A satellite thruster underactuated damping control method and system with flywheel participation

Abstract

The present invention provides a satellite thruster under-actuated damping control method with the participation of a flywheel, comprising: firstly using a high-precision gyroscope to obtain the current satellite's three-axis rotation angular velocity, and obtaining the initial bias speed of flywheel Y through an algorithm; biasing flywheel Y to a fixed speed to ensure that the angular velocities of the satellite's X-axis and Y-axis do not transfer to the Z-axis; using an orthogonal thruster with only two-directional thrust to perform satellite under-actuated damping control, taking the entire satellite's momentum moment being lower than a set value as a control termination condition, to achieve rapid stabilization of the satellite's attitude after satellite-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] Rocket-satellite separation is a critical step for every satellite before it enters orbit. The satellite's initial angular velocity at the point of entry is primarily determined by the rocket's separation system. Springs are a classic mechanism for separating a traditional rocket from a satellite. If one spring fails, the remaining active springs exert a torque on the satellite, causing a high initial angular velocity upon separation, placing the satellite in a rotating state.

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

[0004] The propulsion system can also be used to control the satellite's initial angular velocity damping. Satellite propulsion systems are generally used for orbit maintenance or orbit maneuvers. To improve orbit control efficiency, it's necessary to align the thrusters. In this case, the satellite propulsion system can only generate control torque in two directions, making the satellite attitude control system based on the propulsion system underactuated. Therefore, how to use an underactuated propulsion system to achieve satellite attitude damping control is a major challenge. 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 satellite-rocket separation.

[0006] In a first aspect, the present invention provides a satellite thruster underactuated damping control method with flywheel participation, comprising:

[0007] The three-axis angular velocity of the satellite is obtained by the three-axis gyroscope, and the initial speed of the flywheel when the satellite is damped by the underactuated thruster is obtained;

[0008] Calculate the target bias speed that the flywheel needs to set, and set the bias speed of the flywheel;

[0009] The fixed attitude control frequency collects sensor gyro and star sensor data, calculates the sequence and direction of the two-axis thruster solenoid valve opening, and determines whether the satellite's entire star momentum meets the thruster damping control termination condition to end the control.

[0010] According to a satellite thruster underactuated damping control method with flywheel participation 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 the underactuated thruster for damping is obtained, including:

[0011] At the moment of separation of the satellite and rocket, T0, obtain the current three-axis angular velocity of the gyroscope 、 、 ,in is the X-axis component of the satellite angular velocity in the body coordinate axis, is the Y-axis component of the satellite angular velocity in the body coordinate axis, is the Z-axis component of the satellite angular velocity in the body coordinate system.

[0012] According to a satellite thruster underactuated damping control method with flywheel participation provided by the present invention, a target bias speed to be set for the flywheel is calculated, including:

[0013] Determine that the satellite is a rigid body and obtain the Euler attitude dynamics equation when the satellite and rocket are separated:

[0014] (1)

[0015] 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;

[0016] The satellite inertia tensor and the inertia of the flywheel Translates to:

[0017] (2)

[0018] Assume the torque before the propulsion system starts is 0, we get:

[0019] (3)

[0020] (4)

[0021] 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 Z-axis inertia of the satellite, and the simplified attitude dynamics Euler equation is:

[0022] (5)

[0023] 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. , increment the angular velocity of the Z axis by Substituting into the third line of formula (5), we get:

[0024] (6)

[0025] Flywheel Y speed for:

[0026] (7)

[0027] Before the separation of the rocket and 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's momentum before and after the separation of the rocket and satellite, we have = , is the initial angular velocity of the satellite in the X direction, and we get:

[0028] (8)

[0029] The speed that should be set for flywheel Y should be calculated in real time. The angular momentum of the Y axis before and after starting is conserved, and we get:

[0030] (9)

[0031] is the speed of flywheel Y before starting, which is 0. Rearranging the above formula, we get:

[0032] (10)

[0033] is the initial speed of the flywheel, which is 0, and the parameter for:

[0034] (11)

[0035] Let the parameters for:

[0036] (12)

[0037] The parameters 、 Substituting formula (10) into formula (8) yields:

[0038] (13)

[0039] Transformed into:

[0040] (14)

[0041] Right now

[0042] (15)

[0043] Let the parameters

[0044] (16)

[0045] The speed of flywheel Y needs to be set to (17)

[0046] Set the maximum permissible speed Ωmax of the Y flywheel. If is greater than Ωmax, then set =Ωmax, if Less than -Ωmax, then set =-Ωmax.

