Satellite orbit height and phase coupling adjustment optimal control method and system

Abstract

The invention provides an optimal control method and system for satellite orbit height and phase coupling adjustment. The method comprises the steps that the satellite orbit height, the height and phase adjustment amount and the orbit control total number of turns are set; adjusting the height of the track twice, and calculating the speed increment required for adjusting the height of the track each time; according to the total number of orbital control turns and an eccentricity ratio keeping criterion, processing the two times of orbital height adjustment to generate a corresponding first control sequence and a corresponding second control sequence; the coupling influence of height adjustment on the phase is considered, and the actual phase adjustment amount is calculated for each control method in the first control sequence and the second control sequence; calculating a speed increment required by tertiary pulse control; and calculating corresponding total speed increments in the first control sequence and the second control sequence, and searching a minimum value in all the total speed increments to form a coupling adjustment optimal control strategy. According to the method, the coupling optimal adjustment of the height and the phase within the specified orbit control circle number can be realized at the minimum speed increment, and the on-orbit life of the satellite is prolonged.

Description

Technical Field

[0001] The present invention relates to the field of orbit control technology, and in particular to an optimal control method and system for satellite orbit altitude and phase coupling regulation. Background Art

[0002] At present, the orbit control of my country's satellites is mainly achieved by calculating the orbit control strategy on the ground and injecting remote control commands on the ground station. The orbit control result of this method is predictable on the ground, and the satellite status can be monitored in real time by the ground during the implementation of orbit control, so this method has good safety and reliability. However, with the substantial increase in the number of satellites in orbit and the gradual improvement of satellite orbit control accuracy and frequency, the tasks of the ground station measurement and control system are becoming increasingly heavy, and even conflicts between different satellite measurement and control tasks have occurred. In order to solve the problem of too many ground measurement and control tasks and complicated processes, most research institutions have carried out research on autonomous orbit control technology on satellites. The invention patent with announcement number CN106542119A (Autonomous orbit maintenance control method on satellite, 2017) introduces an autonomous orbit height control method based on feedback of the average orbit semi-major axis. The specific on-orbit implementation process of this method is further described in detail in the article "An autonomous orbit control method for low-orbit remote sensing satellites" (Spacecraft Engineering, Issue 3, 2020). This method has been successfully applied to the development of satellites such as Gaofen-7.

[0003] However, as space missions become increasingly complex, existing single-satellite on-orbit services can no longer meet the needs of new space missions, such as rapid global coverage and multi-point payload collaborative observation. Therefore, new missions often use multiple satellites to fly in formation and complete their functional tasks through constellation networking. Due to the influence of orbital perturbations, the satellite formation configuration also requires regular orbital control to achieve constellation phase maintenance.

[0004] According to whether the satellite phase holding in the constellation controls the relative phase between each satellite or the absolute phase of each satellite, phase holding can be divided into relative phase holding and absolute phase holding. Relative phase holding is to judge in real time whether the phase deviation between any adjacent satellites exceeds the threshold. If it exceeds, the semi-major axis correction of each satellite in the constellation is calculated and orbit control is implemented. The implementation method of relative phase holding is described in detail in the invention patent with announcement number CN113697129B (A method and computer device for relative phase control of constellation, 2023). Absolute phase holding is that each satellite in the constellation independently performs orbit holding control. Each satellite is equipped with a nominal orbit model. The phase deviation between the actual orbit and the nominal orbit is judged in real time on the satellite, and then the orbit phase holding control of the satellite is performed according to the designed threshold. The implementation method and simulation results of absolute phase holding are described in detail in the article "A high-precision phase holding method for low-orbit constellations" (Journal of Astronautics, Issue 11, 2021).

[0005] As the requirements for formation satellite orbit control accuracy for various missions continue to increase, it is necessary not only to control and maintain the satellite phase, but also to perform high-precision joint control of orbital parameters such as orbital altitude and eccentricity. Therefore, a three-pulse-based formation satellite in-plane orbital parameter control method has been developed, that is, by implementing three pulse controls along the track with a phase interval of 180° within one orbital cycle, the joint control of orbital altitude, eccentricity and phase is achieved. The principle, calculation method and implementation process of the three-pulse joint control method are described in detail in the "InSAR Satellite Formation Configuration Maintenance Control Method" (Journal of Geodaetics and Cartography, Issue 12, 2022) and the invention patent with announcement number CN115320891B (A Near-Circular Nominal Orbit Control Method Based on Virtual Satellite, 2023).

