Remote sensing satellite cmg cluster operation optimization method and device based on intensity balance

Abstract

The application 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, wherein the method comprises the following steps: according to historical operation data of the CMG group, the use intensity cumulative value of each control moment gyro in the CMG group is calculated; wherein the historical operation data comprises historical frame angular velocity and historical frame angular acceleration; according to the use intensity cumulative value of each CMG, it is determined whether the CMG group meets the balanced operation requirement; the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit working and expected life balance state; if not, the real-time frame angular velocity of the first control moment gyro with the largest use intensity cumulative value is derated, and the control moment is balanced to the remaining control moment gyro of the CMG group. The application can effectively solve the problem of uneven CMG life caused by use while ensuring the agile maneuvering capability of the remote sensing satellite.

Description

TECHNICAL FIELD

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

[0002] The control moment gyro (CMG) is one of the important actuators of the spacecraft attitude control system, which ensures the agile attitude maneuvering capability of the remote sensing satellite to meet the needs of hot target intensive imaging, stereo imaging and other needs, but the distribution characteristics of the hot target and the user usage habits are easy to cause the usage intensity of each product of the control moment gyro group to be unbalanced.

[0003] In the related art, the operation control strategy of the CMG group is not adjusted autonomously according to the usage intensity, thereby causing the service life of each control moment gyro in the CMG group to be unbalanced, and ultimately leading to the decline of the agile maneuvering capability of the remote sensing satellite.

[0004] Therefore, there is an urgent need for a remote sensing satellite CMG group operation optimization method and device based on usage intensity balance to solve the above technical problems. SUMMARY

[0005] The present application provides a remote sensing satellite CMG group operation optimization method and device based on intensity balance, which can fully utilize the redundancy characteristics of the CMG group under the condition of user unawareness, autonomously adjust the CMG operation strategy, effectively improve the problem of uneven cumulative intensity of each CMG caused by usage, and further ensure the agile maneuvering capability of the remote sensing satellite.

[0006] In a first aspect, the present application 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 usage intensity cumulative value of each control moment gyro in the CMG group is calculated; wherein the historical operation data includes historical frame angular velocity and historical frame angular acceleration;

[0008] According to the usage intensity cumulative value of each CMG, it is determined whether the CMG group meets the balanced operation requirement; the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit working state and the expected service life is relatively balanced;

[0009] If not, the real-time frame angular velocity of the first control moment gyro with the largest usage intensity cumulative value is derated, and the control moment is balanced to the remaining control moment gyro of the CMG group; wherein the real-time frame angular velocity is preliminarily determined by a preset attitude maneuvering planning model.

[0010] In a second aspect, the embodiments of the present application further provide a remote sensing satellite CMG group operation optimization device based on intensity balance, comprising:

[0011] a calculation module configured to calculate a cumulative intensity value of each control moment gyro in the CMG group according to historical operation data of the CMG group, wherein the historical operation data comprises historical frame angular velocity and historical frame angular acceleration;

[0012] a determination module configured to determine whether the CMG group meets a balanced operation requirement according to the cumulative intensity values of the CMGs, wherein the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit working state and has a relatively balanced expected service life;

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

[0014] In a third aspect, the embodiments of the present application further provide an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in any of the embodiments of the present application.

[0015] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed in a computer, causes the computer to execute the method described in any of the embodiments of the present application.

[0016] The embodiments of the present application provide a remote sensing satellite CMG group operation optimization method and device based on intensity balance, which calculates cumulative intensity information by using historical frame angular velocity and angular acceleration of each CMG on orbit, and starts a balancing mechanism for the CMG with the highest cumulative intensity when the cumulative intensity exceeds a threshold value, and forcibly reduces the use intensity of the CMG, thereby solving the technical problem of uneven cumulative intensity and uneven service life. The above method can fully utilize the redundancy characteristics of the CMG group under the condition that the user is not aware, and autonomously adjust the operation strategy of the CMG group, so as to ensure that the cumulative use intensity of each CMG on orbit is relatively balanced, and the agile maneuvering ability within the service life is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

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

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

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

[0021] Figure 4 is a structural diagram of a CMG group operation optimization device based on intensity balance provided by an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] As described above, the intensity imbalance of each control moment gyro in orbit directly leads to the imbalance of life, and the traditional remote sensing satellite does not introduce the information of the imbalance of the use intensity into the control strategy of the CMG operation, and when the control moment gyro with the largest use intensity fails, the agile maneuvering capability of the satellite decreases.

