Remote sensing satellite CMG group operation optimization method and device based on intensity balance

Abstract

The invention provides a remote sensing satellite CMG group operation optimization method and device based on intensity balance, and relates to the field of spacecraft attitude control, and the method comprises the following steps: calculating a use intensity accumulated value of each control moment gyroscope in a CMG group according to historical operation data of the CMG group; wherein the historical operation data comprises a historical frame angular velocity and a historical frame angular acceleration; according to the use intensity accumulated value of each CMG, determining whether the CMG group meets a balanced operation requirement or not; the balanced operation requirement is used for ensuring that the CMG group is in a stable on-orbit working and life expectancy comparatively balanced state; and if not, derating the real-time frame angular velocity of the first control moment gyroscope with the maximum use intensity accumulated value, and balancing the control moment to other control moment gyroscopes of the CMG group. According to the method, the problem of uneven service life of each CMG caused by use can be effectively solved while the agility and maneuverability of the remote sensing satellite are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of spacecraft attitude control, and in particular to a method and device for optimizing the operation of a remote sensing satellite CMG group based on intensity balance. Background Art

[0002] The control moment gyro (CMG) is one of the important actuators of the spacecraft attitude control system. It ensures the agile attitude maneuvering capability of the remote sensing satellite to meet the needs of dense imaging and stereo imaging of hot targets. However, the distribution characteristics of hot targets and user usage habits easily lead to uneven usage intensity of each product in the control moment gyro group.

[0003] In the related technology, the operation control strategy of the CMG group is not adjusted autonomously according to the intensity of use, resulting in uneven service life of each control moment gyro in the CMG group, and ultimately leading to a decrease in the agile maneuverability of the remote sensing satellite.

[0004] Based on this, there is an urgent need for a remote sensing satellite CMG group operation optimization method and device based on the use of intensity balance to solve the above technical problems. Summary of the invention

[0005] The embodiments of the present invention provide a remote sensing satellite CMG group operation optimization method and device based on intensity balance, which can fully utilize the redundant characteristics of the CMG group without the user noticing, autonomously adjust the CMG operation strategy, and effectively improve the problem of uneven cumulative intensity of each CMG caused by use and thus uneven life span, thereby ensuring the agile maneuverability of the remote sensing satellite.

[0006] In a first aspect, an embodiment of the present invention provides a remote sensing satellite CMG group operation optimization method based on intensity balance, comprising:

[0007] According to the historical operation data of the CMG group, the cumulative value of the use intensity of each control moment gyro in the CMG group is calculated; wherein the historical operation data includes the historical frame angular velocity and the historical frame angular acceleration;

[0008] Determine whether the CMG group meets the balanced operation requirement based on the accumulated value of the use intensity of each CMG; the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit operation and has a relatively balanced life expectancy;

[0009] If it is not satisfied, the real-time frame angular velocity of the first control moment gyro with the largest cumulative intensity value will be derated, and the control torque will be balanced to the remaining control moment gyros of the CMG group; among which, the real-time frame angular velocity is preliminarily determined by a preset attitude maneuver planning model.

[0010] In a second aspect, an embodiment of the present invention further provides a remote sensing satellite CMG group operation optimization device based on intensity balance, comprising:

[0011] A calculation module, used for calculating the cumulative value of the use intensity of each control moment gyro in the CMG group according to the historical operation data of the CMG group; wherein the historical operation data includes the historical frame angular velocity and the historical frame angular acceleration;

[0012] A determination module is used to determine whether the CMG group meets the balanced operation requirement according to the cumulative value of the use intensity of each CMG; the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit operation and the expected life is relatively balanced;

[0013] The processing module is used to reduce the real-time frame angular velocity of the first control moment gyro with the largest cumulative intensity when the balanced operation requirement is not met, and balance the control torque to the remaining control moment gyros of the CMG group; wherein the real-time frame angular velocity is preliminarily determined by a preset attitude maneuver planning model.

[0014] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0015] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute the method described in any embodiment of this specification.

