Satellite thruster under-actuated damping control method and system under participation of flywheel

Abstract

The invention provides a flywheel-participated satellite thruster under-actuated damping control method, which comprises the following steps of: firstly, acquiring a rotating triaxial angular velocity of a current satellite by using a high-precision gyroscope, and obtaining an initial bias rotating speed of a flywheel Y through an algorithm; biasing the flywheel Y at a fixed rotating speed to ensure that the angular velocities of the X axis and the Y axis of the satellite do not transfer to the Z axis; satellite under-actuated damping control is carried out by adopting an orthogonal thruster which only has thrust in two directions, and the condition that the whole satellite momentum moment is lower than a set value is taken as a control termination condition, so that the satellite attitude is rapidly stabilized after satellite and rocket separation.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite attitude control in aerospace equipment, and in particular to a satellite thruster under-actuated damping control method and system with the participation of a flywheel. Background Art

[0002] The separation of rocket and satellite is a key step that every satellite must go through before entering orbit. The initial angular velocity of the satellite at the point of entry into orbit is mainly determined by the separation system of the rocket. The spring is a classic mechanical device for separating traditional rockets from satellites. Once a spring fails, the other effective springs will apply a torque to the satellite, causing the satellite to have a larger initial angular velocity when it separates, and the satellite will be in a rotating state.

[0003] If a flywheel is used alone to damp the satellite angular velocity, once the initial angular velocity of the satellite is too large and exceeds the control capability of the flywheel, the flywheel will be saturated, resulting in the failure to complete the satellite angular velocity damping or the damping time being too long, endangering the safety of the spacecraft.

[0004] The satellite initial angular velocity damping control can also be performed using the propulsion system. The satellite propulsion system is generally used for orbit maintenance or orbit change. From the perspective of improving orbit control efficiency, it is necessary to arrange the thrusters in the same direction. In this case, the satellite propulsion system can only generate control torque in two directions, and the satellite attitude control system based on the propulsion system is an under-actuated system. Therefore, how to use the under-actuated propulsion system to achieve satellite attitude damping control is a major problem. Summary of the invention

[0005] The present invention provides a satellite thruster under-actuated damping control method and system with the participation of a flywheel, so as to solve the defects existing in the prior art during the separation of satellite and rocket.

[0006] In a first aspect, the present invention provides a satellite thruster underactuated damping control method with the participation of a flywheel, comprising: The three-axis angular velocity of the satellite rotation is obtained by the three-axis gyroscope, and the initial speed of the flywheel when the satellite uses the under-actuated thruster for damping is obtained; Calculate the target bias speed that the flywheel needs to be set to, and set the bias speed of the flywheel; The fixed attitude control frequency collects the sensor gyro and star sensor data, calculates the sequence number and direction of the two-axis thruster opening solenoid valve, and determines whether the satellite's entire star momentum meets the thruster damping control termination condition to end the control.

[0007] According to a satellite thruster underactuated damping control method with the participation of a flywheel provided by the present invention, a three-axis gyroscope is used to obtain the three-axis angular velocity of the satellite rotation, and the initial speed of the flywheel when the satellite uses an underactuated thruster for damping is obtained, including: At the moment of separation of the satellite and the rocket, T0, obtain the current three-axis angular velocity of the gyroscope , , ,in is the satellite angular velocity component in the body coordinate axis X, is the satellite angular velocity component in the body coordinate axis Y, is the Z-axis component of the satellite angular velocity in the body coordinate system.