[0024] Based on this, the idea of the present application is to calculate the cumulative use intensity by using the historical frame angular velocity and the historical frame angular acceleration of the CMG group in orbit, and introduce the information into the control moment distribution strategy of the CMG group, so as to solve the technical problem that the imbalance of the cumulative intensity leads to the imbalance of the life and further causes the decrease of the agile maneuvering capability of the satellite.

[0025] The specific implementation of the above idea will be described below.

[0026] Please refer to Figure 1 The embodiments of the present application provide a CMG group operation optimization method based on intensity balance for a remote sensing satellite, which comprises the following steps.

[0027] In step 100, the cumulative use intensity of each control moment gyro in the CMG group is calculated according to the historical operation data of the CMG group.

[0028] In step 102, whether the CMG group meets the balanced operation requirement is determined according to the cumulative use intensity of each CMG.

[0029] If not, the real-time frame angular velocity of the first control moment gyro with the largest cumulative value of use intensity is reduced in step 104, and the control moments are balanced to the remaining control moment gyros in the CMG group.

[0030] The execution of each step is described below Figure 1 The execution of each step is described below

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

[0032] In the embodiment of the present application, 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: a CMG low-speed frame angular velocity threshold function and a CMG low-speed frame angular acceleration threshold function are sequentially established according to a CMG low-speed frame angular velocity sensitive threshold and a CMG low-speed frame angular acceleration sensitive threshold; the use intensity measurement value of each control moment gyro at any time is calculated according to the historical operation data, the low-speed frame angular velocity threshold function and the low-speed frame angular acceleration threshold function; and the use intensity measurement value of each control moment gyro since the satellite and the rocket are separated is integrated to obtain the cumulative value of use intensity 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 low-speed frame angular velocity threshold function; 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 sensitive threshold, which is 0.03° / s in the 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 sensitive threshold, which is 0.05° / s in the embodiment. 2 .

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

[0040]

[0041] In the formula, k1 is a low-speed frame angular velocity sensitive coefficient, and in the embodiment, 0.01 is taken; k2 is a low-speed frame angular acceleration sensitive coefficient, and in the embodiment, 0.05 is taken.

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

[0043]

[0044] In the formula, t is the cumulative star time at the time of relative star-rocket separation before the current attitude maneuver task.

[0045] It is worth mentioning that the use intensity cumulative value is extremely related to the wear cumulative degree of the CMG shaft system.

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

[0047] In the embodiment of the application, the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit working and expected life relatively balanced state, and the determination process comprises the following steps: each control moment gyro of the CMG group is screened to obtain the maximum value and the minimum value of the use intensity cumulative value; whether the difference between the maximum value and the minimum value of the use intensity cumulative value is less than a preset threshold value is determined, if yes, it is determined that the CMG group meets the balanced operation requirement, otherwise, it is determined that the CMG group does not meet the balanced operation requirement.

[0048] It is worth mentioning that the application determines whether the balanced operation requirement is met before the attitude maneuver task, and does not perform the determination in the process of the attitude maneuver task, so as to avoid the dis-continuity of the CMG output frame angular velocity caused by the switching of the first control moment gyro.

