High-precision magnetic torquer control circuit capable of realizing cooperative control with magnetometer

Abstract

The invention relates to a high-precision magnetic torquer control circuit capable of realizing cooperative control with a magnetometer. The high-precision magnetic torquer control circuit comprises a cooperative control module, a magnetic torquer rapid turn-off control module, a magnetic torquer main driving circuit module and a magnetometer acquisition module. Working time slices of the magnetic torquer and the magnetometer are distributed in real time according to needs through the cooperative control module of the magnetic torquer and the magnetometer; rapid stabilization and zero returning of driving current of the magnetic torquer are realized through the rapid turn-off control module of the magnetic torquer; the output magnetic moment adjustment of the magnetic torquer is realized through the magnetic torquer main driving circuit module; and rapid real-time measurement of the spatial magnetic field intensity and the vector is realized through the magnetometer acquisition module. The cooperative control of the magnetic torquer and the magnetometer is realized, so that the idle time slice of the driving element and the detection element is shortened under the condition that the magnetic field is completely decoupled, and the detection efficiency and the control stability of the ultra-static satellite are greatly improved.

Description

Technical Field

[0001] The invention relates to a high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer, and belongs to the technical field of spacecraft drive and control. Background Art

[0002] Ultra-quiet satellites place higher demands on the working rhythm of the magnetotorquer and magnetometer. On the one hand, the magnetotorquer generates the required magnetic moment by receiving the control signal provided by the onboard computer, and then generates torque under the action of the orbital geomagnetic field, which is directly used as the control torque for flywheel unloading and satellite attitude magnetic control. At the same time, the magnetotorquer is also a major source of magnetic field interference in the satellite platform, especially in high-precision space magnetic field detection missions. For example, when the magnetometer is working, the magnetotorquer must not work. Therefore, how to design a new mode in which the two work in time-sharing, with a short interval and dynamically adjustable time slices, is the core of the magnetic control work of ultra-quiet satellites.

[0003] The existing magnetic torquer and magnetometer control methods have the following disadvantages:

[0004] The control and measurement of magnetic fields cannot be completely decoupled: a delay is imposed through communication to achieve interval operation of the magnetic torquer and magnetometer. Often, due to the short interval time, the current in the magnetic torquer control circuit has not returned to zero, and the pure magnetic field cannot be measured, which introduces control input errors.

[0005] The control and measurement interval time is difficult to adjust: the existing control method does not have a dedicated module to dynamically adjust the time slice according to the driving current of the magnetic torquer, which may cause residual magnetism to affect the measurement accuracy. If the interval time is long, blank sections will appear in the measurement and control, and the satellite attitude and orbit control will be discontinuous and it is difficult to ensure high precision.

[0006] The utility model patent with application number CN201520343049.7 discloses a customizable satellite magnetic component control circuit box, but does not introduce the working mode of its magnetic torquer and magnetometer. The invention patent with application number CN202210661886.9 discloses a satellite-borne magnetic torquer that digitally adjusts the magnetic moment value, adjusts the output magnetic moment through digital input, and predicts the actual output magnetic moment in combination with temperature. However, it does not involve the precise measurement of the geomagnetic field, nor the system control of the magnetometer and magnetic torquer, nor the beneficial effects on satellite attitude and orbit control, which is essentially different from the content of the present invention. Summary of the invention

[0007] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer, and to solve the problems that the existing satellite magnetic torquer and the magnetometer have time-sharing control, resulting in the fixed working time slice being unable to be adjusted, the magnetic torquer and the magnetometer working alternately, resulting in a large change in the output magnetic torque when the magnetic torquer returns to zero, and the detection and waiting time for the magnetic field to return to zero resulting in insufficient stability of the attitude control of the ultra-quiet satellite.