[0047] 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:

[0048] Set the speed of the three flywheels in the next attitude control cycle, where the flywheel X speed 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 .

[0049] 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:

[0050] At the beginning of each cycle, obtain the current angular velocity of the satellite's three axes 、 、 .

[0051] 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:

[0052] 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;

[0053] The angular velocity component of the satellite angular velocity to the thrust system coordinate system is 、 :

[0054] (18)

[0055] If confirmed If the value is greater than the thrust damping angular velocity threshold Wd1, the second thruster is turned off and the fourth thruster is turned on;

[0056] If confirmed If the value is less than the thrust damping angular velocity threshold Wd0, the second thruster is turned on and the fourth thruster is turned off;

[0057] Otherwise, the second thruster is turned off and the fourth thruster is turned off;

[0058] If confirmed If the value is greater than the thrust damping angular velocity threshold Wd1, the first thruster is turned off and the third thruster is turned on;

[0059] If confirmed If the value is less than the thrust damping angular velocity threshold Wd0, the first thruster is turned on and the third thruster is turned off;

[0060] Otherwise, turn off the first thruster and the third thruster.

[0061] According to a satellite thruster underactuated damping control method with flywheel participation provided by the present invention, determining whether the entire satellite moment of momentum satisfies the thruster damping control termination condition to terminate the control includes:

[0062] Determine whether the satellite's entire angular momentum meets the set conditions:

[0063] (19)

[0064] in, is the relative inertia of the satellite axes, is the satellite's three-axis angular velocity;

[0065] like 、 、 If the kinetic moments of the three sub-axes are all less than the threshold value, the control is terminated and all thruster solenoid valves are closed.

[0066] In a second aspect, the present invention further provides a satellite thruster underactuated damping control system with flywheel participation, comprising:

[0067] An acquisition module is used to obtain the three-axis angular velocity of the satellite's rotation from a three-axis gyroscope and obtain the initial speed of the flywheel when the satellite uses an underactuated thruster for damping;

[0068] A calculation module is used to calculate the target bias speed that the flywheel needs to be set to and set the bias speed of the flywheel;

[0069] The control module is used to collect data from the sensor gyroscope and star sensor at a fixed attitude control frequency, calculate the sequence and direction of the solenoid valves for opening the two-axis thrusters, and determine whether the satellite's entire star momentum meets the thruster damping control termination conditions to end the control.

[0070] 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. When the processor executes the program, the method for controlling under-actuated damping of a satellite thruster with the participation of a flywheel as described above is implemented.

[0071] 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.

[0072] The present invention provides a satellite thruster under-actuated damping control method and system with flywheel participation. The method uses a high-precision gyroscope to obtain the current satellite's three-axis rotational angular velocity, and obtains the initial bias speed of flywheel Y through an algorithm. Flywheel Y is biased to a fixed speed to ensure that the angular velocities of the satellite's X-axis and Y-axis do not transfer to the Z-axis. The thruster is used to perform satellite under-actuated control damping, and the control termination condition is that the momentum of the entire satellite is lower than a set value, thereby achieving rapid stabilization of the satellite's attitude after separation of the satellite and rocket. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0074] Figure 1 This is one of the flow charts of the under-actuated damping control method for a satellite thruster with the participation of a flywheel provided by the present invention;

[0075] Figure 2 This is the second flow chart of the satellite thruster underactuated damping control method with flywheel participation provided by the present invention;

[0076] Figure 3Schematic diagram of the four thruster nozzles and satellite body coordinate system provided by the present invention;

[0077] Figure 4 This is a schematic diagram of the kinetic moment generated by the failed spring provided by the present invention;

[0078] Figure 5 This is a schematic structural diagram of a satellite thruster underactuated damping control system with flywheel participation provided by the present invention;

[0079] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0080] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0081] In view of the fact that a satellite propulsion system can only generate control torque in two directions and lacks control torque in one direction, the present invention adopts on-orbit real-time calculation of the offset speed of the flywheel and uses a two-directional underactuated propulsion system to realize rapid damping control of the satellite attitude. The present invention provides a reliable and stable damping control method for underactuated satellites.