[0049] For example, suppose a remote sensing satellite is equipped with six control moment gyroscopes (CMGs), each numbered 1 to 6. Using the method in step 100, the historical operational data of these six CMGs is calculated to obtain the cumulative usage intensity values ​​since satellite separation. By filtering the cumulative values, the maximum and minimum cumulative values ​​among the six CMGs can be obtained, representing the most and least heavily used CMGs, respectively, assuming their corresponding numbers are 6 and 1. Next, the difference between the cumulative usage intensity values ​​of these two CMGs is calculated by subtracting the cumulative value of CMG 1 from the cumulative value of CMG 6. The calculation results are compared with a preset usage intensity threshold parameter, which is 2500 in this embodiment. If the difference is greater than the threshold, it indicates that the usage of each CMG is not balanced. In this case, the CMG with the largest cumulative usage intensity value (number 6) is designated as the first control torque gyroscope. Then, according to subsequent steps, the CMG is derated in a user-unnoticeable manner, and the real-time frame angular velocity of CMGs 1-5 is autonomously adjusted to ensure that the control torque of the CMG group remains unchanged. If the difference is less than the threshold, it indicates that the current usage of the CMG group is relatively balanced, and no autonomous adjustment is made.

[0050] For step 104, the real-time frame angular velocity of the first control moment gyroscope with the largest intensity cumulative value is derated, and the control torque is balanced to the other control moment gyroscopes in the CMG group.

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

[0052] First, based on the Euler axis-angle method, the attitude maneuver axis angle and rotation axis vector are determined using the following formula:

[0053]

[0054] q mb0 =dcm2q(C MB0 )

[0055] χ m =2cos -1 (qmb0 (4))

[0056] Normalize the vector e

[0057] In the formula, C MB0 q is the transformation matrix corresponding to attitude maneuvers; mb0 C is the quaternion corresponding to attitude maneuvers; BO0 C represents the attitude transformation matrix from the orbital frame to the satellite's intrinsic frame before attitude maneuvering; MO Let be the transformation matrix from the orbital frame to the target attitude; dcm2q() is a general function to convert 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 e is the attitude maneuver axis angle; e is the rotation axis vector, which includes e x e y and e z Three components.

[0058] Furthermore, according to Figure 2 The provided attitude maneuver planning model determines the timing of each motion phase, by Figure 2 It can be seen that the entire motion process includes an acceleration phase, a uniform motion phase, and a deceleration phase. Therefore, the time t during the acceleration phase is... acc It is calculated using the following formula:

[0059]

[0060] The time t during the uniform motion phase v It is calculated using the following formula:

[0061]

[0062] In the above formula, a max The maximum angular acceleration is taken as 3.0° / s² in this embodiment. 2 ; The maximum angular velocity is taken as 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, the angular acceleration of the deceleration phase and the angular acceleration of the acceleration phase are equal in magnitude and opposite in direction, so the uniform sliding start time t m1 = t acc , the motor deceleration start time t m2 = t acc + t v , the motor to the position time t m3 = 2t acc + t v .

[0067] Further, after determining the motion time of each motion phase, the target Euler axis angle χ m and the target angular velocity ω r at any t during the motor process can be calculated.

[0068] If the motor process has not started, i.e., t m ≤ 0, then: χ r = 0;

[0069] If the motor process is in the acceleration motion phase, i.e., 0 < t m < t m1 , then:

[0070]

[0071] If the motor process is in the uniform motion phase, i.e., t m1 < t m < t m2 , then:

[0072]

[0073] If the motor process is in the deceleration motion phase, i.e., t m2 < t m < t m3 , then:

[0074]

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

[0076] Next, the control torque of the CMG group is calculated, which is the desired control torque that needs to be output by the CMG group whether it is optimized or not, and is 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] In the formula, q2dcm() is a general function of converting quaternion to attitude matrix; C RO is the target attitude matrix with the correction of drift angle; C p is the transition matrix corresponding to the correction of drift angle; is the drift angle velocity; ω OI is the orbit angular velocity vector; J s is the star body rotation inertia matrix; ω ri is the target inertial angular velocity vector; ω ri,pst is the ω ri of the last control period; △T is the control period, which is 0.125s in the embodiment; T r is the control moment of the CMG group.