[0006] However, according to the phase control principle, phase adjustment is achieved by changing the semi-major axis and thus the orbital angular velocity. The phase is adjusted by integrating the angular velocity over a long period of time. Phase control is related to the duration of its control action. Although the existing three-pulse orbit parameter control method can achieve coupled regulation of orbital altitude, eccentricity and phase, it takes a short time to complete three pulse controls within one orbital cycle, and the speed increment required for control is large, which leads to large propellant consumption and reduces the satellite's on-orbit service time.

[0007] In order to reduce the speed increment required for orbital parameter coupling control and extend the satellite's on-orbit service time, the present invention introduces the total number of orbital control circles as an adjustable input variable. When the total number of control circles exceeds one circle, the timing of the three pulse controls will no longer be fixed. Pulse control at different times will result in different speed increments required to achieve the overall control target. Therefore, the present invention further designs the optimal three-pulse control strategy for orbital height and phase coupling adjustment based on the total number of orbital control circles and the eccentricity maintenance as the criterion. Compared with the conventional three-pulse control method, the control method provided by the present invention can use the minimum speed increment to achieve the optimal coupling adjustment of the height and phase within the specified number of orbital control circles, which can effectively reduce the propellant consumption in orbital control and extend the satellite's on-orbit service life. Summary of the invention

[0008] In view of the defects in the prior art, the object of the present invention is to provide an optimal control method and system for satellite orbit altitude and phase coupling adjustment.

[0009] According to the present invention, an optimal control method for satellite orbit height and phase coupling adjustment includes:

[0010] Step S1: Setting the satellite orbit height, altitude and phase adjustment amount, and total orbit control number;

[0011] Step S2: adjusting the track height twice, and calculating the speed increment required for each track height adjustment;

[0012] Step S3: processing the two track height adjustments according to the total number of track control circles and the eccentricity maintenance criterion, and generating the corresponding first control sequence and second control sequence;

[0013] Step S4: considering the coupling effect of the height adjustment on the phase, calculating the actual phase adjustment amount for each control method in the first control sequence and the second control sequence;

[0014] Step S5: Calculate the speed increment required for three pulse controls;

[0015] Step S6: Calculate the corresponding total speed increments in the first control sequence and the second control sequence, and find the minimum value among all total speed increments to form a coupled regulation optimal control strategy.

[0016] Preferably, the step S2 comprises:

[0017] Step S2.1: Calculate the orbital angular velocity according to the satellite orbital altitude. The formula is as follows:

[0018]

[0019] Where n represents the orbital angular velocity, μ represents the earth's gravitational constant, Re represents the earth's radius, and H represents the satellite's orbital altitude;

[0020] Step S2.2: Calculate the speed increment required for each track height adjustment according to the track height adjustment amount and the track running angular velocity, the formula is as follows:

[0021]

[0022] Where, ΔV H It represents the speed increment required for each track height adjustment, and ΔH represents the track height adjustment amount.

[0023] Preferably, step S3 includes: first setting the initial time to perform the first height adjustment, and generating a control sequence for the second height adjustment based on the total number of track control circles and the eccentricity maintenance criteria, and then setting the end time to perform the second height adjustment, and generating a control sequence for the first height adjustment based on the total number of track control circles and the eccentricity maintenance criteria.

[0024] Preferably, step S3 includes the following sub-steps:

[0025] Step S3.1: Set the initial time ind1=0 to perform the first height adjustment. According to the total number of orbit control circles, generate a sequence of control moments that can perform two height adjustments under the premise of satisfying the eccentricity maintenance criterion, recorded as the first control sequence inds1, as shown in the following formula:

[0026]

[0027] Step S3.2: Set the end time ind2 = 2k to perform the second height adjustment. According to the total number of orbit control circles, generate all control time sequences that can perform two height adjustments under the premise of meeting the eccentricity maintenance criterion, recorded as the second control sequence inds2, as follows:

[0028]

[0029] Among them, ind1 represents the half circle number corresponding to the first height adjustment moment, ind2 represents the half circle number corresponding to the second height adjustment moment, and k represents the total number of orbit control circles.

