A reconfigurable reaction flywheel torque control system

Abstract

This invention discloses a reconfigurable reaction flywheel torque control system, comprising a data acquisition unit, a model building unit, a flywheel evaluation unit, a trajectory prediction unit, and a torque control unit. It acquires operational data of the reaction flywheel and redundant flywheels to construct a DIKW (Distributed Knowledge Graph) model of the flywheels. The DIKW model is used to store, identify, and transform the data, accurately obtaining the usage status of each reaction flywheel. This allows for the evaluation of which reaction flywheels and redundant flywheels need replacement. The optimal replacement node is then determined based on the spacecraft's trajectory. Replacing the reaction flywheels and redundant flywheels at the optimal node minimizes interference with the spacecraft's attitude. After replacing the reaction flywheels, their usage can be scheduled to be consistent, preventing damage from excessive use of one reaction flywheel from affecting the entire spacecraft. Finally, the torque of the reaction flywheels is controlled to ensure the normal operation of the spacecraft.

Description

Technical Field

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

[0002] In the high-precision field of aerospace, attitude control of spacecraft undoubtedly plays a crucial role. For example, communication satellites must be precisely aligned with ground stations to ensure stable transmission and high-quality reception of communication signals. Astronomical observation satellites need to be stably and accurately pointed at their observation targets to capture clear, accurate, and scientifically valuable data. Maintaining the specific attitude of a space station is indispensable for ensuring the daily routines of astronauts and the smooth conduct of various scientific experiments. All of this relies heavily on high-precision attitude control technology. Currently, among various attitude control methods for spacecraft, reaction wheels dominate. They generate control torque through high-speed rotation, effectively changing the spacecraft's attitude. Compared to other traditional or emerging attitude control methods, reaction wheels exhibit many significant advantages. Their control precision can meet the stringent requirements for attitude fine-tuning in various complex mission scenarios. Furthermore, the relatively low energy consumption of reaction wheels allows spacecraft to maintain attitude stability for longer periods under limited energy supply conditions.

[0003] In addition to the reaction flywheel in its daily operation, spacecraft are typically equipped with redundant flywheels. The space environment is extremely complex and harsh, filled with various extreme factors and unknown risks. This exposes reaction flywheels to numerous potential failure risks during operation. For example, the motor, as the power core of the reaction flywheel, may suddenly fail due to prolonged high-intensity operation, electromagnetic interference, or aging of mechanical components. Bearings, subjected to the enormous pressure and friction generated by the high-speed rotation of the flywheel, are also prone to wear, deformation, or even damage. The key value of redundant flywheels lies in their ability to quickly and seamlessly take over the work of the main flywheel (i.e., the normally operating reaction flywheel) when it encounters such failures, ensuring the uninterrupted operation of the spacecraft's attitude control system and thus guaranteeing the safe and stable flight of the spacecraft. However, during actual spacecraft operation, due to its internal structural layout, Due to a combination of factors, including thermal environment distribution and stress differences during the coordinated operation of various components, the wear and tear on reaction flywheels at different locations is not entirely uniform during operation. When one of the reaction flywheels fails to operate normally due to excessive wear accumulated over a long period, it will have a serious negative impact on the stability and lifespan of the entire spacecraft system, and may even lead to the premature end of the spacecraft's mission. Therefore, from the perspective of ideal system operation, the most ideal state is to keep the wear and tear on each reaction flywheel as balanced as possible. In this context, redundant flywheels can serve as backup reaction flywheel resources, allowing for timely switching operations. Furthermore, after the switching is completed, the torque of the reaction flywheel can be controlled and adjusted promptly and accurately to ensure a smooth transition in attitude control and uninterrupted normal navigation of the spacecraft.

[0004] However, given the current state of technology, existing reaction flywheel management strategies still have significant limitations. On the one hand, the assessment of the usage status of reaction flywheels remains at a relatively simple and preliminary level. The assessment methods and indicator systems used are insufficient to comprehensively and accurately reflect the true health status and potential risks of the flywheels, and the assessment results often have significant biases and uncertainties. On the other hand, when replacing reaction flywheels and redundant flywheels, there is a lack of in-depth consideration and optimized design of the replacement timing. This leads to a situation where, during the actual replacement process, due to the failure to fully consider key factors such as the spacecraft's flight attitude, mission requirements, and overall system stability, the replacement operation is prone to causing significant instantaneous disturbances 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] Therefore, this invention proposes a reconfigurable reaction flywheel torque control system that can schedule the use of reaction flywheels and redundant flywheels to maintain consistent usage, and the replacement process will not cause significant disturbance to the attitude of the spacecraft.