[0008] The technical solution of the present invention is:

[0009] A high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer, comprising: a coordinated control module, a magnetic torquer fast shutdown control module, a magnetic torquer main drive circuit module, and a magnetometer acquisition module;

[0010] The collaborative control module, the magnetic torquer fast shutdown control module, the magnetic torquer main drive circuit module, and the magnetometer acquisition module are all connected to the power bus of the satellite's centralized power supply, have the same power supply and ground wire, and are connected to data via a communication line;

[0011] The collaborative control module allocates the working time slices of the magnetic torquer and the magnetometer in real time as needed, and controls the magnetic torquer fast shutdown control module to achieve rapid stabilization and zero return of the magnetic torquer driving current; the magnetic torquer main drive circuit module adjusts the output magnetic torque of the magnetic torquer under the control of the collaborative control module and the magnetic torquer fast shutdown control module; the magnetometer acquisition module achieves rapid real-time measurement of spatial magnetic field intensity and vector under the control of the collaborative control module.

[0012] Further, the collaborative control module includes a trigger and a signal processing circuit;

[0013] The trigger receives the magnetic torquer on command and the magnetometer on / off command sent by the master control host computer, and generates a magnetic torquer fast shutdown signal, which is sent to the signal processing circuit. The signal processing circuit generates a fast shutdown drive signal, which is sent to the magnetic torquer fast shutdown control module.

[0014] At the same time, the magnetometer on / off command sent by the master control host computer is also passed to the magnetometer acquisition module to realize the measurement of spatial magnetic field intensity and vector.

[0015] Further, the magnetic torque device on command is always at a high level, and when the magnetometer is working, the magnetometer on / off command is at a high level, and the magnetic torque device fast shutdown signal is at a high level, so that the magnetic torque device fast shutdown control module works;

[0016] When the magnetometer is not working, the magnetometer on / off command is at a low level, and the magnetic torque device fast shutdown signal is at a low level, so that the magnetic torque device fast shutdown control module does not work;

[0017] The magnetic torquer fast shutdown signal is converted into a switch signal for driving the magnetic torquer fast shutdown control module after passing through the signal processing circuit.

[0018] Furthermore, the main drive circuit module of the magnetic torquer includes a proportional integral circuit, a sawtooth wave circuit, and a push-pull circuit;

[0019] The magnetic torque control signal output by the magnetic torque control signal outputs an analog signal with a fixed voltage value through a proportional integral circuit. After the analog signal is compared with the sawtooth wave signal output by the sawtooth wave circuit, a pulse width modulation signal is output. The pulse width modulation signal is connected to the input end of the push-pull circuit. The push-pull circuit drives the magnetic torquer according to the received pulse width modulation signal and the driving signal output by the magnetic torquer fast shutdown control module.

[0020] Furthermore, the magnetic torquer main drive circuit module also includes a signal detection circuit;

[0021] The output end of the push-pull circuit is connected to one end of the magnetic torquer body, and the other end of the magnetic torquer is grounded; at the same time, the magnetic torquer rod is connected to the signal detection circuit to form an excitation current detection signal, which is connected to the input end of the proportional integral circuit as a feedback signal to form a closed-loop control of the excitation current.

[0022] Further, the magnetic torquer fast shutdown control module includes a switch circuit and a fast ground conduction circuit;

[0023] The switch circuit is connected to the ±12V power supply, receives the switch signal output by the cooperative control module, sends a control level to the fast ground conduction circuit, and one end of the fast ground conduction circuit is connected to the output end of the proportional integral circuit; at the same time, a drive signal is generated and sent to the push-pull circuit in the main drive circuit module of the magnetic torquer to achieve fast shutdown or fast and stable drive of the magnetic torquer.

[0024] Furthermore, after the switch circuit is turned on, it outputs a control signal for controlling the fast ground conduction circuit. After the fast ground conduction circuit is turned on, the drive signal is quickly connected to the ground wire, the voltage value drops to zero, and the subsequent magnetic torquer main drive circuit module cannot work, and the excitation current quickly drops to zero.

[0025] Furthermore, the magnetometer acquisition module includes an excitation circuit, a signal amplification circuit, a waveform detection circuit, and an integration circuit;

[0026] The magnetometer on / off instruction is input into the excitation circuit, and the excitation circuit controls whether the magnetometer is working according to the instruction. When the magnetometer is working, the excitation circuit outputs an excitation signal to the magnetometer, so that the magnetometer generates an alternating magnetic field. The magnetometer outputs a voltage signal, and the voltage signal is connected to the signal amplifier circuit. The voltage signal amplified by the signal amplifier circuit is connected to the waveform detection circuit. The waveform detection circuit is used to detect the phase of the amplified voltage signal. The output end of the waveform detection circuit is connected to the integration circuit, and the integration circuit integrates and amplifies the output signal of the waveform detection circuit, and finally outputs a collection signal reflecting the size and direction of the magnetic field.