[0083] Finally, the real 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·Jacob T ) -1

[0087] In the formula, A and B are constant matrices related to the installation and layout of the CMG group; δ is a column vector composed of the real frame angles of each CMG. is a column vector composed of real-time frame angular velocities of each CMG; H0is the nominal angular momentum of the CMG, which is 125 Nms in the embodiment.

[0088] In the embodiment, after the real-time frame angular velocities of each CMG are obtained through the above process, optimization is needed when the CMG group does not meet the balanced operation requirement, 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 real-time frame angular velocity of the first control moment gyro after de-rating; calculating the pre-output torque of the first control moment gyro according to the real-time frame angular velocity of the first control moment gyro after de-rating; 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; and calculating the real-time frame angular velocity of the remaining CMGs according to the output torque of the remaining CMGs.

[0089] Since the cumulative use intensity of the first control moment gyro is too large, it needs to be de-rated, and 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 de-rating:

[0090]

[0091] In the formula, m is a de-rating constant coefficient, and the value range is 0-1, which is 0.85 in the embodiment.

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

[0093]

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

[0095] Further, since the frame angular velocity of the first control moment gyro is reduced, the frame angular velocities of the remaining control moment gyro need to be adjusted to ensure 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, and the specific method is as follows:

[0096] T new = T r -T j

[0097]

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

[0099] T new is the output torque of the rest of the control moment gyroscopes; Jacob new is the Jacobian matrix after the jth column is set to zero; is the real-time frame angular velocity of the rest of the CMGs, and the jth component is 0.

[0100] In summary, by the above method, the use intensity of the control moment gyroscope with the largest use intensity cumulative value in the to-be-executed task can be reduced autonomously on the satellite, and the real-time frame angular velocity of the rest of the control moment gyroscopes in the CMG group is autonomously adjusted to ensure the control moment of the CMG group, effectively ensuring that the cumulative use intensities of the control moment gyroscopes in the CMG group are balanced during the in-orbit period, solving the problem of uneven CMG life caused by use, and further guaranteeing the agile maneuvering capability of the remote sensing satellite.

[0101] As shown in Figure 3 , Figure 4 embodiments of the present application provide a remote sensing satellite CMG group operation optimization device based on intensity balance. The device embodiments can be realized by software, or by hardware or a combination of software and hardware. From the hardware layer, as shown in Figure 3 , a hardware architecture diagram of an electronic device in which the remote sensing satellite CMG group operation optimization device based on intensity balance provided by the embodiments of the present application is located, in addition to the processor, memory, network interface, and non-volatile memory shown in Figure 3 , the electronic device in which the device in the embodiments is usually also provided with other hardware, such as a transceiver chip responsible for processing messages, etc. For example, as shown in Figure 4 , as a logically meaningful device, it is formed by the CPU of the electronic device in which it is located reading the corresponding computer program in the non-volatile memory into the memory for running. The remote sensing satellite CMG group operation optimization device based on intensity balance provided by the present embodiment comprises:

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

[0103] ​​The determining module 402 is configured to determine whether the CMG group meets a balanced operation requirement according to the usage intensity cumulative value of each CMG, and the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit working and expected life balanced state.

[0104] The processing module 404 is configured to reduce the real-time frame angular velocity of the first control moment gyro with the largest usage intensity cumulative value and balance the control moment to the remaining control moment gyro of the CMG group when the balanced operation requirement is not met, and the real-time frame angular velocity is preliminarily determined through a preset attitude maneuver planning model.