[0008] According to a satellite thruster underactuated damping control method with flywheel participation provided by the present invention, a target biased speed that the flywheel needs to set is calculated, including: Determine that the satellite is a rigid body, and obtain the Euler attitude dynamics equation when the satellite and rocket are separated: (1) in, is the inertia tensor of the satellite around the center of mass C expressed in the body coordinate system, is the change vector of the satellite angular velocity after separation, is the real-time angular velocity vector in the satellite body coordinate system, is the control torque generated by the propulsion system in the satellite body coordinate system, is the inertia tensor of the flywheel, is the speed vector of the flywheel; The satellite inertia tensor and the inertia of the flywheel Translates to: (2) Assume the torque before the propulsion system starts is 0, we get: (3) (4) in, is the inertia of flywheel X, is the inertia of flywheel Y, is the inertia of flywheel Z, is the flywheel X speed, is the speed of flywheel Y, is the flywheel Z speed, is the satellite X-axis inertia, is the satellite Y-axis inertia, is the satellite Z-axis inertia, and the simplified attitude dynamics Euler equation is: (5) The propulsion system with two-directional control torque is used to perform angular velocity damping control to suppress the initial angular velocity vector from shifting to the Z axis. , the angular velocity increment of the Z axis Substituting into the third line of equation (5), we get: (6) Flywheel Y speed for: (7) Before the separation of the rocket and the satellite, the speeds of the X, Y and Z flywheels of the satellite are all 0. After the separation, the speeds of the X and Z flywheels of the satellite remain 0. According to the conservation of the satellite momentum before and after the separation of the rocket and the satellite, we have = , is the initial angular velocity of the satellite in the X direction, and we get: (8) The speed that should be set for flywheel Y should be calculated in real time, and the angular momentum of the Y axis before and after starting is conserved, and we get: (9) is the speed of flywheel Y before it starts, which is 0. After rearranging the above formula, we get: (10) is the initial speed of the flywheel, which is 0. Let the parameter for: (11) Command Parameters for: (12) The parameters , Substituting formula (10) into formula (8) yields: (13) Transformed into: (14) Right now (15) Command Parameters (16) Then the speed of flywheel Y needs to be set to (17) Set the maximum allowable speed Ωmax of the Y flywheel. is greater than Ωmax, then set =Ωmax, if Less than -Ωmax, then set =-Ωmax.

[0009] According to a satellite thruster underactuated damping control method with flywheel participation provided by the present invention, setting the offset speed of the flywheel includes: Set the speed of the three flywheels in the next attitude control cycle, where the speed of flywheel X is , the speed of flywheel Y , The speed of flywheel Y required to be set is obtained from formula (17), and the speed of flywheel Z is .

[0010] According to a satellite thruster underactuated damping control method with flywheel participation provided by the present invention, a fixed attitude control frequency is used to collect sensor gyro and star sensor data, including: At the beginning of each cycle, obtain the current angular velocity of the satellite's three axes , , .

[0011] According to a satellite thruster underactuated damping control method with flywheel participation provided by the present invention, the sequence number and direction of opening the solenoid valves of the two-axis thrusters are calculated, including: Determine the thrust direction of the two-axis thrusters, including the first thruster, the second thruster, the third thruster and the fourth thruster, and obtain the satellite body coordinate system and the thrust system coordinate system; The angular velocity component of the satellite angular velocity to the thrust system coordinate system is , : (18) If confirmed If it is greater than the thrust damping angular velocity threshold Wd1, the second thruster is turned off and the fourth thruster is turned on; If confirmed If the thrust damping angular velocity is less than the thrust damping angular velocity threshold Wd0, the second thruster is turned on and the fourth thruster is turned off; Otherwise, the second thruster is turned off and the fourth thruster is turned off; If confirmed If it is greater than the thrust damping angular velocity threshold Wd1, the first thruster is turned off and the third thruster is turned on; If confirmed If the angular velocity is less than the thrust damping angular velocity threshold Wd0, the first thruster is turned on and the third thruster is turned off; Otherwise, turn off the first thruster and turn off the third thruster.

[0012] According to a satellite thruster underactuated damping control method with flywheel participation provided by the present invention, it is determined whether the whole satellite momentum moment satisfies the thruster damping control termination condition to terminate the control, including: Determine whether the satellite's entire angular momentum meets the set conditions: (19) in, is the relative inertia of each axis of the satellite, is the satellite's three-axis angular velocity; like , , If the angular momentum of the three sub-axes is less than the threshold value, the control is terminated and all thruster solenoid valves are closed.