[0030] Preferably, step S4 comprises:

[0031] Step S4.1: For each control method in the first control sequence, calculate the effect of the first orbit height adjustment on the phase Δu H1 , as follows:

[0032]

[0033] Where Re is the radius of the earth, n is the angular velocity of the orbit, H is the altitude of the satellite orbit, ΔV H represents the speed increment required for each orbit height adjustment, and ind1 represents the number of half turns corresponding to the first height adjustment moment in each control method of the two control sequences;

[0034] Step S4.2: For each control method in the second control sequence, calculate the effect Δu of the second orbit height adjustment on the phase H2 , as follows:

[0035]

[0036] Wherein, ind2 represents the number of half turns corresponding to the second height adjustment moment in each control method of the two control sequences;

[0037] Step S4.3: Calculate the actual phase adjustment Δu for each control method in the first control sequence and the second control sequence c

[0038] Δu c =Δu-Δu H1 -ΔuH2

[0039] Here, Δu represents the phase adjustment amount.

[0040] Preferably, the step S5 comprises:

[0041] First, for each control method in the first control sequence at the initial moment, calculate the speed increment Δv required for three pulse controls 11 , Δv 12 , Δv 13 , the formulas are as follows:

[0042]

[0043] Δv 12 =Δv H

[0044]

[0045] Secondly, for each control method in the second control sequence at the end time, calculate the speed increment Δv required for three pulse controls 21 , Δv 22 , Δv 23 , the formulas are as follows:

[0046]

[0047] Δv 22 =Δv H

[0048]

[0049] Where n represents the orbital angular velocity, Re represents the radius of the earth, H represents the satellite orbital altitude, k represents the total number of orbital control circles, and Δu c Indicates the actual phase adjustment, ΔV H Indicates the speed increment required for each orbital altitude adjustment.

[0050] Preferably, in step S6, for each control method in the two control sequences and the speed increment required for the corresponding three-pulse control, the first total speed increment required for achieving the height and phase coupling adjustment corresponding to the first control sequence and the second total speed increment required for achieving the height and phase coupling adjustment corresponding to the second control sequence are calculated respectively, and the formulas are as follows:

[0051] Δv1=|Δv 11 |+|Δv 12 |+|Δv 13 |

[0052] Δv2=|Δv 21|+|Δv 22 |+|Δv 23

[0053] Wherein, Δv1 represents the total speed increment corresponding to the first control sequence, i.e., the first total speed increment, and Δv2 represents the total speed increment corresponding to the second control sequence, i.e., the second total speed increment;

[0054] Then, the minimum total speed increment and the corresponding control method are found from the first total speed increment and the second total speed increment to form an optimal control strategy for coupled regulation.

[0055] An optimal control system for satellite orbit height and phase coupling adjustment provided by the present invention comprises:

[0056] Module M1: Set the satellite orbit height, altitude and phase adjustment, and total orbit control circles;

[0057] Module M2: Perform track height adjustment twice and calculate the speed increment required for each track height adjustment;

[0058] Module M3: Processing two track height adjustments according to the total number of track control circles and the eccentricity maintenance criterion, and generating the corresponding first control sequence and second control sequence;

[0059] Module M4: considering the coupling effect of the height adjustment on the phase, calculating the actual phase adjustment amount for each control system in the first control sequence and the second control sequence;

[0060] Module M5: Calculate the speed increment required for three pulse control;

[0061] Module M6: Calculate the corresponding total speed increments in the first control sequence and the second control sequence, and find the minimum value among all total speed increments to form an optimal control strategy for coupled regulation.

[0062] Preferably, the module M2 comprises:

[0063] Module M2.1: Calculate the orbital angular velocity based on the satellite orbital altitude. The formula is as follows:

[0064]

[0065] Where n represents the orbital angular velocity, μ represents the earth's gravitational constant, Re represents the earth's radius, and H represents the satellite's orbital altitude;

[0066] Step M2.2: Calculate the speed increment required for each track height adjustment based on the track height adjustment amount and the track running angular velocity. The formula is as follows:

[0067]

[0068] Where, ΔV H It represents the speed increment required for each track height adjustment, and ΔH represents the track height adjustment amount.

[0069] Preferably, the module M3 includes: first setting the initial time to perform the first height adjustment, and generating a control sequence for the second height adjustment according to the total number of track control circles and the eccentricity maintenance criterion, and then setting the end time to perform the second height adjustment, and generating a control sequence for the first height adjustment according to the total number of track control circles and the eccentricity maintenance criterion.

[0070] Compared with the prior art, the present invention has the following beneficial effects:

[0071] 1. The present invention realizes the optimal three-pulse control method of orbit altitude and phase coupling adjustment according to the total number of orbit control circles and takes eccentricity maintenance as the criterion. Compared with the original three-pulse control method of completing orbit parameter adjustment within one orbit cycle, the present invention can realize the optimal coupling adjustment of altitude and phase within the specified number of orbit control circles with the minimum speed increment, effectively reducing the propellant consumption in orbit control and extending the satellite's on-orbit life.