[0105] In the embodiment of the application, when the calculating module 400 performs calculation on the usage intensity cumulative value of each control moment gyro in the CMG group according to historical operation data of the CMG group, the calculating module 400 is specifically configured to perform the following operations: a CMG low-speed frame angular velocity threshold function and a CMG low-speed frame angular acceleration threshold function are sequentially established according to a CMG low-speed frame angular velocity sensitive threshold and a CMG low-speed frame angular acceleration sensitive threshold; the usage intensity measurement value of each control moment gyro at any time is calculated according to the historical operation data, the low-speed frame angular velocity threshold function and the low-speed frame angular acceleration threshold function; and the usage intensity measurement value of each control moment gyro since the satellite and the rocket are separated is integrated to obtain the usage intensity cumulative value of each control moment gyro.

[0106] In the embodiment of the application, the usage intensity of each control moment gyro at any time is calculated through the following formula:

[0107]

[0108] In the formula, f(i) is the usage intensity, i is the number of the control moment gyro in the CMG group, k1 is a low-speed frame angular velocity sensitive coefficient, k2 is a low-speed frame angular acceleration sensitive coefficient, ω(i) is the historical frame angular velocity of the i th control moment gyro, α(i) is the historical frame angular acceleration of the i th control moment gyro, t is the cumulative star time relative to the time when the satellite and the rocket are separated before this attitude maneuver task, and F(i) is the usage intensity cumulative value of the i th control moment gyro. ω(i) is the historical frame angular velocity of the i th control moment gyro. α(i) is the historical frame angular acceleration of the i th control moment gyro. ω(i) is the historical frame angular velocity of the i th control moment gyro. α(i) is the historical frame angular acceleration of the i th control moment gyro.

[0109] In the embodiment of the present application, when determining whether the CMG group meets the balanced operation requirement according to the usage intensity cumulative value of each CMG, the determining module 402 is specifically configured to perform the following operation: screening each control moment gyro of the CMG group to obtain a maximum value and a minimum value of the usage intensity cumulative value; determining whether the difference between the maximum value and the minimum value of the usage intensity cumulative value is less than a preset threshold value, and if yes, determining that the CMG group meets the balanced operation requirement, otherwise, determining that the CMG group does not meet the balanced operation requirement.

[0110] In the embodiment of the present application, the real-time frame angular velocity of each CMG is determined by the following method: determining the attitude maneuver axis angle and the rotation axis vector according to the Euler axis angle method; determining the motion stage of the attitude maneuver planning model according to the axis angle, the maximum angular acceleration parameter and the maximum angular velocity parameter, and calculating the target Euler axis angle and angular velocity of the remote sensing satellite at any moment in the maneuver process; calculating and processing the target Euler axis angle and angular velocity to obtain the expected control moment of the CMG group at any moment in the maneuver process; and calculating the real-time frame angular velocity of each control moment gyro according to the control moment value and the installation matrix of the CMG group.

[0111] In the embodiment of the present application, when the processing module 404 performs the derating of the real-time frame angular velocity of the first control moment gyro with the maximum usage intensity cumulative value and balances the control moment to the remaining control moment gyro of the CMG group, the processing module 404 is specifically configured to perform the following operation: derating the real-time frame angular velocity of the first control moment gyro to obtain the real-time frame angular velocity of the first control moment gyro after derating; calculating the pre-output moment of the first control moment gyro according to the real-time frame angular velocity of the first control moment gyro after derating; calculating the difference between the control moment of the CMG group and the pre-output moment of the first control moment gyro to obtain the output moment of the remaining CMG; and calculating the real-time frame angular velocity of the remaining control moment gyro according to the output moment of the remaining CMG.

[0112] In the embodiment of the present application, 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] wherein, is the real-time frame angular velocity of the first control moment gyro (the number j in the CMG group) ; m is a constant coefficient of derating; Jacob(:,j) is the jth column of Jacob matrix; T j is the output torque of the first control moment gyro; T r is the control torque of the CMG group; new is the output torque of the rest control moment gyro; is the real-time frame angular velocity of the rest CMG, and the jth component is 0; Jacob new is the Jacob matrix with the jth column being zero; H0 is the nominal angular momentum of the CMG.