[0013] In a second aspect, the present invention further provides a satellite thruster underactuated damping control system with flywheel participation, comprising: An acquisition module is used to acquire the three-axis angular velocity of the satellite rotation by a three-axis gyroscope, and to acquire the initial speed of the flywheel when the satellite uses an underactuated thruster for damping; A calculation module, used for calculating the target bias speed that the flywheel needs to be set to, and setting the bias speed of the flywheel; The control module is used to collect the data of the sensor gyro and star sensor at a fixed attitude control frequency, calculate the sequence number and direction of the solenoid valves for opening the two-axis thrusters, and determine whether the momentum of the entire satellite meets the termination conditions of the thruster damping control to end the control.

[0014] In a third aspect, the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for under-actuated damping control of a satellite thruster with the participation of a flywheel as described above is implemented.

[0015] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a satellite thruster under-actuated damping control method with the participation of a flywheel as described in any of the above.

[0016] The satellite thruster under-actuated damping control method and system with the participation of a flywheel provided by the present invention uses a high-precision gyroscope to obtain the three-axis angular velocity of the current satellite's rotation, and obtains the initial biased rotation speed of flywheel Y through an algorithm; the flywheel Y is biased at a fixed rotation speed to ensure that the angular velocities of the satellite's X-axis and Y-axis are not transferred to the Z-axis; the thruster is used to perform satellite under-actuated control damping, and the whole satellite momentum moment is lower than the set value as the control termination condition, so as to achieve rapid stabilization of the satellite attitude after the separation of the satellite and the rocket. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or 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 one of the flow diagrams of the satellite thruster underactuated damping control method with the participation of the flywheel provided by the present invention; Figure 2 This is the second flow chart of the satellite thruster underactuated damping control method with the participation of the flywheel provided by the present invention; Figure 3 It is a schematic diagram of four thruster nozzles and a satellite body coordinate system provided by the present invention; Figure 4 It is a schematic diagram of the kinetic moment generated by the failed spring provided by the present invention; Figure 5 It is a structural schematic diagram of a satellite thruster underactuated damping control system with the participation of a flywheel provided by the present invention; Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In view of the fact that a satellite propulsion system can only generate control torques in two directions and an under-actuated system lacks control torque in one direction, the bias speed of the flywheel is calculated in real time on orbit, and a two-directional under-actuated propulsion system is used to realize rapid damping control of the satellite attitude. The present invention provides a reliable and stable under-actuated satellite damping control method.

[0021] Figure 1 FIG. 1 is one of the flow charts of the satellite thruster underactuated damping control method with flywheel participation provided in an embodiment of the present invention, such as Figure 1 As shown, including: Step 100: obtaining the three-axis angular velocity of the satellite rotation by a three-axis gyroscope, and obtaining the initial speed of the flywheel when the satellite uses an underactuated thruster for damping; Step 200: Calculate the target bias speed that the flywheel needs to be set to, and set the bias speed of the flywheel; Step 300: collect sensor gyro and star sensor data at a fixed attitude control frequency, calculate the sequence number and direction of opening the solenoid valves of the two-axis thrusters, and determine whether the momentum of the entire satellite meets the termination condition of the thruster damping control to end the control.

[0022] Specifically, Figure 2 The specific logical flow shown includes the following detailed steps: Step 1: Get the satellite angular velocity.

[0023] At the moment of separation of the satellite and the rocket, T0, the three-axis angular velocity of the current gyroscope is obtained , , ,in is the satellite angular velocity component in the body coordinate axis X, is the satellite angular velocity component in the body coordinate axis Y, is the Z-axis component of the satellite angular velocity in the body coordinate system.

[0024] Step 2 includes: Step 2.1, calculate the offset speed that flywheel Y needs to be set to.

