the reaction flywheel in use through the sensor group, wherein the real-time operating data includes rotation speed, temperature, motor current and voltage;

[0017] Step S13, searching the working logs of the reaction flywheel and the redundant flywheel, and obtaining the historical operation data of the reaction flywheel and the redundant flywheel from the working logs, wherein the historical operation data includes the accumulated working time, the total number of rotations, and the maximum load ever borne.

[0018] Preferably, after acquiring the real-time operating data of the reaction flywheel in use, the step S12 identifies and removes abnormal data in the real-time operating data, and performs data calibration.

[0019] Preferably, the execution steps of the model building unit include:

[0020] Step S21, obtaining performance parameters of the reaction flywheel and the redundant flywheel, and mapping the performance parameters to a first type of resources, wherein the performance parameters include a maximum output torque, a moment of inertia, an allowable speed range, and an efficiency curve;

[0021] Step S22: Map the real-time operation data and the historical operation data into the second type of resources and the third type of resources respectively;

[0022] Step S23: construct a flywheel DI KW model according to the first typed resources, the second typed resources and the third typed resources.

[0023] Preferably, the first type of resources, the second type of resources and the third type of resources all include data resources, information resources, knowledge resources and wisdom resources, and the data resources, information resources, knowledge resources and wisdom resources can be converted into each other.

[0024] Preferably, the execution steps of the flywheel evaluation unit include:

[0025] Step S31, using the data layer of the flywheel DIKW model to integrate the performance parameters, real-time operation data and historical operation data;

[0026] Step S32, using the information layer of the flywheel DIKW model to perform performance indicator correlation and operation mode analysis on the integrated data;

[0027] Step S33: construct an evaluation model using the knowledge layer of the flywheel DIKW model, and evaluate the use status of the reaction flywheel and the redundant flywheel based on the performance indicator association and the operation model analysis results through the evaluation model;

[0028] Step S34, using the intelligent layer of the flywheel DIKW model to query and obtain the redundant flywheel in better use status and the reaction flywheel in worse use status according to the evaluation result, and output them as the redundant flywheel to be replaced and the reaction flywheel to be replaced.

[0029] Preferably, the evaluation model in step S33 is obtained based on analysis and training of a large amount of data and summary of expert experience.

[0030] Preferably, the execution steps of the trajectory prediction unit include:

[0031] Step S41: construct a dynamic model of the spacecraft and obtain a navigation plan of the spacecraft;

[0032] Step S42: simulating the navigation process of the spacecraft according to the dynamic model and the navigation plan, and analyzing the attitude control requirements of the spacecraft at different mission stages and orbital positions;

[0033] Step S43: Obtain a low priority time period according to the posture control requirement, and determine the best replacement node from the low priority time period.

[0034] Preferably, the specific steps of determining the best replacement node from the low priority time period in step S43 are: analyzing the posture disturbance that may be generated when each node in the low priority time period is replaced, and outputting the node with the smallest posture disturbance as the best replacement node.

[0035] Preferably, the execution steps of the torque control unit include:

[0036] Step S51: replacing the redundant flywheel to be replaced and the reaction flywheel to be replaced at the best replacement node;

[0037] Step S52, sending a torque command to all reaction flywheels in use, and after receiving the torque command, the KPI controller drives the motor of the reaction flywheel to generate torque;

[0038] Step S53, collecting the motor winding current, multiplying the motor winding current by a preset coefficient, and after removing the friction torque, feeding back to the torque command;

[0039] Step S54, collecting the motor speed, converting the motor speed into torque through a differential link, and feeding it back to the torque command;

[0040] In step S53 and step S54, a logic control switch is provided on the path from feedback data to torque command.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] ① After collecting the real-time operation data of the reaction flywheel and the historical operation data of the redundant flywheel, the DI KW knowledge graph model is used to construct the DIKW model of the reaction flywheel and the redundant flywheel, which can store, identify and convert the data. The flywheel DIKW model can accurately judge the use status of each flywheel based on the internally stored data. The use status evaluation result has high accuracy and can accurately obtain the reaction flywheel and redundant flywheel that need to be replaced;