[0082] Figure 1 This is one of the flow charts of the satellite thruster underactuated damping control method with flywheel participation provided by an embodiment of the present invention, such as Figure 1 Shown, including:

[0083] Step 100: Obtain the three-axis angular velocity of the satellite using a three-axis gyroscope, and obtain the initial speed of the flywheel when the satellite uses an underactuated thruster for damping;

[0084] Step 200: Calculate the target bias speed that the flywheel needs to set, and set the bias speed of the flywheel;

[0085] Step 300: The gyro and star sensor data are collected at a fixed attitude control frequency, the sequence and direction of the solenoid valves for the two-axis thrusters are calculated, and the overall satellite momentum is determined to meet the thruster damping control termination condition to terminate the control.

[0086] Specifically, if Figure 2 The specific logical flow shown includes the following detailed steps:

[0087] Step 1: Get the satellite angular velocity.

[0088] At the moment of separation of the rocket and satellite, T0, the three-axis angular velocity of the current gyroscope is obtained. 、 、 ,in is the X-axis component of the satellite angular velocity in the body coordinate axis, is the Y-axis component of the satellite angular velocity in the body coordinate axis, is the Z-axis component of the satellite angular velocity in the body coordinate system.

[0089] Step 2 includes:

[0090] Step 2.1, calculate the offset speed that flywheel Y needs to be set to.

[0091] Considering the satellite as a rigid body, the Euler attitude dynamics equations for the separation of the satellite and rocket are listed.

[0092] (1)

[0093] 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.

[0094] Ignoring the three-axis cross inertia, the satellite inertia tensor and the inertia of the flywheel In simple form:

[0095] (2)

[0096] Assuming the torque before the propulsion system starts is 0, we can obtain:

[0097] (3)

[0098] (4)

[0099] 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:

[0100] (5)

[0101] To use a propulsion system with two-directional control torque to control angular velocity damping, it is necessary to suppress the initial angular velocity vector from shifting toward the Z axis, that is, to make . Increase the angular velocity of the Z axis by Substituting into the third line of the above equation, we get the following equation:

[0102] (6)

[0103] Flywheel Y speed for:

[0104] (7)

[0105] Before the separation of the rocket and satellite, the speed of the X, Y and Z flywheels of the satellite are all 0, and after the separation, the speed of the X and Z flywheels of the satellite remains 0. The angular momentum of the satellite before and after the separation of the rocket and satellite is conserved, and we have = , is the initial angular velocity of the satellite in the X direction, and we get:

[0106] (8)

[0107] The speed that should be set for flywheel Y should be calculated in real time. The angular momentum of the Y axis before and after starting is conserved, and we get:

[0108] (9)

[0109] is the speed of flywheel Y before starting, which is 0. Rearranging the above formula, we get:

[0110] (10)

[0111] is the initial speed of the flywheel, which is 0, and the parameter for:

[0112] (11)

[0113] Let the parameters for:

[0114] (12)

[0115] The parameters 、 Substituting formula (10) into formula (8) yields:

[0116] (13)

[0117] Transformed into:

[0118] (14)

[0119] Right now

[0120] (15)

[0121] Let the parameters

[0122] (16)

[0123] The speed of flywheel Y needs to be set to (17)

[0124] Set the maximum permissible speed Ωmax of the Y flywheel. If is greater than Ωmax, then set =Ωmax, if Less than -Ωmax, then set =-Ωmax.

[0125] Step 2.2, set the offset speed of the flywheel.

[0126] Set the speed of the three flywheels in the next attitude control cycle. The flywheel X speed is , the speed of flywheel Y , The speed of flywheel Y is obtained from formula (17) in step 2.1, and the speed of flywheel Z is .

[0127] Step 3 includes:

[0128] Step 3.1: Collect sensor gyro and star sensor data at a fixed attitude control frequency to achieve fusion attitude determination.

[0129] At the beginning of each cycle, the current angular velocity of the satellite's three axes is obtained first 、 、 .

[0130] Step 3.2, calculate the sequence number and direction of the solenoid valves for opening the two-axis thrusters.

[0131] 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.