[0016] The embodiment of the present invention provides a remote sensing satellite CMG group operation optimization method and device based on intensity balance, which calculates the cumulative intensity information by using the historical frame angular velocity and angular acceleration of each CMG in orbit, and after the cumulative intensity exceeds the threshold, starts the balancing mechanism for the CMG with the highest cumulative intensity, and forces the use intensity of the CMG to be reduced, thereby solving the technical problem of uneven cumulative intensity and uneven life. The above method can make full use of the redundant characteristics of the CMG group without the user's feeling, and autonomously adjust the operation strategy of the CMG group, so as to ensure that the cumulative use intensity of each CMG in orbit is relatively balanced, and ensure the agile maneuverability during the life cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of a remote sensing satellite CMG group operation optimization method based on intensity balance provided by an embodiment of the present invention;

[0019] Figure 2 It is a schematic diagram of a CMG group attitude maneuver planning model provided by an embodiment of the present invention;

[0020] Figure 3 is a hardware architecture diagram of an electronic device provided by an embodiment of the present invention;

[0021] Figure 4 It is a structural diagram of a remote sensing satellite CMG group operation optimization device based on intensity balance provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] As mentioned above, the uneven intensity of use of each control moment gyro in orbit directly leads to uneven lifespan. However, traditional remote sensing satellites do not introduce the information of uneven use intensity into the CMG operation control strategy. When the control moment gyro with the highest intensity fails, the satellite's agile maneuverability decreases.

[0024] Based on this, the idea of ​​the present invention is to use the historical frame angular velocity and historical frame angular acceleration of the on-orbit CMG group to calculate the use intensity cumulative value, and introduce this information into the control torque allocation strategy of the CMG group to solve the technical problem that the uneven cumulative intensity leads to uneven life and thus causes the satellite's agile maneuverability to decrease.

[0025] The specific implementation of the above concept is described below.

[0026] Please refer to Figure 1 The embodiment of the present invention provides a remote sensing satellite CMG group operation optimization method based on intensity balance, the method comprising:

[0027] Step 100, calculating the cumulative value of the use intensity of each control moment gyro in the CMG group according to the historical operation data of the CMG group;

[0028] Step 102, determining whether the CMG group meets the balanced operation requirement according to the accumulated value of the use intensity of each CMG;

[0029] Step 104: If not satisfied, the real-time frame angular velocity of the first control moment gyro with the largest cumulative intensity value is derated, and the control torque is balanced to the remaining control moment gyros of the CMG group.

[0030] Described below Figure 1 How the various steps are performed.

[0031] First, for step 100, the cumulative value of the use intensity of each control moment gyro in the CMG group is calculated based on the historical operation data of the CMG group.

[0032] In an embodiment of the present invention, the historical operation data of the CMG group includes historical frame angular velocity and historical frame angular acceleration, and the calculation process includes the following steps: according to the CMG low-speed frame angular velocity sensitivity threshold and the CMG low-speed frame angular acceleration sensitivity threshold, the CMG low-speed frame angular velocity threshold function and the CMG low-speed frame angular acceleration threshold function are established in turn; according to the historical operation data, the low-speed frame angular velocity threshold function and the low-speed frame angular acceleration threshold function, the usage intensity measurement value of each control moment gyro at any time is calculated; the usage intensity measurement value of each control moment gyro since the separation of the satellite and the rocket is definite integrated to obtain the cumulative usage intensity value of each control moment gyro.

[0033] Specifically, the CMG low-speed frame angular velocity threshold function is established by the following formula:

[0034]

[0035] In the formula, is the angular velocity threshold function of the low-speed frame; is the frame angular velocity of the i-th control moment gyro; i is the number of the control moment gyro in the CMG group; is the low-speed frame angular velocity sensitivity threshold, which is 0.03° / s in this embodiment.

[0036] The CMG low-speed frame angular acceleration threshold function is established by the following formula:

[0037]

[0038] In the formula, is the low-speed frame angular acceleration threshold function; is the frame angular acceleration of the i-th control moment gyro; is the low-speed frame angular acceleration sensitivity threshold, which is 0.05° / s in this embodiment. 2 .

[0039] Furthermore, the usage intensity measurement value f(i) of each control moment gyro at any time is calculated by the following formula:

[0040]

[0041] Wherein, k1 is the low-speed frame angular velocity sensitivity coefficient, which is 0.01 in this embodiment; k2 is the low-speed frame angular acceleration sensitivity coefficient, which is 0.05 in this embodiment.

[0042] Finally, the cumulative value of the use intensity of each control moment gyro F(i) is calculated by the following formula:

[0043]

[0044] Where t is the accumulated satellite time relative to the moment of satellite-rocket separation before this attitude maneuver mission.