[0043] ② After predicting the motion trajectory and attitude of the spacecraft, the best replacement node can be obtained from its running trajectory. The flywheel can be replaced at the best replacement node, thereby realizing the scheduling and use of the reaction flywheel, ensuring that the use status of the reaction flywheel remains consistent, and avoiding the normal use of the spacecraft due to excessive wear of one of the flywheels;

[0044] ③ When the flywheel is replaced at the optimal replacement node, it will not cause a large disturbance to the attitude of the spacecraft, ensuring that the spacecraft can still maintain normal operation during the entire process. At the same time, after the flywheel is replaced, the torque of the reaction flywheel is controlled and adjusted to make the replaced multiple reaction flywheels reach a balanced state. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only preferred embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 is a schematic diagram of a reconfigurable reaction flywheel torque control system of the present invention;

[0047] Figure 2 A diagram of the execution steps of a data acquisition unit of a reconfigurable reaction flywheel torque control system of the present invention;

[0048] Figure 3 A diagram of the execution steps of a model building unit of a reconfigurable reaction flywheel torque control system of the present invention;

[0049] Figure 4 A diagram of the execution steps of a flywheel evaluation unit of a reconfigurable reaction flywheel torque control system of the present invention;

[0050] Figure 5 A diagram of execution steps of an estimation prediction unit of a reconfigurable reaction flywheel torque control system of the present invention;

[0051] Figure 6 A diagram of the execution steps of a torque control unit of a reconfigurable reaction flywheel torque control system of the present invention;

[0052] Figure 7 It is a schematic diagram of torque control of a reaction flywheel by a reconfigurable reaction flywheel torque control system of the present invention;

[0053] In the figure, 1. data acquisition unit; 2. model building unit; 3. flywheel evaluation unit; 4. trajectory prediction unit; 5. torque control unit. DETAILED DESCRIPTION

[0054] In order to better understand the technical content of the present invention, a specific embodiment is provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0055] See also Figures 1 to 7 The present invention provides a reconfigurable reaction flywheel torque control system, comprising a data acquisition unit 1, a model building unit 2, a flywheel evaluation unit 3, a trajectory prediction unit 4 and a torque control unit 5 which are sequentially connected in data, wherein the flywheel evaluation unit 3 is also data-connected to the torque control unit 5. In the field of aerospace, a spacecraft uses a reaction flywheel to adjust its attitude. Since the change of attitude is not regular, the loss degree of the reaction flywheel of the spacecraft is inconsistent. In order to achieve the consistency of the loss degree of the reaction flywheel, a redundant flywheel is also provided on the spacecraft. The redundant flywheel can be replaced with the reaction flywheel during use to keep the use degree of each reaction flywheel consistent. At the same time, the redundant flywheel can also be replaced in time when the reaction flywheel fails to ensure the normal operation of the spacecraft. The data acquisition unit 1 of the present invention can collect the real-time operation data of the reaction flywheel, and can also acquire the historical operation data of the reaction flywheel and the redundant flywheel. The data acquired by the data acquisition unit 1 can be transmitted to the model building unit 2. The model building unit 2 constructs a flywheel DIKW model according to the acquired data. The introduction of KW knowledge graph into flywheel data information storage and processing can realize high-speed and precise data processing. Then the flywheel evaluation unit 3 can use the flywheel DIKW model to evaluate the use status of the reaction flywheel and the redundant flywheel, so as to obtain the use status and loss value of each flywheel. Based on the use status and loss value, the redundant flywheel with better use status and the reaction flywheel with worse use status can be quickly determined, and output as the redundant flywheel to be replaced and the reaction flywheel to be replaced. Then the trajectory prediction unit 4 can predict the motion trajectory and attitude of the spacecraft where the reaction flywheel is located. And obtain the best replacement node. When the spacecraft runs to the best replacement node, the torque control unit 5 replaces the redundant flywheel to be replaced and the reaction flywheel to be replaced. At this time, the redundant flywheel to be replaced becomes the reaction flywheel in use, and the reaction flywheel to be replaced becomes the redundant flywheel, so that the use status of the reaction flywheel in use remains consistent, avoiding the service life of the entire spacecraft being affected by excessive wear and tear of a reaction flywheel. After the reaction flywheel is replaced, the torque control unit 5 will also perform torque feedback control on the reaction flywheel so that the reaction flywheel can quickly adapt to the operation of the current spacecraft.