[0006] The technical solution of this invention is implemented as follows:

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

[0008] The data acquisition unit is used to collect real-time operating data of the reaction flywheel and acquire historical operating data of the reaction flywheel and redundant flywheel.

[0009] The model building unit is used to build the flywheel DIKW model based on performance parameters, real-time operating data, and historical operating data.

[0010] The flywheel evaluation unit is used to apply the flywheel DIKW model to obtain the usage status of the reaction flywheel and the redundant flywheel, and to determine the redundant flywheel to be replaced and the reaction flywheel to be replaced based on the usage status.

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

[0012] The torque control unit is used to replace the redundant flywheel to be replaced and the reaction flywheel to be replaced at the optimal replacement node, and to provide torque feedback control for all reaction flywheels in use.

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

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

[0015] Step S11: Install sensor groups on the reaction flywheel and the redundant flywheel;

[0016] Step S12: Obtain real-time operating data of the reaction flywheel in use through the sensor group. The real-time operating data includes speed, temperature, motor current and voltage.

[0017] Step S13: Locate the working logs of the reaction flywheel and the redundant flywheel, and obtain the historical operating data of the reaction flywheel and the redundant flywheel from the working logs. The historical operating data includes the cumulative working time, the total number of rotations, and the maximum load that it has ever borne.

[0018] Preferably, in step S12, after acquiring the real-time operating data of the reaction flywheel in use, abnormal data in the real-time operating data is identified and removed, and data calibration is performed.

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

[0020] Step S21: Obtain the performance parameters of the reaction flywheel and the redundant flywheel, and map the performance parameters to a first type of categorized resource. The performance parameters include the maximum output torque, moment of inertia, allowable speed range, and efficiency curve.

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

[0022] Step S23: Construct the flywheel DIKW model based on the first type of resource, the second type of resource, and the third type of resource.

[0023] Preferably, the first type of resource, the second type of resource, and the third type of resource 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: Use the data layer of the flywheel DIKW model to integrate performance parameters, real-time operating data, and historical operating data;

[0026] Step S32: Use the information layer of the flywheel DIKW model to perform performance index 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 usage status of the reaction flywheel and redundant flywheel based on the performance index correlation and operation mode analysis results through the evaluation model;

[0028] Step S34: Using the intelligent layer of the flywheel DIKW model, query the redundant flywheels with good usage status and the reaction flywheels with poor usage status based on the evaluation results, and output the redundant flywheels to be replaced and the reaction flywheels to be replaced.

[0029] Preferably, 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.

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

[0031] Step S41: Construct a dynamic model of the spacecraft and obtain the spacecraft's flight plan;

[0032] Step S42: Simulate the spacecraft's flight process based on the dynamic model and flight plan, and analyze the spacecraft's attitude control requirements at different mission stages and orbital positions;

[0033] Step S43: Obtain low-priority time periods according to attitude control requirements, and determine the best replacement node from the low-priority time periods.

[0034] Preferably, the specific steps of step S43 to determine the best replacement node from the low priority time period are as follows: analyze the attitude disturbance that may be generated when each node is replaced in the low priority time period, and output the node with the smallest attitude disturbance as the best replacement node.

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

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

[0037] Step S52: Send torque commands to all reaction flywheels in use. After receiving the torque commands, the KPI controller drives the motor of the reaction flywheel to operate in order to generate torque.

[0038] Step S53: Collect the motor winding current, multiply the motor winding current by a preset coefficient, remove the friction torque, and then feed it back to the torque command.

[0039] Step S54: Collect the motor speed, convert the motor speed into torque through a differential circuit, and then feed it back to the torque command;

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

[0041] Compared with the prior art, the beneficial effects of the present invention are:

[0042] ① After collecting real-time operating data of the reaction flywheel and historical operating data of the redundant flywheel, the DIKW knowledge graph model is used to construct the DIKW model of the reaction flywheel and the redundant flywheel. The data can be stored, identified and transformed. The flywheel DIKW model can accurately determine the usage status of each flywheel based on the internally stored data. Its usage status assessment results are highly accurate and can accurately identify the reaction flywheel and redundant flywheel that need to be replaced.