[0045] It is worth noting that the cumulative value of usage intensity is extremely correlated with the cumulative degree of wear of the CMG shaft system.

[0046] Then, for step 102, it is determined whether the CMG group meets the balanced operation requirement according to the accumulated value of the use intensity of each CMG.

[0047] In an embodiment of the present invention, the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit operation and the expected life span is relatively balanced. The determination process includes the following steps: each control moment gyro of the CMG group is screened to obtain the maximum and minimum values ​​of the cumulative value of the intensity of use; determine whether the difference between the maximum and minimum values ​​of the cumulative value of the intensity of use is less than a preset threshold value, if so, determine that the CMG group meets the balanced operation requirement, otherwise determine that the CMG group does not meet the balanced operation requirement.

[0048] It is worth noting that the present invention determines whether the balanced operation requirement is met before the attitude maneuvering task, and does not make a judgment during the attitude maneuvering task to avoid discontinuous changes in the angular velocity of the CMG output frame caused by the switching of the first control torque gyro.

[0049] For example, suppose a remote sensing satellite is equipped with six CMGs, and each control moment gyro is numbered from 1 to 6; the historical operation data of the six CMGs are calculated by the method of step 100 to obtain the cumulative values ​​of the use intensity of the six CMGs since the separation of the satellite and the rocket. By screening the cumulative values, the maximum and minimum cumulative values ​​of the six CMGs can be obtained, that is, the heaviest and lightest use levels, assuming that the corresponding numbers are 6 and 1; then the difference between the cumulative values ​​of the use intensity of the two CMGs is calculated, and the cumulative value of CMG No. 6 is subtracted from the cumulative value of CMG No. 1. , and compare the calculated result with the preset usage intensity threshold parameter. In this embodiment, the threshold value is 2500; if the difference is greater than the threshold, it means that the usage of each CMG is not balanced. At this time, the No. 6 CMG with the largest cumulative usage intensity is recorded as the first control torque gyro. Then, according to the subsequent steps, the CMG is derated without user perception, and the real-time frame angular velocity of No. 1-5 CMGs is autonomously adjusted to ensure that the control torque of the CMG group remains unchanged; if the difference is less than the threshold, it means that the current usage status of the CMG group is relatively balanced and no autonomous adjustment is made.

[0050] With respect to step 104, the real-time frame angular velocity of the first control moment gyro with the largest cumulative intensity is derated, and the control torque is balanced to the remaining control moment gyros of the CMG group.

[0051] In the embodiment of the present invention, the CMG real-time frame angular velocity is preliminarily determined by a preset attitude maneuver planning model. Figure 2 A schematic diagram of an attitude maneuver planning model provided for an embodiment of the present invention. Specifically, the preliminary determination process of the CMG real-time frame angular velocity includes the following steps: determining the attitude maneuver axis angle and the rotation axis vector according to the Euler axis angle method; determining the motion phase of the attitude maneuver planning model according to the axis angle, the maximum angular acceleration of the parameter and the maximum angular velocity of the parameter, and calculating the Euler axis angle and angular velocity of the remote sensing satellite target at any time during the maneuver process; calculating and processing the target Euler axis angle and angular velocity to obtain the expected control torque of the CMG group at any time during the maneuver process; calculating the real-time frame angular velocity of each control torque gyro according to the expected control torque value and the installation matrix of the CMG group.

[0052] First, according to the Euler axis-angle method, the attitude maneuver axis angle and rotation axis vector are determined by the following formula:

[0053]

[0054] q mb0 =dcm2q(C MB0 )

[0055] χ m =2cos -1 (qmb0 (4)

[0056] And normalize the vector e

[0057] In the formula, C MB0 is the transformation matrix corresponding to the attitude maneuver; q mb0 is the quaternion corresponding to the attitude maneuver; C BO0 is the attitude conversion matrix from the orbit system to the satellite system before the attitude maneuver; C MO is the conversion matrix from the orbit system to the target attitude; dcm2q() is a general function for converting the attitude matrix to a quaternion, including q mb0 (1) q mb0 (2) q mb0 (3) and q mb0 (4) 4 elements, where q mb0 (4) is a scalar; χ m is the attitude maneuvering axis angle; e is the rotation axis vector, which includes e x 、e y and e z Three servings.