[0027] Furthermore, the magnetometer on / off signal is synchronized as the control signal of the magnetoraster, and coordinated by the collaborative control module to ensure that the magnetic field of the magnetoraster is quickly zero when the magnetometer needs to measure, so that the magnetometer can quickly and accurately measure the pure earth's magnetic field.

[0028] The beneficial effects of the present invention compared with the prior art are:

[0029] (1) The present invention realizes the coordinated control of the magnetotorquer and the magnetometer, so that the idle time slice of the driving element and the detection element is shortened when the magnetic field is completely decoupled, thereby greatly improving the detection efficiency and control stability of the ultra-quiet satellite.

[0030] (2) The present invention can help the magnetotorquer and the magnetometer to work better together through the coordinated control of the magnetotorquer and the magnetometer, while ensuring the measurement and control interval, while reducing the space time of measurement and control as much as possible, and realizing continuous and stable control to a greater extent, thereby better ensuring the high-precision and high-stability operation of the ultra-quiet satellite.

[0031] (3) Compared with the existing working modes of magnetic torquers and magnetometers, the control and measurement interval time of the present invention can be precisely controlled: the existing control method does not have a dedicated module to dynamically adjust the time slice according to the driving current of the magnetic torquer, which may cause residual magnetism to affect the measurement accuracy. If the interval time is long, it will cause blank sections in the measurement and control, and the satellite attitude and orbit control will be discontinuous and difficult to ensure high precision. The present invention uses a magnetic torquer and a magnetometer collaborative control module to dynamically adjust the working time of the magnetic torquer and the magnetometer, ensuring that the driving magnetic field and the measuring magnetic field are not coupled, and providing basic magnetic field conditions for rapid measurement and precise and stable control.

[0032] (4) Compared with the existing magnetic torquer and magnetometer circuits, the present invention completely decouples the control and measurement of magnetic field: the existing working mode imposes a delay through communication to achieve the interval operation of the magnetic torquer and magnetometer. Often due to the short interval time, the current of the magnetic torquer control circuit has not returned to zero, and the pure earth magnetic field cannot be measured, which introduces a control input error. The present invention uses a magnetic torquer fast on-off control module to conduct the switch signal instruction through the switch circuit and output it to the ground conduction circuit, which is used to control the conduction of the fast ground conduction circuit, so that the drive signal is quickly connected to the ground wire, the voltage value drops to zero, and the excitation current of the subsequent active drive module is quickly reduced to zero, so as to achieve a pure and non-magnetic measurement environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the control circuit principle diagram of the present invention;

[0034] Figure 2 This is a block diagram of the collaborative control module of the present invention;

[0035] Figure 3 This is a block diagram of the implementation of the magnetic torquer fast shutdown control module of the present invention;

[0036] Figure 4 This is a block diagram of the main drive circuit module of the magnetic torquer of the present invention;

[0037] Figure 5 This is a block diagram of the magnetometer acquisition module of the present invention. DETAILED DESCRIPTION

[0038] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0039] like Figure 1 As shown, the present invention proposes a high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer, comprising: a coordinated control module, a magnetic torquer fast shutdown control module, a magnetic torquer main drive circuit module, and a magnetometer acquisition module;

[0040] The collaborative control module, the magnetic torquer fast shutdown control module, the magnetic torquer main drive circuit module, and the magnetometer acquisition module are all connected to the power bus of the satellite's centralized power supply, have the same power supply and ground wire, and are connected to data via a communication line;

[0041] The collaborative control module allocates the working time slices of the magnetic torquer and the magnetometer in real time as needed, and controls the magnetic torquer fast shutdown control module to achieve rapid stabilization and zero return of the magnetic torquer driving current; the magnetic torquer main drive circuit module adjusts the output magnetic torque of the magnetic torquer under the control of the collaborative control module and the magnetic torquer fast shutdown control module; the magnetometer acquisition module achieves rapid real-time measurement of spatial magnetic field intensity and vector under the control of the collaborative control module.