[0043] ② After predicting the spacecraft's trajectory and attitude, the optimal replacement node can be obtained from its trajectory. At the optimal replacement node, the flywheel can be replaced, thereby realizing the scheduling and use of the reaction flywheel, ensuring that the usage status of the reaction flywheel remains consistent, and avoiding the normal use of the spacecraft due to excessive wear of one flywheel.

[0044] ③ When replacing the flywheel at the optimal replacement node, it will not cause significant disturbance to the spacecraft's attitude, ensuring that the spacecraft can still operate normally throughout the process. At the same time, after replacing the flywheel, the torque of the reaction flywheel is controlled and adjusted so that the multiple reaction flywheels after replacement reach a balanced state. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only preferred embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0047] Figure 2 This diagram illustrates the execution steps of the data acquisition unit in a reconfigurable reaction flywheel torque control system according to the present invention.

[0048] Figure 3 This diagram illustrates the execution steps of a model building unit for a reconfigurable reaction flywheel torque control system according to the present invention.

[0049] Figure 4 This is a diagram illustrating the execution steps of the flywheel evaluation unit in a reconfigurable reaction flywheel torque control system according to the present invention.

[0050] Figure 5 This diagram illustrates the execution steps of the estimation and prediction unit in a reconfigurable reaction flywheel torque control system according to the present invention.

[0051] Figure 6 This diagram illustrates the execution steps of the torque control unit in a reconfigurable reaction flywheel torque control system according to the present invention.

[0052] Figure 7 This is a schematic diagram illustrating torque control of a reaction flywheel in a reconfigurable reaction flywheel torque control system according to the present invention.

[0053] In the diagram, 1 is the data acquisition unit; 2 is the model building unit; 3 is the flywheel evaluation unit; 4 is the trajectory prediction unit; and 5 is the torque control unit. Detailed Implementation

[0054] To better understand the technical content of this invention, a specific embodiment is provided below, and the invention will be further described in conjunction with the accompanying drawings.

[0055] See Figures 1 to 7 This 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 connected in sequence. The flywheel evaluation unit 3 is also connected to the torque control unit 5. In the aerospace field, spacecraft use reaction flywheels to adjust their attitude. Since attitude changes are not regular, the wear and tear on the reaction flywheels is inconsistent. To ensure consistent wear, redundant flywheels are installed on the spacecraft. These redundant flywheels can replace the reaction flywheels during use, maintaining consistent wear levels for each reaction flywheel. Furthermore, the redundant flywheels can be replaced promptly in case of reaction flywheel failure, ensuring normal spacecraft operation. The data acquisition unit 1 can collect real-time operating data of the reaction flywheel and historical operating data of both the reaction flywheel and the redundant flywheel. The data acquired by the data acquisition unit 1 is transmitted to the model building unit 2. The model building unit 2 constructs a DIKW (Digital Knowledge Graph) model of the flywheel based on the acquired data and incorporates the DIKW knowledge graph into the flywheel data storage. In storage and processing, high-speed and accurate data processing can be achieved. Then, the flywheel evaluation unit 3 can use the flywheel DIKW model to evaluate the usage status of the reaction flywheel and redundant flywheels, thereby obtaining the usage status and wear value of each flywheel. Based on the usage status and wear value, the redundant flywheels with better usage status and the reaction flywheels with poor usage status can be quickly identified, and the redundant flywheels to be replaced and the reaction flywheels to be replaced are output. 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 optimal replacement node. When the spacecraft reaches the optimal 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 that is replaced becomes the redundant flywheel. This ensures that the usage status of the reaction flywheels in use remains consistent, and avoids affecting the service life of the entire spacecraft due to excessive wear of a certain 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 current operation of the spacecraft.

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

[0057] Step S11: Install sensor groups on the reaction flywheel and the redundant flywheel;

[0058] Step S12: Obtain real-time operating data of the reaction flywheel in use through the sensor group, identify and remove abnormal data in the real-time operating data, such as the brief spike signal collected by the speed sensor due to electromagnetic interference, which needs to be removed before data calibration is performed to ensure the consistency of data from different sensors in time and space. The real-time operating data includes speed, temperature, motor current and voltage.

[0059] Step S13: Locate the working logs of the reaction flywheel and the redundant flywheel, and obtain the historical operating data of the reaction flywheel and the redundant flywheel from the working logs. The historical operating data includes the cumulative working time, the total number of rotations, and the maximum load that it has ever borne.