[0118] It can be understood that the structure of the embodiments of the present application does not constitute a specific limitation on the remote sensing satellite CMG group operation optimization device based on intensity balance. In other embodiments of the present application, a remote sensing satellite CMG group operation optimization device based on intensity balance can include more or fewer components than the diagram, or combine certain components, or split certain components, or different component arrangement. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0119] The information interaction, execution process and the like between the modules in the device are based on the same concept as the method embodiments of the present application, and the specific content can be referred to the description in the method embodiments of the present application, which will not be described here.

[0120] The embodiments of the present application also provide an electronic device, including a memory and a processor, the memory stores a computer program, and the processor implements the method for optimizing the operation of a remote sensing satellite CMG group based on intensity balance in any of the embodiments of the present application when executing the computer program.

[0121] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program makes the processor execute the method for optimizing the operation of a remote sensing satellite CMG group based on intensity balance in any of the embodiments of the present application when being executed by the processor.

[0122] Specifically, a system or device equipped with a storage medium can be provided, and the storage medium stores software program codes for realizing the functions of any of the above embodiments, and the computer (or CPU or MPU) of the system or device reads and executes the program codes stored in the storage medium.

[0123] ​In this case, the program code itself read out from the storage medium can realize the functions of any of the above-described embodiments, and therefore the program code and the storage medium storing the program code constitute a part of the present application.

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

[0125] Further, it should be understood that, not only the program code read out from the computer, but also the operating system or the like on the computer can be caused to perform part or all of the actual operations based on the instructions of the program code, thereby realizing the functions of any of the above-described embodiments.

[0126] Further, it should be understood that, the program code read out from the storage medium can be written into a memory provided in an expansion board inserted into the computer or a memory provided in an expansion module connected to the computer, and then part or all of the actual operations can be performed based on the instructions of the program code by a CPU or the like mounted on the expansion board or the expansion module, thereby realizing the functions of any of the above-described embodiments.

[0127] It should be noted that, in this document, the terms such as the first and the second are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Also, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, a method, an article or an apparatus including a list of elements does not only include those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or apparatus. Without more limitations, an element defined by the statement "including a..." does not exclude the presence of additional identical elements in the process, method, article or apparatus including the said element.

[0128] It should be understood by those of ordinary skill in the art that all or part of the steps of the above-described method embodiments can be completed by program instruction-related hardware, and the aforementioned program can be stored in a computer-readable storage medium, and the program, when executed, performs steps including the above-described method embodiments; and the aforementioned storage medium includes ROM, RAM, magnetic disk or optical disk, and various media that can store program codes.

[0129] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A remote sensing satellite CMG cluster operation optimization method based on intensity balance, characterized in that, The application relates to a method for guaranteeing balanced operation of a control moment gyro (CMG) group. The method comprises the following steps: According to historical operation data of the CMG group, the use intensity cumulative value of each control moment gyro in the CMG group is calculated; wherein the historical operation data comprises historical frame angular velocity and historical frame angular acceleration; According to the use intensity cumulative value of each CMG, it is determined whether the CMG group meets the balanced operation requirement; the balanced operation requirement is used to ensure that the CMG group is in a stable on-orbit working state and has a relatively balanced expected service life; If the balanced operation requirement is not met, the real-time frame angular velocity of a first control moment gyro with the maximum use intensity cumulative value is derated, and the control moment is balanced to the remaining control moment gyros in the CMG group; wherein the real-time frame angular velocity is preliminarily determined through a preset attitude maneuver planning model; According to the historical operation data of the CMG group, the use intensity cumulative value of each control moment gyro in the CMG group is calculated, which comprises the following steps: According to a CMG low-speed frame angular velocity sensitive threshold value and a CMG low-speed frame angular acceleration sensitive threshold value, 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 use intensity measurement value of each control moment gyro at any time is calculated; 2. The method of claim 1, wherein, The use intensity measurement value of each control moment gyro since the star-satellite separation is integrated to obtain the use intensity cumulative value of each control moment gyro. wherein, is the usage intensity; i is the number of control moment gyroscopes in the CMG group; k 1 is the low-speed frame angular velocity sensitivity coefficient; k 2 is the low-speed frame angular acceleration sensitivity coefficient; is the low-speed frame angular velocity threshold function; is the low-speed frame angular acceleration threshold function; is the historical frame angular velocity of the i control moment gyroscope; is the historical frame angular acceleration of the i control moment gyroscope; t is the cumulative star time at the time of relative star-rocket separation before the current attitude maneuver task; is the cumulative usage intensity of the i control moment gyroscope.