[0058] Further, according to Figure 2 The provided posture maneuver planning model determines the timing of each motion phase, given by Figure 2 It can be seen that the entire motion process includes the acceleration phase, the uniform motion phase and the deceleration phase, so the time t of the acceleration phase is acc Calculated by the following formula:

[0059]

[0060] The time t of the uniform motion phase v Calculated by the following formula:

[0061]

[0062] In the above formula, a max is the maximum angular acceleration parameter, which is 3.0° / s in this embodiment. 2 ; is the maximum angular velocity parameter, which is 6.0° / s in this embodiment.

[0063] It is worth noting that if t v ≤0, then

[0064]

[0065] t v =0

[0066] At the same time, since the angular acceleration in the deceleration phase is the same as the angular acceleration in the acceleration phase but in the opposite direction, the uniform sliding starts at t m1 =t acc , the start time of maneuver deceleration t m2 =t acc +t v , the time of maneuvering to the destination t m3 =2t acc +t v .

[0067] Furthermore, after determining the movement time of each movement phase, the time of any t in the maneuver process can be calculated. m The target Euler axis angle χ at time r and its target angular velocity Specifically include:

[0068] If the maneuver process has not yet started, t m ≤0, then: χ r =0;

[0069] If the maneuver process is in the acceleration phase, that is, 0<t m <t m1 ,but:

[0070]

[0071] If the maneuvering process is in the uniform motion stage, that is, t m1 <t m <t m2 ,but:

[0072]

[0073] If the maneuver process is in the deceleration phase, that is, t m2 <t m <t m3 ,but:

[0074]

[0075] In the above formula, t m is the relative time of the attitude maneuver process, and the attitude maneuver starting time t m is 0.

[0076] Next, the control torque of the CMG group is calculated. The control torque is the expected control torque. Whether the CMG group is optimized or not, the control torque needs to be output. It is specifically calculated by the following formula:

[0077] q r =[e x sin(χ r / 2),e y sin(χ r / 2),e z sin(χ r / 2),cos(χ r / 2)]

[0078] C r =q2dcm(q r )

[0079] C RO =C p C r C BO0

[0080]

[0081] T r =m Tr ·J s (ω ri -ω ri,pst ) / ΔT

[0082] Where q2dcm() is a general function that converts quaternion into attitude matrix; C RO is the target attitude matrix with drift angle correction; C p is the transfer matrix corresponding to the deviation angle correction; is the angular velocity of the drift; ω OI is the orbital angular velocity vector; J s is the star's moment of inertia matrix; ω ri is the target inertial angular velocity vector; ω ri,pst is the ω of the previous control cycle ri ; △T is the control period, which is 0.125s in this embodiment; T r It is the control torque of the CMG group.

[0083] Finally, the real-time frame angular velocity of each control moment gyro is calculated according to the following formula:

[0084]

[0085] Jacob=Acos(δ)-Bsin(δ)

[0086] (Jacob) -1 =(Jacob) T ·(Jacob T ) -1

[0087] Where A and B are constant matrices related to the installation layout of the CMG group; δ is a column vector composed of the real-time frame angles of each CMG; is a column vector composed of the angular velocities of each CMG real-time frame; H0 is the nominal angular momentum of the CMG, which is 125 Nms in this embodiment.

[0088] In the embodiment of the present invention, after the real-time frame angular velocity of each CMG is obtained through the above process, when the CMG group does not meet the balanced operation requirements, optimization is required, and the optimization process includes the following steps: de-rating the real-time frame angular velocity of the first control moment gyro to obtain the de-rated real-time frame angular velocity of the first control moment gyro; calculating the pre-output torque of the first control moment gyro according to the de-rated real-time frame angular velocity of the first control moment gyro; calculating the difference between the control torque of the CMG group and the pre-output torque of the first control moment gyro to obtain the output torque of the remaining CMGs; calculating the real-time frame angular velocity of the remaining CMGs according to the output torque of the remaining CMGs.

[0089] Since the first control moment gyro has been used too heavily, it needs to be derated. The real-time frame angular velocity of the first control moment gyro (numbered as j in the CMG group) calculated by the above steps is used to determine the real-time frame angular velocity of the first control moment gyro after derated:

[0090]

[0091] Wherein, m is the derating constant coefficient, which ranges from 0 to 1 and is 0.85 in this embodiment.

[0092] Furthermore, the pre-output control torque of the first control torque gyro is calculated, and the specific method is as follows:

[0093]

[0094] Where Jacob(:,j) is the jth column of the Jacob matrix; T j is the pre-output torque of the first control moment gyro.