[0060] The main purpose of data acquisition unit 1 is to acquire data for building the DIKW model, including real-time operating data of the reaction flywheel and historical operating data of the reaction flywheel and redundant flywheel. Real-time operating data can be obtained by sensor groups deployed on the reaction flywheel and redundant flywheel. The sensor groups can detect the motor speed, winding current, bearing temperature and vibration frequency of the reaction flywheel. The real-time operating data collected by the sensor groups will be transmitted back to the background for storage. The stored data can be processed to obtain the operating status data of the reaction flywheel, including the cumulative working time, total number of rotations and the maximum load it has ever borne. This data can be further stored to form historical operating data. Therefore, the historical operating data of all reaction flywheels can be obtained through the work log.

[0061] Model building unit 2 is used to build a flywheel DIKW model based on performance parameters, real-time operating data, and historical operating data. The execution steps include:

[0062] Step S21: Obtain the performance parameters of the reaction flywheel and the redundant flywheel, and map the performance parameters to a first type of categorized resource. The performance parameters include the maximum output torque, moment of inertia, allowable speed range, and efficiency curve.

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

[0064] Step S23: Construct a flywheel DIKW model based on the first type of resources, the second type of resources, and the third type of resources. 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. The data resources, information resources, knowledge resources, and wisdom resources can be converted into each other.

[0065] The DIKW knowledge graph is a knowledge organization and representation model built upon these four layers: D for Data, I for Information, K for Knowledge, and W for Wisdom. It is used to effectively integrate, store, and utilize knowledge. After mapping performance parameters, real-time operating data, and historical operating data into first-type, second-type, and third-type resources respectively, a flywheel DIKW model can be constructed using these resources. The flywheel DIKW model stores the basic data of all reaction flywheels. The collected operational data, combined with the basic data, can generate new data, such as revealing operational patterns. Furthermore, based on the basic data of the reaction flywheel, processing can yield analytical methods and fault diagnosis methods. The mutual conversion and combination of the four types of resources included in the categorized resources can generate new data, thereby continuously updating the content of the flywheel DIKW model and improving the accuracy of the evaluation results for the reaction flywheel's usage status. Simultaneously, by storing, transforming, and summarizing massive amounts of data, the efficiency of evaluation calculations can be improved. This perfectly meets the requirements of spacecraft, a device with high time accuracy requirements.

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

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

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

[0069] Step S33: Using the knowledge layer of the flywheel DIKW model, an evaluation model is constructed based on the analysis and training of a large amount of data and the summary of expert experience. The evaluation model is then used to evaluate the usage status of the reaction flywheel and the redundant flywheel based on the correlation of performance indicators and the analysis results of the operating mode.

[0070] Step S34: Using the intelligent layer of the flywheel DIKW model, query the redundant flywheels with good usage status and the reaction flywheels with poor usage status based on the evaluation results, and output the redundant flywheels to be replaced and the reaction flywheels to be replaced.

[0071] After constructing the flywheel DIKW model, it can be used to obtain the usage status of reaction flywheels and redundant flywheels. The flywheel DIKW model utilizes its internal data layer, information layer, knowledge layer, and intelligence layer to realize the entire evaluation process. The data layer is used for data integration, such as real-time data reference and comparison with historical data. For example, real-time speed data is one of the key factors in evaluating the usage status of reaction flywheels. If the real-time speed of a reaction flywheel fluctuates frequently within a large range, exceeding the normal control range, it 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 evaluated more comprehensively. For example, 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 flywheel performance is declining or has been subjected to abnormal external interference.

[0072] The information layer can perform performance index correlation and operation mode analysis, and correlate various performance indicators in real-time and historical operation data. For example, it can link the rate of temperature rise with changes in rotational speed and motor power. If the rate of temperature rise increases abnormally with the increase in rotational speed and motor power, it may indicate a problem with the flywheel's heat dissipation system or increased internal friction, which will affect the flywheel's service life and current operating status. At the same time, it can analyze the performance of the reaction flywheel under different operating modes (such as start-up, acceleration, constant speed, deceleration, etc.). For example, during the acceleration phase, it can observe whether the rise curve of the motor current is smooth. If there is obvious jitter or excessively high current peak, it may mean that the motor's starting performance has decreased 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 redundant flywheel. According to the set rules, if the rate of change of speed is greater than a certain threshold and the motor temperature exceeds the safe temperature range, the reaction flywheel can be determined to be in an abnormal usage state. At the same time, based on the constructed evaluation model, the output torque, efficiency and other performance indicators of the reaction flywheel can be predicted based on the current input parameters (such as speed, current, temperature, etc.) and compared with the actual measured values. If the predicted value deviates significantly from the actual value, it indicates 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 state of the flywheel.