[0025] Considering the satellite as a rigid body, the Euler attitude dynamics equation of the satellite-rocket separation is listed. (1) in, is the inertia tensor of the satellite around the center of mass C expressed in the body coordinate system, is the change vector of the satellite angular velocity after separation, is the real-time angular velocity vector in the satellite body coordinate system, is the control torque generated by the propulsion system in the satellite body coordinate system, is the inertia tensor of the flywheel, is the speed vector of the flywheel.

[0026] Ignoring the three-axis cross inertia, the satellite inertia tensor and the inertia of the flywheel In simple form: (2) Assuming the torque before the propulsion system starts is 0, we get: (3) (4) in, is the inertia of flywheel X, is the inertia of flywheel Y, is the inertia of flywheel Z, is the flywheel X speed, is the speed of flywheel Y, is the flywheel Z speed, is the satellite X-axis inertia, is the satellite Y-axis inertia, is the satellite Z-axis inertia, and the simplified Euler equation is: (5) To use a propulsion system with two-directional control torques to perform angular velocity damping control, it is necessary to suppress the initial angular velocity vector from shifting toward the Z axis, that is, to make . Increment the angular velocity of the Z axis Substituting into the third line of the above equation, we get the following equation: (6) Flywheel Y speed for: (7) Before the separation of the rocket and the satellite, the speeds of the X, Y and Z flywheels of the satellite are all 0. After the separation, the speeds of the X and Z flywheels of the satellite remain 0. The angular momentum of the satellite before and after the separation of the rocket and the satellite is conserved, and we have = , is the initial angular velocity of the satellite in the X direction, and we get: (8) The speed that should be set for flywheel Y should be calculated in real time, and the angular momentum of the Y axis before and after starting is conserved, and we get: (9) is the speed of flywheel Y before it starts, which is 0. After rearranging the above formula, we get: (10) is the initial speed of the flywheel, which is 0. Let the parameter for: (11) Command Parameters for: (12) The parameters , Substituting formula (10) into formula (8) yields: (13) Transformed into: (14) Right now (15) Command Parameters (16) Then the speed of flywheel Y needs to be set to (17) Set the maximum allowable speed Ωmax of the Y flywheel. is greater than Ωmax, then set =Ωmax, if Less than -Ωmax, then set =-Ωmax.

[0027] Step 2.2, set the bias speed of the flywheel.

[0028] Set the speed of the three flywheels in the next attitude control cycle, and the flywheel X speed is , the speed of flywheel Y , is the speed of flywheel Y obtained from formula (17) in step 2.1, and the speed of flywheel Z .

[0029] Step 3 includes: Step 3.1, collect sensor gyro and star sensor data at a fixed attitude control frequency to achieve fusion attitude determination.

[0030] At the beginning of each cycle, the current angular velocity of the satellite's three axes is first obtained , , .

[0031] Step 3.2, calculate the sequence number and direction of the solenoid valves for opening the two-axis thrusters.

[0032] like Figure 3 As shown, the four thrusters are T0, T1, T2, and T3 respectively, the solid lines X, Y, and Z are the three coordinate axes of the satellite body coordinate system, and the dotted lines X', Y', and Z are the three coordinate axes of the thrust system coordinate system.

[0033] The angular velocity component of the satellite angular velocity to the thrust system coordinate system is , : (18) like If it is greater than the thrust damping angular velocity threshold Wd1, T1 is closed and T3 is opened; like If it is less than the thrust damping angular velocity threshold Wd0, T1 is turned on and T3 is turned off; Otherwise, T1 is off and T3 is off; like If it is greater than the thrust damping angular velocity threshold Wd1, T0 is closed and T2 is opened; like If it is less than the thrust damping angular velocity threshold Wd0, T0 is on and T2 is off; Otherwise, T0 and T2 are turned off.

[0034] Step 3.3, determine whether the satellite's entire angular momentum meets the set conditions.

[0035] (19) is the relative inertia of each axis of the satellite, is the satellite's three-axis angular velocity, if , , If the angular momentum of the three sub-axes is less than the threshold value, the control is terminated and all thruster solenoid valves are closed.