[0056] The data acquisition unit 1 is used to collect the real-time operation data of the reaction flywheel and obtain the historical operation data of the reaction flywheel and the redundant flywheel. The execution steps include:

[0057] Step S11, arranging a sensor group on the reaction flywheel and the redundant flywheel;

[0058] Step S12, obtaining the real-time operation data of the reaction flywheel in use through the sensor group, identifying and eliminating abnormal data in the real-time operation data, for example, the short-term spike signal collected by the speed sensor due to electromagnetic interference needs to be eliminated, and then the data is calibrated to ensure the consistency of the data of different sensors in time and space, the real-time operation data includes speed, temperature, motor current and voltage;

[0059] Step S13, searching the working logs of the reaction flywheel and the redundant flywheel, and obtaining the historical operation data of the reaction flywheel and the redundant flywheel from the working logs, wherein the historical operation data includes the accumulated working time, the total number of rotations, and the maximum load ever borne.

[0060] The main purpose of the data acquisition unit 1 is to obtain data for constructing the DI KW model, including the real-time operation data of the reaction flywheel, and the historical operation data of the reaction flywheel and the redundant flywheel. The real-time operation data can be realized by a sensor group arranged on the reaction flywheel and the redundant flywheel. The sensor group can detect the motor speed, winding current, bearing temperature and vibration frequency of the reaction flywheel, and the real-time operation data collected by the sensor group will be transmitted back to the background for storage. The stored data can be processed to obtain the operation status data of the reaction flywheel, including the cumulative working time, the total number of rotations and the maximum load ever borne, etc. These data can be further stored to form historical operation data. Therefore, the historical operation data of all reaction flywheels can be obtained through the work log.

[0061] The model building unit 2 is used to build a flywheel DI KW model according to the performance parameters, real-time operation data, and historical operation data. The execution steps include:

[0062] Step S21, obtaining performance parameters of the reaction flywheel and the redundant flywheel, and mapping the performance parameters to a first type of resources, wherein the performance parameters include a maximum output torque, a moment of inertia, an allowable speed range, and an efficiency curve;

[0063] Step S22: Map the real-time operation data and the historical operation data into the second type of resources and the third type of resources respectively;

[0064] Step S23, construct a flywheel DI KW model according to the first type of resources, the second type of resources and the third type of resources, wherein the first type of resources, the second type of resources and the third type of resources all include data resources, information resources, knowledge resources and wisdom resources, and the data resources, information resources, knowledge resources and wisdom resources can be converted into each other.

[0065] The D IKW knowledge graph is a knowledge organization and representation model built on these four levels, where D stands for data, I stands for information, K stands for knowledge, and W stands for wisdom. It is used to effectively integrate, store, and utilize knowledge. After mapping performance parameters, real-time operation data, and historical operation data into first-type resources, second-type resources, and third-type resources, respectively, the flywheel D IKW model can be constructed through the first-type resources, second-type resources, and third-type resources. The flywheel D IKW model stores the basic data of all reaction flywheels and the collected operation data. New data can be generated through the combination of basic data and operation data, such as obtaining some operation rules. At the same time, based on the basic data of the reaction flywheel, analysis methods, fault diagnosis methods, etc. can be obtained through processing. The mutual conversion and combination of the four resources contained in the typed resources can obtain some new data, thereby continuously updating the flywheel D IKW model. The content of the IKW model improves the accuracy of the results of the reaction flywheel usage status assessment. At the same time, by storing, converting and summarizing massive amounts of data, the efficiency of the evaluation calculation can be improved. In equipment such as spacecraft that require high time accuracy, it can perfectly meet its requirements.

[0066] The flywheel evaluation unit 3 is used to apply the flywheel DIKW model to obtain the use status of the reaction flywheel and the redundant flywheel, and determine the redundant flywheel to be replaced and the replaced reaction flywheel based on the use status. The execution steps include:

[0067] Step S31, using the data layer of the flywheel DIKW model to integrate the performance parameters, real-time operation data and historical operation data;

[0068] Step S32, using the information layer of the flywheel DIKW model to perform performance indicator correlation and operation mode analysis on the integrated data;

[0069] Step S33: Use the knowledge layer of the flywheel DIKW model to build an evaluation model based on a large amount of data analysis and training and expert experience summary, and use the evaluation model to evaluate the use status of the reaction flywheel and the redundant flywheel based on the performance indicator association and the operation model analysis results;

[0070] Step S34, using the intelligent layer of the flywheel DIKW model to query and obtain the redundant flywheel in better use status and the reaction flywheel in worse use status according to the evaluation result, and output them as the redundant flywheel to be replaced and the reaction flywheel to be replaced.