[0042] like Figure 2 As shown, the collaborative control module includes a trigger and a signal processing circuit;

[0043] The trigger receives the magnetic torquer on command and the magnetometer on / off command sent by the master control host computer, and generates a magnetic torquer fast shutdown signal, which is sent to the signal processing circuit. The signal processing circuit generates a fast shutdown drive signal, which is sent to the magnetic torquer fast shutdown control module.

[0044] At the same time, the magnetometer on / off command sent by the master control host computer is also passed to the magnetometer acquisition module to realize the measurement of spatial magnetic field intensity and vector.

[0045] The magnetic torque device on command is always at a high level. When the magnetometer is working, the magnetometer on / off command is at a high level, and the magnetic torque device fast shutdown signal is at a high level, so that the magnetic torque device fast shutdown control module works;

[0046] When the magnetometer is not working, the magnetometer on / off command is at a low level, and the magnetic torque device fast shutdown signal is at a low level, so that the magnetic torque device fast shutdown control module does not work;

[0047] The magnetic torquer fast shutdown signal is converted into a switch signal for driving the magnetic torquer fast shutdown control module after passing through the signal processing circuit.

[0048] like Figure 4 As shown, the main drive circuit module of the magnetic torquer includes a proportional integral circuit, a sawtooth wave circuit, a push-pull circuit, and a signal detection circuit;

[0049] The magnetic torque control signal output by the magnetic torque control signal outputs an analog signal with a fixed voltage value through a proportional integral circuit. After the analog signal is compared with the sawtooth wave signal output by the sawtooth wave circuit, a pulse width modulation signal is output. The pulse width modulation signal is connected to the input end of the push-pull circuit. The push-pull circuit drives the magnetic torquer according to the received pulse width modulation signal and the driving signal output by the magnetic torquer fast shutdown control module.

[0050] The output end of the push-pull circuit is connected to one end of the magnetic torquer body, and the other end of the magnetic torquer is grounded; at the same time, the magnetic torquer rod is connected to the signal detection circuit to form an excitation current detection signal, which is connected to the input end of the proportional integral circuit as a feedback signal to form a closed-loop control of the excitation current.

[0051] like Figure 3 As shown, the magnetic torquer fast shutdown control module includes a switch circuit and a fast ground conduction circuit;

[0052] The switch circuit is connected to the ±12V power supply, receives the switch signal output by the cooperative control module, sends a control level to the fast ground conduction circuit, and one end of the fast ground conduction circuit is connected to the output end of the proportional integral circuit; at the same time, a drive signal is generated and sent to the push-pull circuit in the main drive circuit module of the magnetic torquer to achieve fast shutdown or fast and stable drive of the magnetic torquer.

[0053] After the switch circuit is turned on, the output is a control signal for controlling the fast ground conduction circuit. After the fast ground conduction circuit is turned on, the drive signal is quickly connected to the ground wire, the voltage value drops to zero, and the subsequent magnetic torquer main drive circuit module cannot work, and the excitation current quickly drops to zero.

[0054] like Figure 5 As shown, the magnetometer acquisition module includes an excitation circuit, a signal amplification circuit, a waveform detection circuit, and an integration circuit;

[0055] The magnetometer on / off instruction is input into the excitation circuit, and the excitation circuit controls whether the magnetometer is working according to the instruction. When the magnetometer is working, the excitation circuit outputs an excitation signal to the magnetometer, so that the magnetometer generates an alternating magnetic field. The magnetometer outputs a voltage signal, and the voltage signal is connected to the signal amplifier circuit. The voltage signal amplified by the signal amplifier circuit is connected to the waveform detection circuit. The waveform detection circuit is used to detect the phase of the amplified voltage signal. The output end of the waveform detection circuit is connected to the integration circuit, and the integration circuit integrates and amplifies the output signal of the waveform detection circuit, and finally outputs a collection signal reflecting the size and direction of the magnetic field.