[0036] In one embodiment, Figure 4 As shown, Figure 4 When the rocket and the satellite are separated, the failed spring is at point P, and the momentum moment generated by the failed spring on the X-axis and Y-axis of the satellite system is Schematic diagram of the direction.

[0037] The X, Y, and Z orthogonal coordinate system with point O as the origin is the satellite body coordinate system, and θ is the angle between the failed spring and the Y axis of the satellite body system.

[0038] According to the mechanical equation, there is momentum (20) set up is 342.68kg, =0.03465979m / s , =0.285m, then =10.418612. The satellite inertia is =92.28kg·m², =78.78 kg·m², =84.24 kg·m².

[0039] Flywheel inertia =1.305kg·m², =-1.902kg·m², =1.233kg·m².

[0040] The angular velocity of the satellite around the X and Y axes generated by Dh is: (twenty one) Right now (twenty two) When θ=30°, the increased angular velocity of the satellite's X-axis, Y-axis, and Z-axis is obtained as: (twenty three) The whole satellite momentum moment is reduced to 2Nms as the termination condition of thruster damping control. , , Substituting into formula (17), we can get rpm, the angular velocity of the satellite after 47.000 seconds of damping , , They are -0.914°, 0.890° and 0.266° respectively.

[0041] Similarly, θ=120°, we can obtain the initial satellite angular velocity , , 3.23442°, 6.56215°, 0°, Y needs to set the speed rpm, the angular velocity of the satellite after 48.000 seconds of damping , , They are 0.658°, 0.711° and -0.952° respectively.

[0042] Similarly, θ=210°, we can obtain the initial satellite angular velocity , , 5.60214°, -3.7887°, 0°, Y needs to set the speed rpm, the angular velocity of the satellite after 47.000 seconds of damping , , They are 0.0849°, -0.920° and 0.302° respectively.

[0043] Similarly, θ=300°, the initial satellite angular velocity can be obtained , , -3.23445°, -6.56214°, 0°, Y needs to set the speed rpm, after 49.000 seconds of damping, the angular velocity of the satellite , , They are -0.508°, -0.570° and -0.978° respectively.

[0044] If the whole satellite momentum moment drops to 2Nms as the termination condition of thruster damping control, and thruster damping control is performed at the same time, the initial flywheel speed at the time of satellite-rocket separation is rpm, the control effect is as follows: (1) θ = 0~360°, damping ends at most in 54 seconds; (2) θ = 220°, the maximum damping time is 54 s, and the damping ends.

[0045] The flywheel Y speed is set 20 seconds after the separation of the rocket and the thruster is turned on for damping control. The damping end condition is set to the momentum of the whole rocket < 2Nms. The simulation results are: If any spring fails, the corresponding characteristic parameters are as follows: (1) The maximum speed of flywheel Y is 165 rpm, so if the calculated result is greater than 200, take 200 rpm; (2) The propulsion system consumes a total impulse of 70 Ns (equivalent to a loss of 370 m of orbit control capability); (3) The maximum angular velocity in the Z direction is about 1.03° / s.

[0046] The satellite thruster under-actuated damping control system with the participation of a flywheel provided by the present invention is described below. The satellite thruster under-actuated damping control system with the participation of a flywheel described below and the satellite thruster under-actuated damping control method with the participation of a flywheel described above can be referred to each other.

[0047] Figure 5 is a schematic diagram of the structure of a satellite thruster underactuated damping control system with flywheel participation provided by an embodiment of the present invention, such as Figure 5 As shown, it includes: an acquisition module 51, a calculation module 52 and a control module 53, wherein: The acquisition module 51 is used to obtain the three-axis angular velocity of the satellite rotation from the three-axis gyroscope, and obtain the initial speed of the flywheel when the satellite uses the under-actuated thruster for damping; the calculation module 52 is used to calculate the target bias speed that the flywheel needs to be set to, and set the bias speed of the flywheel; the control module 53 is used to collect the data of the sensor gyro and the star sensor at a fixed attitude control frequency, calculate the sequence number and direction of the solenoid valve opening of the two-axis thruster, and determine whether the momentum of the entire satellite meets the termination condition of the thruster damping control to end the control.