[0072] 2. The total number of orbital control circles k in the present invention is adjustable and can be set according to different task requirements, and the method has strong versatility.

[0073] 3. The orbital control calculation method in the present invention is derived based on the law of orbital motion. The calculation is simple and convenient and is suitable for on-board calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0075] Figure 1 It is a schematic diagram of the working method of the present invention;

[0076] Figure 2 This is an example of the speed increment simulation results of all control methods corresponding to the requirements under a set of track heights, track height adjustment amounts, phase adjustment amounts, and total number of track control circles provided by the present invention. DETAILED DESCRIPTION

[0077] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0078] The present invention designs an optimal three-pulse control method for orbital height and phase coupling adjustment according to the satellite orbital height, orbital height adjustment amount, phase adjustment amount, and the total number of orbital control circles, with eccentricity maintenance as a criterion and based on the movement law of satellite orbital parameters.

[0079] Embodiment 1

[0080] According to the present invention, an optimal control method for satellite orbit height and phase coupling adjustment is provided, such as Figure 1 As shown, including:

[0081] Step S1: Setting the satellite orbit height, height and phase adjustment amount, and total orbit control number of circles. The satellite orbit height H, orbit height adjustment amount ΔH, phase adjustment amount Δu, and total orbit control number k are set.

[0082] Step S2: perform orbit height adjustment twice, and calculate the speed increment required for each orbit height adjustment. According to the satellite orbit height H and the orbit height adjustment amount ΔH, calculate the speed increment ΔV required for each orbit height adjustment when the orbit height is adjusted twice. H The step S2 comprises:

[0083] Step S2.1: Calculate the orbital angular velocity according to the satellite orbital altitude. The formula is as follows:

[0084]

[0085] Among them, n represents the angular velocity of orbit, μ represents the gravitational constant of the earth, Re represents the radius of the earth, and H represents the orbital altitude of the satellite.

[0086] Step S2.2: Calculate the speed increment required for each track height adjustment according to the track height adjustment amount and the track running angular velocity, the formula is as follows:

[0087]

[0088] Where, ΔV H It represents the speed increment required for each track height adjustment, and ΔH represents the track height adjustment amount.

[0089] Step S3: According to the total number of orbit control circles and the eccentricity maintenance criteria, the two orbit height adjustments are processed to generate the corresponding first control sequence and second control sequence. Specifically, firstly, the initial time is set to perform the first height adjustment, and the control sequence for the second height adjustment can be generated according to the total number of orbit control circles and the eccentricity maintenance criteria, and then the end time is set to perform the second height adjustment, and the control sequence for the first height adjustment can be generated according to the total number of orbit control circles and the eccentricity maintenance criteria. The step S3 includes the following sub-steps:

[0090] Step S3.1: Set the initial time (ind1=0) to perform the first height adjustment. According to the total number of orbit control circles, generate a sequence of control times that can perform two height adjustments under the premise of satisfying the eccentricity maintenance criterion, recorded as the first control sequence inds1, as follows:

[0091]

[0092] Step S3.2: Set the end time (ind2=2k) to perform the second height adjustment. According to the total number of orbit control circles, generate all control time sequences that can perform two height adjustments under the premise of meeting the eccentricity maintenance criterion, recorded as the second control sequence inds2, as follows:

[0093]

[0094] Among them, ind1 represents the half circle number corresponding to the first height adjustment moment, ind2 represents the half circle number corresponding to the second height adjustment moment, and k represents the total number of orbit control circles.

[0095] Step S4: Considering the coupling effect of the height adjustment on the phase, the actual phase adjustment amount is calculated for each control method in the first control sequence and the second control sequence. The step S4 includes:

[0096] Step S4.1: For each control method in the first control sequence, calculate the effect of the first orbit height adjustment on the phase Δu H1 , as follows:

[0097]

[0098] Where Re is the radius of the earth, n is the angular velocity of the orbit, H is the altitude of the satellite orbit, ΔV H It represents the speed increment required for each track height adjustment, and ind1 represents the number of half turns corresponding to the first height adjustment moment in each control method of the two control sequences.

[0099] Step S4.2: For each control method in the second control sequence, calculate the effect Δu of the second orbit height adjustment on the phase H2 , as follows:

[0100]

[0101] Wherein, ind2 represents the number of half turns corresponding to the second height adjustment moment in each control method of the two control sequences.