[0056] The magnetometer on / off signal is synchronized as the control signal of the magnetic torquer, and coordinated by the collaborative control module to ensure that the magnetic field of the magnetic torquer quickly reaches zero when the magnetometer needs to measure, so that the magnetometer can quickly and accurately measure the pure earth's magnetic field.

[0057] How it works

[0058] The working principle of the high-precision magnetic torquer control circuit that can realize coordinated control with a magnetometer proposed in the present invention is:

[0059] 1. Time slices are adjusted in real time as needed: The magnetotorquer and magnetometer of conventional satellites work alternately according to preset time slices and cannot be adjusted dynamically in real time. The present invention uses a magnetotorquer and magnetometer collaborative control module to dynamically adjust the working time of the magnetotorquer and magnetometer, ensuring that the driving magnetic field and the measuring magnetic field are not coupled, providing basic magnetic field conditions for rapid measurement and precise and stable control.

[0060] 2. Rapid stabilization and return to zero of driving current: Due to the inductance effect, conventional magnetic torquers often require a long stabilization time to stabilize when turned on; when turned off, due to the freewheeling effect, they cannot return to zero in time, resulting in a transitional state in which the magnetic field gradually decays, thereby affecting the measurement accuracy of the magnetometer during this time period. The present invention uses a magnetic torquer fast on-off control module to conduct the switch signal instruction through the switch circuit and output it to the ground conduction circuit, which is used to control the conduction of the fast ground conduction circuit, so that the drive signal is quickly connected to the ground wire, the voltage value drops to zero, and the excitation current of the subsequent active drive module is quickly reduced to zero, so as to achieve a pure and non-magnetic measurement environment.

[0061] 3. Accurate adjustment of output magnetic torque: The real-time control signal of the conventional magnetic torquer circuit is not high, and the large inductive load of the circuit causes a time lag in the output magnetic torque, making it difficult to achieve accurate calculation. The present invention drives the proportional integral circuit to output an analog signal with a fixed voltage value through a real-time magnetic torque control signal, and compares it with the sawtooth wave signal output by the sawtooth wave circuit to generate a pulse width modulation signal as the input end of the push-pull circuit, and uses the excitation current signal of the signal detection circuit as feedback to form a closed loop of the excitation current. The accurate adjustment of the output magnetic torque is guaranteed from the two aspects of real-time accurate control input and stable and fast closed loop.

[0062] 4. Rapid real-time measurement of geomagnetic field: Conventional geomagnetic field measurement is often limited by the influence of the residual magnetism of the magnetotorque device, which causes the magnetometer acquisition module to measure the geomagnetic field inaccurately, and introduces source errors to the subsequent magnetotorque device control and the whole satellite attitude and orbit control. The present invention synchronizes the magnetometer on / off signal as the control signal of the magnetotorque device, and cooperates with the magnetometer cooperative control module to ensure that the measurement is quickly started after the magnetic field of the magnetotorque device is zero, and the pure geomagnetic field can be accurately measured, providing precise input for subsequent control.

[0063] Parts of the present invention that are not described in detail belong to common knowledge among those skilled in the art.

Claims

1. A high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer, characterized in that include: Collaborative control module, magnetic torquer fast shutdown control module, magnetic torquer main drive circuit module, magnetometer acquisition module; The collaborative control module, the magnetic torquer fast shutdown control module, the magnetic torquer main drive circuit module, and the magnetometer acquisition module are all connected to the power bus of the satellite's centralized power supply, have the same power supply and ground wire, and are connected to data via a communication line; The collaborative control module allocates the working time slices of the magnetic torquer and the magnetometer in real time as needed, and controls the magnetic torquer fast shutdown control module to achieve rapid stabilization and zero return of the magnetic torquer driving current; the magnetic torquer main drive circuit module adjusts the output magnetic torque of the magnetic torquer under the control of the collaborative control module and the magnetic torquer fast shutdown control module; the magnetometer acquisition module achieves rapid real-time measurement of spatial magnetic field intensity and vector under the control of the collaborative control module.