[0071] After constructing the flywheel DIKW model, the flywheel DIKW model can be applied to obtain the usage status of the reaction flywheel and the redundant flywheel. The flywheel DIKW model uses its internal data layer, information layer, knowledge layer and wisdom layer to realize the entire evaluation process. The data layer is used for data integration such as real-time data reference and historical data comparison. For example, real-time speed data is one of the key factors in evaluating the usage status of the reaction flywheel. If the real-time speed of a reaction flywheel frequently fluctuates within a large range and exceeds the normal control range, this may mean that there is a problem with the control system or the mechanical structure of the flywheel itself. By comparing with historical data, the usage status of the reaction flywheel can be more comprehensively evaluated. For example, by comparing the current speed change rate with the historical average speed change rate, if the current value is much higher than the historical average, it may indicate that the performance of the flywheel is declining or has been subjected to abnormal external interference.

[0072] The information layer can correlate performance indicators and analyze operating modes, and correlate and analyze various performance indicators in real-time operating data and historical operating data. For example, the temperature rise rate can be linked to changes in speed and motor power. If the temperature rise rate increases abnormally with increasing speed and motor power, it may indicate that there is a problem with the flywheel's cooling system or that internal friction increases, which will affect the flywheel's service life and current usage status. At the same time, the performance of the reaction flywheel in different operating modes (such as starting, acceleration, constant speed, deceleration, etc.) is analyzed. For example, in the acceleration stage, observe whether the rising curve of the motor current is smooth. If there is obvious jitter or the current peak is too high, it may mean that the motor's starting performance is degraded or there is a problem with the control algorithm.

[0073] The knowledge layer is used to evaluate the usage status of the reaction flywheel and the redundant flywheel. According to the set rules, if the speed change rate is greater than a certain threshold and the motor temperature exceeds the safe temperature range, it can be determined that the reaction flywheel is in an abnormal usage state. At the same time, the constructed evaluation model can predict the output torque, efficiency and other performance indicators of the reaction flywheel according to the current input parameters (such as speed, current, temperature, etc.), and compare them with the actual measured values. If the predicted value deviates greatly from the actual value, it means that the performance of the flywheel may have changed. The evaluation model is based on the analysis of a large amount of data and the summary of expert experience, and can quickly and accurately make a preliminary judgment on the status of the flywheel.

[0074] Finally, the intelligence layer is used to determine the redundant flywheels in better use status and the reaction flywheels in worse use status by status classification according to the evaluation results, and outputs the redundant flywheels to be replaced and the reaction flywheels to be replaced.

[0075] The trajectory prediction unit 4 is used to predict the motion trajectory and attitude of the spacecraft and obtain the best replacement node. The execution steps include:

[0076] Step S41: construct a dynamic model of the spacecraft and obtain a navigation plan of the spacecraft;

[0077] Step S42: simulating the navigation process of the spacecraft according to the dynamic model and the navigation plan, and analyzing the attitude control requirements of the spacecraft at different mission stages and orbital positions;

[0078] Step S43: acquiring a low priority time period according to the posture control requirement, analyzing the posture disturbance that may be generated when each node in the low priority time period is replaced, and outputting the node with the smallest posture disturbance as the best replacement node.