[0095] Furthermore, since the frame angular velocity of the first control moment gyro has decreased, the frame angular velocity of the remaining control moment gyro needs to be adjusted to ensure the normal maneuvering of the remote sensing satellite. The output torque and real-time frame angular velocity of the remaining control moment gyro of the CMG group are calculated as follows:

[0096] T new =T r -T j

[0097]

[0098] (Jacob new ) -1 =(Jacobnew ) T ·(Jacob new ·Jacob new T ) -1

[0099] Where, T new is the output torque of the remaining control torque gyro; Jacob new is the Jacob matrix with the jth column set to zero; is the real-time frame angular velocity of the remaining CMGs, and its j-th component is 0.

[0100] In summary, the above method can completely autonomously reduce the usage intensity of the control moment gyro with the largest cumulative usage intensity in the mission to be executed on board, and autonomously adjust the real-time frame angular velocity of the remaining control moment gyro of the CMG group to ensure the control torque of the CMG group, effectively ensuring that the cumulative usage intensity of each control moment gyro of the CMG group is relatively balanced while on orbit, solving the problem of uneven life of each CMG caused by use, and thus ensuring the agile maneuverability of the remote sensing satellite.

[0101] like Figure 3 , Figure 4 As shown, an embodiment of the present invention provides a remote sensing satellite CMG group operation optimization device based on intensity balance. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 3 As shown, it is a hardware architecture diagram of an electronic device where the remote sensing satellite CMG group operation optimization device based on intensity balance provided by an embodiment of the present invention is located, except Figure 3 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a transceiver chip responsible for processing messages, etc. Taking software implementation as an example, Figure 4 As shown, as a device in a logical sense, the CPU of the electronic device in which it is located reads the corresponding computer program in the non-volatile memory into the internal memory and runs it. This embodiment provides a remote sensing satellite CMG group operation optimization device based on intensity balance, including:

[0102] The calculation module 400 is used to calculate the cumulative value of the use intensity of each control moment gyro in the CMG group according to the historical operation data of the CMG group; wherein the historical operation data includes the historical frame angular velocity and the historical frame angular acceleration;

[0103] The determination module 402 is used to determine whether the CMG group meets the balanced operation requirement according to the accumulated value of the use intensity of each CMG; the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit operation and the expected life is relatively balanced;

[0104] Processing module 404 is used to reduce the real-time frame angular velocity of the first control moment gyro with the largest cumulative intensity when the balanced operation requirement is not met, and balance the control torque to the remaining control moment gyros of the CMG group; wherein the real-time frame angular velocity is preliminarily determined by a preset attitude maneuver planning model.

[0105] In the embodiment of the present invention, when the calculation module 400 calculates the cumulative value of the usage intensity of each control moment gyro in the CMG group according to the historical operation data of the CMG group, it is specifically used to perform the following operations: according to the CMG low-speed frame angular velocity sensitivity threshold and the CMG low-speed frame angular acceleration sensitivity threshold, a CMG low-speed frame angular velocity threshold function and a CMG low-speed frame angular acceleration threshold function are established in sequence; according to the historical operation data, the low-speed frame angular velocity threshold function and the low-speed frame angular acceleration threshold function, the usage intensity measurement value of each control moment gyro at any time is calculated; the usage intensity measurement value of each control moment gyro since the separation of the satellite and the rocket is definite integrated to obtain the cumulative value of the usage intensity of each control moment gyro.

[0106] In the embodiment of the present invention, the use intensity of each control moment gyro at any time is calculated by the following formula:

[0107]

[0108] Where, f(i) is the use intensity; i is the number of the control moment gyro in the CMG group; k1 is the angular velocity sensitivity coefficient of the low-speed frame; k2 is the angular acceleration sensitivity coefficient of the low-speed frame; is the angular velocity threshold function of the low-speed frame; is the low-speed frame angular acceleration threshold function; is the historical frame angular velocity of the i-th control moment gyro; is the historical frame angular acceleration of the i-th control moment gyro; t is the cumulative satellite time relative to the moment of satellite-rocket separation before this attitude maneuver mission; F(i) is the cumulative value of the intensity of use of the i-th control moment gyro.