[0132] The angular velocity component of the satellite angular velocity to the thrust system coordinate system is 、 :

[0133] (18)

[0134] like If it is greater than the thrust damping angular velocity threshold Wd1, T1 is closed and T3 is opened;

[0135] like If it is less than the thrust damping angular velocity threshold Wd0, T1 is turned on and T3 is turned off;

[0136] Otherwise, T1 and T3 are closed;

[0137] like If it is greater than the thrust damping angular velocity threshold Wd1, T0 is closed and T2 is opened;

[0138] like If it is less than the thrust damping angular velocity threshold Wd0, T0 is on and T2 is off;

[0139] Otherwise, T0 and T2 are off.

[0140] Step 3.3: Determine whether the satellite's overall momentum moment meets the set conditions.

[0141] (19)

[0142] is the relative inertia of the satellite axes, is the satellite's three-axis angular velocity, if 、 、 If the kinetic moments of the three sub-axes are all less than the threshold value, the control is terminated and all thruster solenoid valves are closed.

[0143] In one embodiment, Figure 4 As shown, Figure 4 When the rocket and satellite are separated, the failed spring is at point P, and the kinetic moment generated by the failed spring on the X-axis and Y-axis of the satellite system is Schematic diagram of the direction.

[0144] 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 failure spring and the Y axis of the satellite body system.

[0145] According to the mechanical equation, there is angular momentum

[0146] (20)

[0147] set up is 342.68kg, =0.03465979m / s , =0.285m, then =10.418612.

[0148] The satellite inertia is =92.28kg·m², =78.78 kg·m², =84.24 kg·m².

[0149] Flywheel inertia =1.305kg·m², =-1.902kg·m², =1.233kg·m².

[0150] The angular velocity of the satellite around the X and Y axes generated by Dh is:

[0151] (twenty one)

[0152] Right now

[0153] (twenty two)

[0154] When θ=30°, the increased angular velocity of the satellite along the X, Y, and Z axes is:

[0155] (twenty three)

[0156] The whole satellite momentum is reduced to 2Nms as the termination condition of thruster damping control. 、 、 Substituting into formula (17), we can get rpm, after 47.000 seconds of damping, the angular velocity of the satellite 、 、 They are -0.914°, 0.890°, and 0.266° respectively.

[0157] Similarly, θ=120°, the initial satellite angular velocity can be obtained. 、 、 3.23442°, 6.56215°, 0°, Y needs to set the speed rpm, after 48.000 seconds of damping, the angular velocity of the satellite 、 、 They are 0.658°, 0.711°, and -0.952° respectively.

[0158] Similarly, θ=210°, the initial satellite angular velocity can be obtained. 、 、 5.60214°, -3.7887°, 0°, Y needs to set the speed rpm, after 47.000 seconds of damping, the angular velocity of the satellite 、 、 They are 0.0849°, -0.920°, and 0.302° respectively.

[0159] 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 is 、 、 They are -0.508°, -0.570° and -0.978° respectively.

[0160] 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 set to rpm, the control effect is as follows:

[0161] (1) θ = 0~360°, damping ends in 54s at most;

[0162] (2) θ = 220°, the maximum damping time is 54 s, and the damping ends.

[0163] The flywheel Y speed is set 20 seconds after the separation of the rocket and satellite, and the thruster damping control is turned on at the same time. The damping end condition is that the momentum of the entire satellite is less than 2Nms. The simulation results are as follows:

[0164] If any spring fails, the corresponding characteristic parameters are as follows:

[0165] (1) The maximum speed of flywheel Y is 165 rpm, so if the calculated result is greater than 200, use 200 rpm;

[0166] (2) The propulsion system consumes a total impulse of 70 Ns (equivalent to a loss of 370 m of orbit control capability);

[0167] (3) The maximum angular velocity in the Z direction is about 1.03° / s.

[0168] 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 in correspondence with each other.

[0169] Figure 5 FIG. 1 is a schematic structural diagram of a satellite thruster underactuated damping control system with flywheel participation provided by an embodiment of the present invention. Figure 5 As shown, it includes: an acquisition module 51, a calculation module 52 and a control module 53, wherein:

[0170] The acquisition module 51 is used to obtain the satellite's three-axis angular velocity from the three-axis gyroscope and obtain the initial flywheel speed when the satellite uses under-actuated thrusters 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 flywheel bias speed. The control module 53 is used to collect sensor gyro and star sensor data 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 satellite's overall momentum meets the thruster damping control termination condition to end control.