3. The method of claim 1, wherein, The use intensity cumulative value is calculated through the following formula: According to the use intensity cumulative value of each CMG, it is determined whether the CMG group meets the balanced operation requirement, which comprises the following steps: Each control moment gyro in the CMG group is screened to obtain the maximum value and the minimum value of the use intensity cumulative value; 4. The method of claim 1, wherein, It is determined whether the difference between the maximum value and the minimum value of the use intensity cumulative value is less than a preset threshold value; if yes, it is determined that the CMG group meets the balanced operation requirement; otherwise, it is determined that the CMG group does not meet the balanced operation requirement. The real-time frame angular velocity is determined through the following method: 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 maximum angular acceleration and the maximum angular velocity, the motion stage of the attitude maneuver planning model is determined, and the target Euler axis angle and angular velocity of the remote sensing satellite at any time in the maneuver process are calculated; The target Euler axis angle and angular velocity are calculated and processed to obtain the expected control moment of the CMG group at any time in the maneuver process; 5. The method of claim 1, wherein, According to the expected control moment and the installation matrix of the CMG group, the real-time frame angular velocity of each control moment gyro is calculated. The real-time frame angular velocity of the first control moment gyro with the maximum use intensity cumulative value is derated, and the control moment is balanced to the remaining control moment gyros in the CMG group, which comprises the following steps: The real-time frame angular velocity of the first control moment gyro is derated to obtain the real-time frame angular velocity of the first control moment gyro after derating; According to the real-time frame angular velocity of the first control moment gyro after derating, the pre-output moment of the first control moment gyro is calculated; The difference between the control moment of the CMG group and the pre-output moment of the first control moment gyro is calculated to obtain the output moment of the remaining CMG; The real-time frame angular velocity of the rest of the CMGs is calculated according to the output torque of the rest of the CMGs.

6. The method of claim 5, wherein, The real-time frame angular velocity of each CMG is calculated by the following formula: wherein is the real-time frame angular velocity of the first control moment gyro, CMG, with the index j ; m is a constant de-rating factor; Jacob(:,j) is the Jacob th column of the matrix j ; is the output torque of the first control moment gyro; 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 CMG, with the j th component being 0; is the j th column of the matrix with the zero column removed; Jacob is the nominal angular momentum of the CMG.​ 7. A device for optimizing CMG cluster operation of a remote sensing satellite based on intensity equalization, characterized in that, The method is applied to the method according to any one of claims 1-6, comprising: A calculation module is configured to calculate a cumulative value of a use intensity of each control moment gyro in the CMG group according to historical operation data of the CMG group; wherein the historical operation data comprises historical frame angular velocity and historical frame angular acceleration; A determination module is configured to determine whether the CMG group meets a 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 working state and has a relatively balanced expected service life; A processing module is configured to reduce the real-time frame angular velocity of a first control moment gyro with the largest cumulative value of the use intensity and balance the control moment to the rest of the control moment gyro in the CMG group when the balanced operation requirement is not met; wherein the real-time frame angular velocity is preliminarily determined by a preset attitude maneuver planning model.

8. An electronic device, comprising: The computer program is stored in the memory and executed by the processor, and the method according to any one of claims 1-6 is realized.

9. A computer-readable storage medium, characterized in that, The computer program is stored in the memory and executed by the processor, and the method according to any one of claims 1-6 is realized.

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