[0109] In an embodiment of the present invention, when determining whether the CMG group meets the balanced operation requirements based on the cumulative use intensity of each CMG, the determination module 402 is specifically used to perform the following operations: screening each control moment gyro of the CMG group to obtain the maximum and minimum values ​​of the cumulative use intensity; determining whether the difference between the maximum and minimum values ​​of the cumulative use intensity is less than a preset threshold value, if so, determining that the CMG group meets the balanced operation requirements, otherwise determining that the CMG group does not meet the balanced operation requirements.

[0110] In an embodiment of the present invention, the real-time frame angular velocity is determined in the following manner: according to the Euler axis-angle method, the attitude maneuver axis angle and the rotation axis vector are determined; according to the axis angle, the parameter maximum angular acceleration and the parameter maximum angular velocity, the motion stage of the attitude maneuver planning model is determined, and the Euler axis angle and angular velocity of the remote sensing satellite target at any time during the maneuvering process are calculated; the target Euler axis angle and angular velocity are calculated and processed to obtain the expected control torque of the CMG group at any time during the maneuvering process; according to the control torque value and the installation matrix of the CMG group, the real-time frame angular velocity of each control torque gyroscope is calculated.

[0111] In the embodiment of the present invention, when the processing module 404 performs the de-rating of the real-time frame angular velocity of the first control moment gyro with the largest cumulative intensity and balances the control torque to the remaining control moment gyros of the CMG group, it is specifically used to perform the following operations: de-rating the real-time frame angular velocity of the first control moment gyro to obtain the de-rating real-time frame angular velocity of the first control moment gyro; calculating the pre-output torque of the first control moment gyro based on the de-rating real-time frame angular velocity of the first control moment gyro; calculating the difference between the control torque of the CMG group and the pre-output torque of the first control moment gyro to obtain the output torque of the remaining CMGs; calculating the real-time frame angular velocity of the remaining control moment gyro based on the output torque of the remaining CMGs.

[0112] In the embodiment of the present invention, the real-time frame angular velocity of each CMG is calculated by the following formula:

[0113]

[0114] T new =T r -T j

[0115]

[0116] (Jacob new ) -1 =(Jacob new ) T ·(Jacob new ·Jacob newT ) -1

[0117] In the formula, is the real-time frame angular velocity of the first control moment gyro (the number in the CMG group is denoted as j); m is the derating constant coefficient; Jacob(:,j) is the jth column of the Jacob matrix; T j is the output torque of the first control torque gyro; T r is the control torque of the CMG group; T new is the output torque of the remaining control moment gyro; is the real-time frame angular velocity of the remaining CMGs, whose jth component is 0; Jacob new is the Jacob matrix with the jth column set to zero; H0 is the nominal angular momentum of the CMG.

[0118] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a remote sensing satellite CMG group operation optimization device based on intensity balance. In other embodiments of the present invention, a remote sensing satellite CMG group operation optimization device based on intensity balance may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0119] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0120] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a remote sensing satellite CMG group operation optimization method based on intensity balance in any embodiment of the present invention is implemented.

[0121] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a remote sensing satellite CMG group operation optimization method based on intensity balance in any embodiment of the present invention.

[0122] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0123] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0124] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0125] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling the operating system on the computer to complete part or all of the actual operations based on the instructions of the program code.

[0126] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0127] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0128] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote sensing satellite CMG group operation optimization method based on intensity balance, characterized in that: include: According to the historical operation data of the CMG group, the cumulative value of the use intensity of each control moment gyro in the CMG group is calculated; wherein the historical operation data includes the historical frame angular velocity and the historical frame angular acceleration; Determine whether the CMG group meets the balanced operation requirement based on the accumulated value of the use intensity of each CMG; the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit operation and has a relatively balanced life expectancy; If it is not satisfied, the real-time frame angular velocity of the first control moment gyro with the largest cumulative intensity value will be derated, and the control torque will be balanced to the remaining control moment gyros of the CMG group; among which, the real-time frame angular velocity is preliminarily determined by a preset attitude maneuver planning model.

2. The method according to claim 1, characterized in that The cumulative value of the use intensity of each control moment gyro in the CMG group is calculated based on the historical operation data of the CMG group, including: According to the CMG low-speed frame angular velocity sensitive threshold and the CMG low-speed frame angular acceleration sensitive threshold, a CMG low-speed frame angular velocity threshold function and a CMG low-speed frame angular acceleration threshold function are established in turn; Calculate the usage intensity measurement value of each control moment gyro at any time based on historical operation data, a low-speed frame angular velocity threshold function and a low-speed frame angular acceleration threshold function; The usage intensity measurement value of each control moment gyro since the separation of the satellite and the rocket is definitely integrated to obtain the cumulative usage intensity value of each control moment gyro.