[0048] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the satellite thruster underactuated damping control method with the participation of the flywheel, the method comprising: obtaining the three-axis angular velocity of the satellite rotation by the three-axis gyro, obtaining the initial speed of the flywheel when the satellite uses the underactuated thruster for damping; calculating the target bias speed that the flywheel needs to set, and setting the bias speed of the flywheel; fixing the attitude control frequency to collect the sensor gyro and the star sensor data, calculating the sequence number and direction of the two-axis thruster opening solenoid valve, and judging whether the satellite whole star momentum moment meets the thruster damping control termination condition to end the control.

[0049] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0050] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the satellite thruster under-actuated damping control method with the participation of the flywheel provided by the above-mentioned methods. The method includes: obtaining the three-axis angular velocity of the satellite rotation by a three-axis gyroscope, and obtaining the initial speed of the flywheel when the satellite uses the under-actuated thruster for damping; calculating the target bias speed that the flywheel needs to be set to, and setting the bias speed of the flywheel; fixing the attitude control frequency to collect sensor gyro and star sensor data, calculating the sequence number and direction of the solenoid valve opening of the two-axis thruster, and judging whether the momentum of the entire satellite meets the thruster damping control termination condition to end the control.

[0051] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0052] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0053] 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 satellite thruster underactuated damping control method with flywheel participation, characterized in that: include: The three-axis angular velocity of the satellite rotation is obtained by the three-axis gyroscope, and the initial speed of the flywheel when the satellite uses the under-actuated thruster for damping is obtained; Calculate the target bias speed that the flywheel needs to be set to, and set the bias speed of the flywheel; The fixed attitude control frequency collects the sensor gyro and star sensor data, calculates the sequence number and direction of the two-axis thruster opening solenoid valve, and determines whether the satellite's entire star momentum meets the thruster damping control termination condition to end the control.

2. The satellite thruster underactuated damping control method with flywheel participation according to claim 1 is characterized in that: The three-axis angular velocity of the satellite rotation is obtained by the three-axis gyroscope, and the initial speed of the flywheel when the satellite uses the under-actuated thruster for damping is obtained, including: At the moment of satellite-rocket separation T0, the three-axis angular velocity ωX0, ωY0, and ωZ0 of the current gyroscope are obtained, where ωX0 is the satellite angular velocity component in the X-axis of the body coordinate axis, ωY0 is the satellite angular velocity component in the Y-axis of the body coordinate axis, and ωZ0 is the satellite angular velocity component in the Z-axis of the body coordinate axis.

3. The satellite thruster underactuated damping control method with flywheel participation according to claim 1 is characterized in that: Calculate the target offset speed that the flywheel needs to be set to, including: Determine that the satellite is a rigid body, and obtain the Euler attitude dynamics equation when the satellite and rocket are separated: （1） in, is the inertia tensor of the satellite around the center of mass C expressed in the body coordinate system, is the change vector of the satellite angular velocity after separation, is the real-time angular velocity vector in the satellite body coordinate system, is the control torque generated by the propulsion system in the satellite body coordinate system, is the inertia tensor of the flywheel, is the speed vector of the flywheel; The satellite inertia tensor and the inertia of the flywheel Translates to: （2） Assume the torque before the propulsion system starts is 0, we get: （3） （4） in, is the inertia of flywheel X, is the inertia of flywheel Y, is the inertia of flywheel Z, is the flywheel X speed, is the speed of flywheel Y, is the flywheel Z speed, is the satellite X-axis inertia, is the satellite Y-axis inertia, is the satellite Z-axis inertia, and the simplified Euler equation is: （5） The propulsion system with two-directional control torque is used to perform angular velocity damping control to suppress the initial angular velocity vector from shifting to the Z axis. , the angular velocity increment of the Z axis Substituting into the third line of equation (5), we get: （6） Flywheel Y speed for: （7） Before the separation of the rocket and the satellite, the speeds of the X, Y and Z flywheels of the satellite are all 0. After the separation, the speeds of the X and Z flywheels of the satellite remain 0. According to the conservation of the satellite momentum before and after the separation of the rocket and the satellite, we have = , is the initial angular velocity of the satellite in the X direction, and we get: （8） The speed that should be set for flywheel Y should be calculated in real time, and the angular momentum of the Y axis before and after starting is conserved, and we get: （9） is the speed of flywheel Y before it starts, which is 0. After rearranging the above formula, we get: （10） is the initial speed of the flywheel, which is 0. Let the parameter for: （11） Command Parameters for: （12） The parameters , Substituting formula (10) into formula (8) yields: （13） Transformed into: （14） Right now （15） Command Parameters （16） Then the speed of flywheel Y needs to be set to （17） Set the maximum allowable speed Ωmax of the Y flywheel. is greater than Ωmax, then set =Ωmax, if Less than -Ωmax, then set =-Ωmax.