[0079] After determining the redundant flywheels in good condition and the reaction flywheels in poor condition, it is necessary to predict the trajectory and attitude of the spacecraft. The present invention constructs a dynamic model of the spacecraft and simulates the navigation process of the spacecraft based on the navigation plan of the spacecraft. The dynamic model takes into account the gravity of the earth (or other central celestial bodies), the perturbation of other celestial bodies (such as the gravity of the moon on the earth orbit spacecraft), atmospheric drag (for low-Earth orbit spacecraft) and solar radiation pressure. Factors such as the navigation path of the spacecraft can be accurately simulated. At the same time, according to the navigation plan, the attitude control requirements of the spacecraft in different mission stages and orbital positions can be analyzed. For example, when a communication satellite transmits signals, it is necessary to keep the antenna accurately aligned with the ground station. , which places high demands on the accuracy of attitude control; in the orbit adjustment stage, more emphasis may be placed on the rapid maneuverability of the attitude. According to these requirements, determine which time periods have a lower priority for attitude control, and obtain low-priority time periods. Then, in the low-priority time periods, further analyze each node to analyze the attitude disturbance caused to the spacecraft when the reaction flywheel is replaced at the node. By constructing an attitude dynamics model, the replacement process is simulated and the size and duration of the attitude disturbance are calculated. For example, if a reaction flywheel that plays a key role in pitch-axis control is replaced, it is necessary to evaluate the change in pitch-axis attitude during the replacement process. Finally, the node with the smallest attitude disturbance can be found in the low-priority time period, and this node is the best replacement node.

[0080] The torque control unit 5 is used to replace the redundant flywheel to be replaced and the replaced reaction flywheel at the best replacement node, and perform torque feedback control on all reaction flywheels in use; the execution steps include:

[0081] Step S51: replacing the redundant flywheel to be replaced and the reaction flywheel to be replaced at the best replacement node;

[0082] Step S52, sending a torque command to all reaction flywheels in use, and after receiving the torque command, the KPI controller drives the motor of the reaction flywheel to generate torque;

[0083] Step S53, collecting the motor winding current, multiplying the motor winding current by a preset coefficient, and after removing the friction torque, feeding back to the torque command;

[0084] Step S54, collecting the motor speed, converting the motor speed into torque through a differential link, and feeding it back to the torque command;

[0085] In step S53 and step S54, a logic control switch is provided on the path from feedback data to torque command.

[0086] After obtaining the best replacement node, when the spacecraft runs to the best replacement node, the redundant flywheel to be replaced and the reaction flywheel to be replaced can be replaced, so as to replace the reaction flywheel with poor usage, and ensure that the usage status of each reaction flywheel remains consistent. In addition, after the redundant flywheel to be replaced is replaced with the reaction flywheel for use, it is necessary to perform torque control on all the reaction flywheels in use. The present invention adopts a torque feedback adjustment method based on KPI adjustment, in which the torque command issued by the system can be directly input into the KPI regulator for adjustment. The KPI regulator can drive the motor. In addition, two feedback paths are set on the KPI regulator. The first one is to provide feedback based on the motor winding current. After collecting the motor winding current, it is multiplied by the preset coefficient. In order to improve the control accuracy, the link of removing the friction torque is also considered. The friction torque is the torque generated by the mechanical friction during the rotation of the reaction flywheel, which will affect the control effect of the system. By measuring and compensating the friction torque, the motor can generate a more accurate torque. After removing the friction torque, it is fed back to the torque command to achieve feedback regulation.

[0087] The second feedback path collects the motor speed, converts it into speed after a differential link and feeds it back to the torque command for adjustment, which can better understand the dynamic response characteristics of the motor. The torque adjustment process can accurately control the motor speed and output torque through the K / PI controller combined with the feedback and compensation links, thereby realizing the torque control of the reaction flywheel and meeting the requirements of spacecraft attitude adjustment. Logic control switches are set on both feedback paths, and the feedback path can be independently selected through the logic control switch to adapt to different torque control requirements.

[0088] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A reconfigurable reaction flywheel torque control system, characterized in that: include: A data acquisition unit, used to collect real-time operating data of the reaction flywheel, and to acquire historical operating data of the reaction flywheel and the redundant flywheel; A model building unit, used for building a flywheel DIKW model according to performance parameters, real-time operation data, and historical operation data; A flywheel evaluation unit, used for obtaining the usage status of the reaction flywheel and the redundant flywheel by applying the flywheel DIKW model, and determining the redundant flywheel to be replaced and the replaced reaction flywheel based on the usage status; The trajectory prediction unit is used to predict the motion trajectory and attitude of the spacecraft and obtain the best replacement node; A torque control unit, used for replacing the redundant flywheel to be replaced and the reaction flywheel to be replaced at the best replacement node, and performing torque feedback control on all reaction flywheels in use; The data acquisition unit, the model building unit, the flywheel evaluation unit, the trajectory prediction unit and the torque control unit are data-connected in sequence, and the flywheel evaluation unit is data-connected to the torque control unit.