[0171] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6 As shown, the electronic device may include: a processor 610, a communications interface 620, a memory 630, and a communications bus 640. The processor 610, the communications interface 620, and the memory 630 communicate with each other via the communications bus 640. The processor 610 may invoke logic instructions in the memory 630 to execute a satellite thruster underactuated damping control method with flywheel participation. The method includes: obtaining the satellite's three-axis angular velocity using a three-axis gyroscope to obtain the initial flywheel speed when the satellite uses underactuated thrusters for damping; calculating the target offset speed to be set for the flywheel and setting the offset speed for the flywheel; collecting sensor gyro and star sensor data at a fixed attitude control frequency, calculating the sequence number and direction of the solenoid valves for opening the two-axis thrusters, and determining whether the overall satellite momentum meets the thruster damping control termination condition to terminate control.

[0172] Furthermore, the logic instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0173] 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, 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.

[0174] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0175] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0176] 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 various 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 is obtained by the three-axis gyroscope, and the initial speed of the flywheel when the satellite is damped by the underactuated thruster is obtained; Calculate the target bias speed that the flywheel needs to set, and set the bias speed of the flywheel; The sensor gyro and star sensor data are collected at a fixed attitude control frequency, the sequence and direction of the solenoid valves for the two-axis thrusters are calculated, and the satellite's overall momentum is determined to meet the thruster damping control termination conditions to terminate the control. The three-axis angular velocity of the satellite is obtained by the three-axis gyroscope, and the initial speed of the flywheel when the satellite uses the underactuated thruster for damping is obtained, including: At the moment of separation of the satellite and rocket T0, obtain the current three-axis angular velocity ω of the gyroscope X0 、ω Y0 、ω Z0 , where ω X0 is the satellite angular velocity component on the body coordinate axis X axis, ω Y0 is the satellite angular velocity component on the Y axis of the body coordinate axis, ω Z0 is the Z-axis component of the satellite angular velocity in the body coordinate system; 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. , increment the angular velocity of the Z axis by Substituting into the third line of formula (5), we get: （6） Flywheel Y speed for: （7） Before the separation of the rocket and 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's momentum before and after the separation of the rocket and 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. The angular momentum of the Y axis before and after starting is conserved, and we get: （9） is the speed of flywheel Y before starting, which is 0. Rearranging the above formula, we get: （10） is the initial speed of the flywheel, which is 0, and the parameter for: （11） Let the parameters for: （12） The parameters 、 Substituting formula (10) into formula (8) yields: （13） Transformed into: （14） Right now （15） Let the parameters （16） The speed of flywheel Y needs to be set to （17） Set the maximum allowable speed of the Y flywheel Ω max ,like Greater than Ω max , then set =Ω max ,like Less than -Ω max , then set =-Ω max .

2. The satellite thruster underactuated damping control method with flywheel participation according to claim 1, characterized in that: Set the flywheel's bias speed, including: Set the speed of the three flywheels in the next attitude control cycle, where the flywheel X speed 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 .

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

4. The satellite thruster underactuated damping control method with flywheel participation according to claim 3, characterized in that: Calculate the sequence number and direction of the solenoid valves for the two-axis thrusters, 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 the value 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 value 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 the value 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 value 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 the third thruster.

5. The satellite thruster underactuated damping control method with flywheel participation according to claim 4, characterized in that: Determine whether the satellite's entire kinetic energy 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 the satellite axes, is the satellite's three-axis angular velocity; like 、 、 If the kinetic moments of the three sub-axes are all less than the threshold value, the control is terminated and all thruster solenoid valves are closed.

6. A satellite thruster underactuated damping control system with flywheel participation, based on the satellite thruster underactuated damping control method with flywheel participation according to any one of claims 1 to 5, characterized in that: include: An acquisition module is used to obtain the three-axis angular velocity of the satellite's rotation from a three-axis gyroscope and obtain the initial speed of the flywheel when the satellite uses an underactuated thruster for damping; A calculation module 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 is used to collect sensor gyro and star sensor data 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 satellite's entire star momentum meets the thruster damping control termination conditions to end the control.

7. 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 5 is implemented.

8. 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 under-actuated damping control method with the participation of a flywheel as claimed in any one of claims 1 to 5 is implemented.

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