2. The high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer according to claim 1, characterized in that: The collaborative control module includes a trigger and a signal processing circuit; The trigger receives the magnetic torquer on command and the magnetometer on / off command sent by the master control host computer, and generates a magnetic torquer fast shutdown signal, which is sent to the signal processing circuit. The signal processing circuit generates a fast shutdown drive signal, which is sent to the magnetic torquer fast shutdown control module. At the same time, the magnetometer on / off command sent by the master control host computer is also passed to the magnetometer acquisition module to realize the measurement of spatial magnetic field intensity and vector.

3. The high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer according to claim 2, characterized in that: The magnetic torque device on command is always at a high level. When the magnetometer is working, the magnetometer on / off command is at a high level, and the magnetic torque device fast shutdown signal is at a high level, so that the magnetic torque device fast shutdown control module works; When the magnetometer is not working, the magnetometer on / off command is at a low level, and the magnetic torque device fast shutdown signal is at a low level, so that the magnetic torque device fast shutdown control module does not work; The magnetic torquer fast shutdown signal is converted into a switch signal for driving the magnetic torquer fast shutdown control module after passing through the signal processing circuit.

4. The high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer according to claim 1, characterized in that: The main drive circuit module of the magnetic torquer includes a proportional integral circuit, a sawtooth wave circuit, and a push-pull circuit; The magnetic torque control signal sent by the master control host computer outputs an analog signal with a fixed voltage value through a proportional integral circuit. After the analog signal is compared with the sawtooth wave signal output by the sawtooth wave circuit, a pulse width modulation signal is output. The pulse width modulation signal is connected to the input end of the push-pull circuit. The push-pull circuit drives the magnetic torquer according to the received pulse width modulation signal and the drive signal output by the magnetic torquer fast shutdown control module.

5. The high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer according to claim 4, characterized in that: The magnetic torquer main drive circuit module also includes a signal detection circuit; The output end of the push-pull circuit is connected to one end of the magnetic torquer body, and the other end of the magnetic torquer is grounded; at the same time, the magnetic torquer rod is connected to the signal detection circuit to form an excitation current detection signal, which is connected to the input end of the proportional integral circuit as a feedback signal to form a closed-loop control of the excitation current.

6. The high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer according to claim 4, characterized in that: The magnetic torquer fast shutdown control module includes a switch circuit and a fast ground conduction circuit; The switch circuit is connected to the ±12V power supply, receives the switch signal output by the cooperative control module, sends a control level to the fast ground conduction circuit, and one end of the fast ground conduction circuit is connected to the output end of the proportional integral circuit; at the same time, a drive signal is generated and sent to the push-pull circuit in the main drive circuit module of the magnetic torquer to achieve fast shutdown or fast and stable drive of the magnetic torquer.

7. The high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer according to claim 6, characterized in that: After the switch circuit is turned on, the output is a control signal for controlling the fast ground conduction circuit. After the fast ground conduction circuit is turned on, the drive signal is quickly connected to the ground wire, the voltage value drops to zero, and the subsequent magnetic torquer main drive circuit module cannot work, and the excitation current quickly drops to zero.

8. The high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer according to claim 1, characterized in that: The magnetometer acquisition module includes an excitation circuit, a signal amplification circuit, a waveform detection circuit, and an integration circuit; The magnetometer on / off instruction is input into the excitation circuit, and the excitation circuit controls whether the magnetometer is working according to the instruction. When the magnetometer is working, the excitation circuit outputs an excitation signal to the magnetometer, so that the magnetometer generates an alternating magnetic field. The magnetometer outputs a voltage signal, and the voltage signal is connected to the signal amplifier circuit. The voltage signal amplified by the signal amplifier circuit is connected to the waveform detection circuit. The waveform detection circuit is used to detect the phase of the amplified voltage signal. The output end of the waveform detection circuit is connected to the integration circuit, and the integration circuit integrates and amplifies the output signal of the waveform detection circuit, and finally outputs a collection signal reflecting the size and direction of the magnetic field.

9. The high-precision magnetic torquer control circuit capable of realizing coordinated control with a magnetometer according to claim 8, characterized in that: The magnetometer on / off signal is synchronized as the control signal of the magnetic torquer, and coordinated by the collaborative control module to ensure that the magnetic field of the magnetic torquer quickly reaches zero when the magnetometer needs to measure, so that the magnetometer can quickly and accurately measure the pure earth's magnetic field.

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