4. The satellite thruster underactuated damping control method with flywheel participation according to claim 3 is characterized in that: Set the offset speed of the flywheel, including: Set the speed of the three flywheels in the next attitude control cycle, where the speed of flywheel X is , the speed of flywheel Y , The speed of flywheel Y required to be set is obtained from formula (17), and the speed of flywheel Z is .

5. The satellite thruster underactuated damping control method with flywheel participation according to claim 1, characterized in that: Fixed attitude control frequency to collect sensor gyro and star sensor data, including: At the beginning of each cycle, obtain the current angular velocity of the satellite's three axes , , .

6. The satellite thruster underactuated damping control method with flywheel participation according to claim 5, characterized in that: Calculate the sequence number and direction of the two-axis thruster opening solenoid valves, including: Determine the thrust direction of the two-axis thrusters, including the first thruster, the second thruster, the third thruster and the fourth thruster, and obtain the satellite body coordinate system and the thrust system coordinate system; The angular velocity component of the satellite angular velocity to the thrust system coordinate system is , : （18） If confirmed If it is greater than the thrust damping angular velocity threshold Wd1, the second thruster is turned off and the fourth thruster is turned on; If confirmed If the thrust damping angular velocity is less than the thrust damping angular velocity threshold Wd0, the second thruster is turned on and the fourth thruster is turned off; Otherwise, the second thruster is turned off and the fourth thruster is turned off; If confirmed If it is greater than the thrust damping angular velocity threshold Wd1, the first thruster is turned off and the third thruster is turned on; If confirmed If the angular velocity is less than the thrust damping angular velocity threshold Wd0, the first thruster is turned on and the third thruster is turned off; Otherwise, turn off the first thruster and turn off the third thruster.

7. The satellite thruster underactuated damping control method with flywheel participation according to claim 6 is characterized in that: Determine whether the satellite's entire kinetic moment satisfies the thruster damping control termination condition to terminate the control, including: Determine whether the satellite's entire angular momentum meets the set conditions: （19） in, is the relative inertia of each axis of the satellite, is the satellite's three-axis angular velocity; like , , If the angular momentum of the three sub-axes is less than the threshold value, the control is terminated and all thruster solenoid valves are closed.

8. A satellite thruster underactuated damping control system with flywheel participation, characterized in that: include: An acquisition module is used to acquire the three-axis angular velocity of the satellite rotation by a three-axis gyroscope, and to acquire the initial speed of the flywheel when the satellite uses an underactuated thruster for damping; A calculation module, used for calculating the target bias speed that the flywheel needs to be set to, and setting the bias speed of the flywheel; The control module is used to collect the data of the sensor gyro and star sensor at a fixed attitude control frequency, calculate the sequence number and direction of the solenoid valves for opening the two-axis thrusters, and determine whether the momentum of the entire satellite meets the termination conditions of the thruster damping control to end the control.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the satellite thruster under-actuated damping control method with the participation of the flywheel as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the satellite thruster underactuated damping control method with the participation of a flywheel as claimed in any one of claims 1 to 7 is implemented.

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