2. A reconfigurable reaction flywheel torque control system according to claim 1, characterized in that: The execution steps of the data acquisition unit include: Step S11, arranging a sensor group on the reaction flywheel and the redundant flywheel; Step S12, obtaining real-time operating data of the reaction flywheel in use through the sensor group, wherein the real-time operating data includes rotation speed, temperature, motor current and voltage; Step S13, searching the working logs of the reaction flywheel and the redundant flywheel, and obtaining the historical operation data of the reaction flywheel and the redundant flywheel from the working logs, wherein the historical operation data includes the accumulated working time, the total number of rotations, and the maximum load ever borne.

3. A reconfigurable reaction flywheel torque control system according to claim 2, characterized in that: After obtaining the real-time operating data of the reaction flywheel in use, the step S12 identifies and removes abnormal data in the real-time operating data, and performs data calibration.

4. A reconfigurable reaction flywheel torque control system according to claim 1, characterized in that: The execution steps of the model building unit include: Step S21, obtaining performance parameters of the reaction flywheel and the redundant flywheel, and mapping the performance parameters to a first type of resources, wherein the performance parameters include a maximum output torque, a moment of inertia, an allowable speed range, and an efficiency curve; Step S22: Map the real-time operation data and the historical operation data into the second type of resources and the third type of resources respectively; Step S23: construct a flywheel DIKW model according to the first typed resources, the second typed resources and the third typed resources.

5. A reconfigurable reaction flywheel torque control system according to claim 4, characterized in that: The first type of resources, the second type of resources and the third type of resources all include data resources, information resources, knowledge resources and wisdom resources, and the data resources, information resources, knowledge resources and wisdom resources can be converted into each other.

6. A reconfigurable reaction flywheel torque control system according to claim 1, characterized in that: The execution steps of the flywheel evaluation unit include: Step S31, using the data layer of the flywheel DIKW model to integrate the performance parameters, real-time operation data and historical operation data; Step S32, using the information layer of the flywheel DIKW model to perform performance indicator correlation and operation mode analysis on the integrated data; Step S33: construct an evaluation model using the knowledge layer of the flywheel DIKW model, and evaluate the use status of the reaction flywheel and the redundant flywheel based on the performance indicator association and the operation model analysis results through the evaluation model; Step S34, using the intelligent layer of the flywheel DIKW model to query and obtain the redundant flywheel in better use status and the reaction flywheel in worse use status according to the evaluation results, and output them as the redundant flywheel to be replaced and the reaction flywheel to be replaced.

7. A reconfigurable reaction flywheel torque control system according to claim 6, characterized in that: The evaluation model in step S33 is obtained based on the analysis and training of a large amount of data and the summary of expert experience.

8. A reconfigurable reaction flywheel torque control system according to claim 1, characterized in that: The execution steps of the trajectory prediction unit include: Step S41: construct a dynamic model of the spacecraft and obtain a navigation plan of the spacecraft; Step S42: simulating the navigation process of the spacecraft according to the dynamic model and the navigation plan, and analyzing the attitude control requirements of the spacecraft at different mission stages and orbital positions; Step S43: Obtain a low priority time period according to the posture control requirement, and determine the best replacement node from the low priority time period.

9. A reconfigurable reaction flywheel torque control system according to claim 8, characterized in that: The specific steps of step S43 to determine the best replacement node from the low priority time period are: analyzing the posture disturbance that may be generated when each node in the low priority time period is replaced, and outputting the node with the smallest posture disturbance as the best replacement node.

10. A reconfigurable reaction flywheel torque control system according to claim 1, characterized in that: The execution steps of the torque control unit include: Step S51: replacing the redundant flywheel to be replaced and the reaction flywheel to be replaced at the best replacement node; Step S52, sending a torque command to all reaction flywheels in use, and after receiving the torque command, the KPI controller drives the motor of the reaction flywheel to generate torque; Step S53, collecting the motor winding current, multiplying the motor winding current by a preset coefficient, and after removing the friction torque, feeding back to the torque command; Step S54, collecting the motor speed, converting the motor speed into torque through a differential link, and feeding it back to the torque command; In step S53 and step S54, a logic control switch is provided on the path from feedback data to torque command.

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