[0074] Finally, the intelligent layer is used to determine the redundant flywheels in good condition and the reaction flywheels in poor condition by classifying the state based on 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 spacecraft's trajectory and attitude, and to obtain the optimal replacement node. The execution steps include:

[0076] Step S41: Construct a dynamic model of the spacecraft and obtain the spacecraft's flight plan;

[0077] Step S42: Simulate the spacecraft's flight process based on the dynamic model and flight plan, and analyze the spacecraft's attitude control requirements at different mission stages and orbital positions;

[0078] Step S43: Obtain the low-priority time period according to the attitude control requirements, analyze the attitude disturbance that may be generated when each node is replaced in the low-priority time period, and output the node with the smallest attitude disturbance as the best replacement node.

[0079] After identifying the redundant flywheels in good working order and the reaction flywheels in poor working order, it is necessary to predict the spacecraft's trajectory and attitude. This invention simulates the spacecraft's flight process based on its flight plan after constructing a dynamic model of the spacecraft. The dynamic model considers factors such as the gravitational pull of the Earth (or other central celestial bodies), the perturbation forces of other celestial bodies (such as the Moon's gravitational pull on Earth-orbiting spacecraft), atmospheric drag (for near-Earth orbit spacecraft), and solar radiation pressure, which can accurately simulate the spacecraft's flight path. Furthermore, based on the flight plan, the attitude control requirements of the spacecraft at different mission phases and orbital positions can be analyzed. For example, when a communication satellite is transmitting signals, it needs to keep the antenna precisely aligned with the ground station. This places high demands on attitude control precision. During the orbit adjustment phase, the focus may be more on rapid attitude maneuverability. Based on these requirements, we can determine which time periods have lower priority for attitude control, thus obtaining the low-priority time periods. Then, within the low-priority time periods, we can further analyze each node to determine the attitude disturbances to the spacecraft when the reaction flywheel is replaced at that node. By constructing an attitude dynamics model, we can simulate the replacement process and calculate the magnitude and duration of the attitude disturbances. For example, if a reaction flywheel that plays a key role in pitch axis control is replaced, we need to evaluate the changes in pitch axis attitude during the replacement process. Finally, we can find the node with the minimum attitude disturbance within the low-priority time periods, which is the optimal replacement node.

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

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

[0082] Step S52: Send torque commands to all reaction flywheels in use. After receiving the torque commands, the KPI controller drives the motor of the reaction flywheel to operate in order to generate torque.

[0083] Step S53: Collect the motor winding current, multiply the motor winding current by a preset coefficient, remove the friction torque, and then feed it back to the torque command.

[0084] Step S54: Collect the motor speed, convert the motor speed into torque through a differential circuit, and then feed it back to the torque command;

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

[0086] After obtaining the optimal replacement node, the redundant flywheel to be replaced and the reaction flywheel to be replaced can be replaced when the spacecraft reaches the optimal replacement node. This replaces the poorly used reaction flywheels, ensuring that the usage status of each reaction flywheel remains consistent. Furthermore, after replacing the redundant flywheel to be replaced with a reaction flywheel, torque control needs to be implemented on all reaction flywheels in use. This invention employs a torque feedback control method based on KPI regulation, where the torque commands issued by the system can be directly input into the KPI regulator for adjustment. In addition, the KPI controller can drive the motor. Furthermore, two feedback paths are set on the KPI controller. The first path is based on the motor winding current. After collecting the motor winding current, it is multiplied by a preset coefficient. In order to improve the control accuracy, a step to remove friction torque is also considered. Friction torque is the torque generated by mechanical friction during the rotation of the reaction flywheel, which will affect the control effect of the system. By measuring and compensating for friction torque, the motor can generate more accurate torque. After removing friction torque, it is fed back to the torque command to realize feedback regulation.

[0087] The second feedback path involves acquiring the motor speed, converting it into a speed after a differential process, and then feeding this speed back to the torque command for adjustment. This allows for a better understanding of the motor's dynamic response characteristics. The torque adjustment process, through a K / PI controller combined with feedback and compensation mechanisms, can precisely control the motor's speed and output torque, thereby achieving torque control of the reaction flywheel and meeting the spacecraft's attitude adjustment requirements. Logic control switches are installed on both feedback paths, allowing for the autonomous selection of the feedback path to suit different torque control needs.