3. The method according to claim 2, characterized in that The cumulative value of the use intensity is calculated by the following formula: Where, f(i) is the use intensity; i is the number of the control moment gyro in the CMG group; k1 is the angular velocity sensitivity coefficient of the low-speed frame; k2 is the angular acceleration sensitivity coefficient of the low-speed frame; is the angular velocity threshold function of the low-speed frame; is the low-speed frame angular acceleration threshold function; is the historical frame angular velocity of the i-th control moment gyro; is the historical frame angular acceleration of the i-th control moment gyro; t is the cumulative satellite time relative to the moment of satellite-rocket separation before this attitude maneuver mission; F(i) is the cumulative value of the intensity of use of the i-th control moment gyro.

4. The method according to claim 1, characterized in that: Determining whether the CMG group meets the balanced operation requirement according to the accumulated value of the use intensity of each CMG includes: Each control moment gyro of the CMG group is screened to obtain the maximum and minimum values ​​of the cumulative value of the intensity of use; Determine whether the difference between the maximum and minimum values ​​of the usage intensity cumulative value is less than a preset threshold value. If so, determine that the CMG group meets the balanced operation requirements, otherwise determine that the CMG group does not meet the balanced operation requirements.

5. The method according to claim 1, characterized in that The real-time frame angular velocity is determined as follows: According to the Euler axis-angle method, determine the attitude maneuver axis angle and rotation axis vector; According to the axis angle, the maximum angular acceleration parameter and the maximum angular velocity parameter, the motion phase of the attitude maneuver planning model is determined, and the Euler axis angle and angular velocity of the remote sensing satellite target at any time during the maneuver process are calculated; The target Euler axis angle and angular velocity are calculated and processed to obtain the expected control torque of the CMG group at any time during the maneuver process; The real-time frame angular velocity of each control moment gyro is calculated based on the desired control torque value and the installation matrix of the CMG group.

6. The method according to claim 1, characterized in that The real-time frame angular velocity of the first control moment gyro with the largest cumulative intensity will be derated, and the control torque will be balanced to the remaining control moment gyros in the CMG group, including: de-rating the real-time frame angular velocity of the first control moment gyro to obtain the de-rating real-time frame angular velocity of the first control moment gyro; The pre-output torque of the first control moment gyro is calculated according to the real-time frame angular velocity after the first control moment gyro is derated; Calculate the difference between the control torque of the CMG group and the pre-output torque of the first control torque gyro to obtain the output torque of the remaining CMGs; According to the output torque of the remaining CMGs, the real-time frame angular velocity of the remaining CMGs is calculated.

7. The method according to claim 6, characterized in that The real-time frame angular velocity of each CMG is calculated by the following formula: T new =T r -T j (Jacob new ) -1 =(Jacob new ) T ·(Jacob new ·Jacob new T ) -1 In the formula, is the real-time frame angular velocity of the first control moment gyro (the number in the CMG group is denoted as j); m is the derating constant coefficient; Jacob(:,j) is the jth column of the Jacob matrix; T j is the output torque of the first control torque gyro; T r is the control torque of the CMG group; T new is the output torque of the remaining control moment gyro; is the real-time frame angular velocity of the remaining CMGs, whose jth component is 0; Jacob new is the Jacob matrix with the jth column set to zero; H0 is the nominal angular momentum of the CMG.

8. A remote sensing satellite CMG group operation optimization device based on intensity balance, characterized in that: include: A calculation module, used for calculating the cumulative value of the use intensity of each control moment gyro in the CMG group according to the historical operation data of the CMG group; wherein the historical operation data includes the historical frame angular velocity and the historical frame angular acceleration; A determination module is used to determine whether the CMG group meets the balanced operation requirement according to the cumulative value of the use intensity of each CMG; the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit operation and the expected life is relatively balanced; The processing module is used to reduce the real-time frame angular velocity of the first control moment gyro with the largest cumulative intensity when the balanced operation requirement is not met, and balance the control torque to the remaining control moment gyros of the CMG group; wherein the real-time frame angular velocity is preliminarily determined by a preset attitude maneuver planning model.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed in a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

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