[0102] Step S4.3: Calculate the actual phase adjustment Δu for each control method in the first control sequence and the second control sequence c

[0103] Δu c =Δu-Δu H1 -Δu H2 (7)

[0104] Here, Δu represents the phase adjustment amount.

[0105] Step S5: Calculate the speed increment required for the three-pulse control; for each control method in the two control sequences, calculate the speed increment of the three-pulse control required to achieve the height and phase coupling adjustment. The step S5 includes:

[0106] First, the control sequence of the first height adjustment is executed for the initial moment, that is, for each control method in the first control sequence, the speed increment Δv required for three pulse controls is calculated. 11 , Δv 12 , Δv 13 , the formulas are as follows:

[0107]

[0108] Secondly, for the control sequence that performs the second height adjustment at the end time, that is, for each control method in the second control sequence, calculate the speed increment Δv required for three pulse controls 21 , Δv 22 , Δv 23 , the formulas are as follows:

[0109]

[0110] Step S6: Calculate the total speed increment and find the minimum value to form the optimal control strategy for coupling regulation. Find the minimum value of the total speed increment and the corresponding control method to form the optimal control strategy for coupling regulation. In step S6, for each control method in the two control sequences and the speed increment required for the corresponding three-pulse control, the first total speed increment required for achieving the height and phase coupling regulation corresponding to the first control sequence and the second total speed increment required for achieving the height and phase coupling regulation corresponding to the second control sequence are calculated respectively, and the formulas are as follows:

[0111]

[0112] Wherein, Δv1 represents the total speed increment corresponding to the first control sequence, that is, the first total speed increment, and Δv2 represents the total speed increment corresponding to the second control sequence, that is, the second total speed increment.

[0113] Then, the minimum total speed increment and the corresponding control method are found from the first total speed increment and the second total speed increment, that is, the minimum total speed increment Δv is found among all Δv1 and Δv2.min and the corresponding control methods to form the optimal control strategy for coupling regulation.

[0114] The present invention aims to achieve coupled regulation of orbital altitude and phase using a minimum velocity increment, effectively reduce propellant consumption, and extend the on-orbit life of a satellite.

[0115] Furthermore, without loss of generality, a set of simulation examples are given below to illustrate the effectiveness of the method of the present invention.

[0116] Execute step S1, set the satellite orbit height H to 500km, the orbit height adjustment amount ΔH to decrease by 10km, the phase adjustment amount Δu to advance by 5°, and the total number of orbit control circles k to 7;

[0117] Execute step S2, calculate the orbital angular velocity n as 0.0011 rad / s based on the satellite orbital height H and orbital height adjustment ΔH in the previous step, and adjust the orbital height twice, and the velocity increment Δv required for each orbital height adjustment H It is -2.77m / s (a negative value indicates that thrust is applied in the direction opposite to the orbital velocity).

[0118] Execute step S3, first set the initial time to perform the first height adjustment, and generate a sequence inds1 of all control times that can perform two height adjustments under the premise of meeting the eccentricity maintenance criterion according to the total number of orbit control circles:

[0119]

[0120] Secondly, the end time is set to perform the second height adjustment. According to the total number of orbit control circles, the control time sequence inds2 that can perform two height adjustments under the premise of meeting the eccentricity maintenance criterion is generated as follows:

[0121]

[0122] Steps S4, S5, and S6 are performed in sequence to obtain the total speed increment of three pulse controls required for realizing height and phase coupling regulation under 14 control methods. The calculation results are shown in Figure 2. It can be seen from the figure that different control methods, that is, different numbers of orbital circles are used to adjust the track height, and the required speed increment is different. By traversing the 14 control methods, it can be found that the total speed increment required for the 8th control method, that is, the first height adjustment is implemented at the 1 / 2 circle, and the second height adjustment is implemented at the end of the 7th circle, is the smallest, which is 5.54m / s. If other control methods are used, the maximum total speed increment requirement can reach 9.68m / s. This simulation shows that pulse control at different times will result in different speed increments required to achieve the overall control target. The method of the present invention can be used to obtain the optimal three-pulse control strategy for achieving track height and phase coupling regulation.

[0123] Embodiment 2

[0124] The present invention also provides an optimal control system for satellite orbit altitude and phase coupling adjustment. The optimal control system for satellite orbit altitude and phase coupling adjustment can be realized by executing the process steps of the optimal control method for satellite orbit altitude and phase coupling adjustment, that is, technical personnel in this field can understand the optimal control method for satellite orbit altitude and phase coupling adjustment as a preferred implementation mode of the optimal control system for satellite orbit altitude and phase coupling adjustment.