[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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A reconfigurable reaction flywheel torque control system, characterized in that, include: The data acquisition unit is used to collect real-time operating data of the reaction flywheel and acquire historical operating data of the reaction flywheel and redundant flywheel. The model building unit is used to build the flywheel DIKW model based on performance parameters, real-time operating data, and historical operating data. The flywheel evaluation unit is used to apply the flywheel DIKW model to obtain the usage status of the reaction flywheel and the redundant flywheel, and to determine the redundant flywheel to be replaced and the reaction flywheel to be replaced based on the usage status. The trajectory prediction unit is used to predict the spacecraft's trajectory and attitude, and to obtain the best replacement node; The torque control unit is used to replace the redundant flywheel to be replaced and the reaction flywheel to be replaced at the optimal replacement node, and to provide torque feedback control for all reaction flywheels in use. The data acquisition unit, model building unit, flywheel evaluation unit, trajectory prediction unit, and torque control unit are sequentially connected, and the flywheel evaluation unit is connected to the torque control unit. The execution steps of the model building unit include: Step S21: Obtain the performance parameters of the reaction flywheel and the redundant flywheel, and map the performance parameters to a first type of categorized resource. The performance parameters include the maximum output torque, moment of inertia, allowable speed range, and efficiency curve. Step S22: Map the real-time running data and historical running data into second-type resources and third-type resources, respectively; Step S23: Construct the flywheel DIKW model based on the first type of resource, the second type of resource, and the third type of resource; The execution steps of the flywheel evaluation unit include: Step S31: Use the data layer of the flywheel DIKW model to integrate performance parameters, real-time operating data, and historical operating data; Step S32: Use the information layer of the flywheel DIKW model to perform performance index 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 usage status of the reaction flywheel and redundant flywheel based on the performance index correlation and operation mode analysis results through the evaluation model; Step S34: Using the intelligent layer of the flywheel DIKW model, query the redundant flywheels with good usage status and the reaction flywheels with poor usage status based on the evaluation results, and output the redundant flywheels to be replaced and the reaction flywheels to be replaced.

2. The reconfigurable reaction flywheel torque control system according to claim 1, characterized in that, The execution steps of the data acquisition unit include: Step S11: Install sensor groups on the reaction flywheel and the redundant flywheel; Step S12: Obtain real-time operating data of the reaction flywheel in use through the sensor group. The real-time operating data includes speed, temperature, motor current and voltage. Step S13: Locate the working logs of the reaction flywheel and the redundant flywheel, and obtain the historical operating data of the reaction flywheel and the redundant flywheel from the working logs. The historical operating data includes the cumulative working time, the total number of rotations, and the maximum load that it has ever borne.

3. The reconfigurable reaction flywheel torque control system according to claim 2, characterized in that, In step S12, after acquiring the real-time operating data of the reaction flywheel in use, abnormal data in the real-time operating data is identified and removed, and data calibration is performed.

4. The reconfigurable reaction flywheel torque control system according to claim 1, characterized in that, The first type of resource, the second type of resource, and the third type of resource 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.

5. A reconfigurable reaction flywheel torque control system according to claim 1, 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.

6. 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 the spacecraft's flight plan; Step S42: Simulate the spacecraft's flight process based on the dynamic model and flight plan, and analyze the spacecraft's attitude control requirements at different mission stages and orbital positions; Step S43: Obtain low-priority time periods according to attitude control requirements, and determine the best replacement node from the low-priority time periods.

7. A reconfigurable reaction flywheel torque control system according to claim 6, characterized in that, The specific steps for determining the best replacement node from the low-priority time period in step S43 are as follows: analyze the attitude disturbance that may be generated when each node is replaced in the low-priority time period, and output the node with the smallest attitude disturbance as the best replacement node.

8. 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: Replace the redundant flywheel to be replaced and the reaction flywheel to be replaced at the optimal replacement node; Step S52: Send torque commands to all reaction flywheels in use. After receiving the torque commands, the KPI controller drives the motor of the reaction flywheel to operate in order to generate torque. Step S53: Collect the motor winding current, multiply the motor winding current by a preset coefficient, remove the friction torque, and then feed it back to the torque command. Step S54: Collect the motor speed, convert the motor speed into torque through a differential circuit, and then feed it back to the torque command; In steps S53 and S54, a logic control switch is set on the path from the feedback data to the torque command.

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