[0125] An optimal control system for satellite orbit height and phase coupling adjustment provided by the present invention comprises:

[0126] Module M1: Set the satellite orbit height, altitude and phase adjustment, and total orbit control circles;

[0127] Module M2: perform orbit height adjustment twice, and calculate the speed increment required for each orbit height adjustment; the module M2 includes: module M2.1: calculate the orbit angular velocity according to the satellite orbit height, the formula is as follows:

[0128]

[0129] Wherein, n represents the orbital angular velocity, μ represents the earth's gravitational constant, Re represents the earth's radius, and H represents the satellite's orbital altitude; Module M2.2: Calculate the velocity increment required for each orbital altitude adjustment based on the orbital altitude adjustment amount and the orbital angular velocity, and the formula is as follows:

[0130]

[0131] Where, ΔV H It represents the speed increment required for each track height adjustment, and ΔH represents the track height adjustment amount.

[0132] Module M3: According to the total number of orbit control circles and the eccentricity maintenance criteria, the two orbit height adjustments are processed to generate the corresponding first control sequence and second control sequence; the module M3 includes: firstly, the initial time is set to perform the first height adjustment, and the control sequence for the second height adjustment can be generated according to the total number of orbit control circles and the eccentricity maintenance criteria, and then the end time is set to perform the second height adjustment, and the control sequence for the first height adjustment can be generated according to the total number of orbit control circles and the eccentricity maintenance criteria. The module M3 includes the following submodules:

[0133] Module M3.1: Set the initial time ind1 = 0 to perform the first height adjustment. According to the total number of orbit control circles, generate a sequence of control moments that can perform two height adjustments under the premise of satisfying the eccentricity maintenance criterion, recorded as the first control sequence inds1, as shown in the following formula:

[0134]

[0135] Module M3.2: Set the end time ind2 = 2k to perform the second height adjustment. According to the total number of orbit control circles, generate all control time sequences that can perform two height adjustments under the premise of meeting the eccentricity maintenance criterion, recorded as the second control sequence inds2, as follows:

[0136]

[0137] Among them, ind1 represents the half circle number corresponding to the first height adjustment moment, ind2 represents the half circle number corresponding to the second height adjustment moment, and k represents the total number of orbit control circles.

[0138] Module M4: Considering the coupling effect of altitude adjustment on phase, the actual phase adjustment is calculated for each control method in the first control sequence and the second control sequence; the module M4 includes: Module M4.1: For each control method in the first control sequence, the effect Δu of the first orbit altitude adjustment on phase is calculated H1 , as follows:

[0139]

[0140] Where Re is the radius of the earth, n is the angular velocity of the orbit, H is the altitude of the satellite orbit, ΔV H represents the speed increment required for each orbit height adjustment, ind1 represents the number of half turns corresponding to the first height adjustment moment in each control method of the two control sequences; Module M4.2: For each control method in the second control sequence, calculate the impact Δu of the second orbit height adjustment on the phase H2 , as follows:

[0141]

[0142] Where ind2 represents the number of half turns corresponding to the second height adjustment moment in each control method of the two control sequences; Module M4.3: Calculate the actual phase adjustment amount Δu for each control method in the first control sequence and the second control c

[0143] Δu c =Δu-Δu H1 -Δu H2

[0144] Here, Δu represents the phase adjustment amount.

[0145] Module M5: Calculate the speed increment required for three-pulse control; the module M5 comprises: first, for each control method in the first control sequence at the initial moment, calculate the speed increment Δv required for three-pulse control 11 , Δv 12 , Δv 13 , the formulas are as follows:

[0146]

[0147] Δv 12 =Δv H

[0148]

[0149] Secondly, for each control method in the second control sequence at the end time, calculate the speed increment Δv required for three pulse controls 21 , Δv 22 , Δv 23 , the formulas are as follows:

[0150]

[0151] Δv 22 =Δv H

[0152]

[0153] Where n represents the orbital angular velocity, Re represents the radius of the earth, H represents the satellite orbital altitude, k represents the total number of orbital control circles, and Δu c Indicates the actual phase adjustment, ΔV H Indicates the speed increment required for each orbital altitude adjustment.

[0154] Module M6: Calculate the total speed increments corresponding to the first control sequence and the second control sequence, and find the minimum value among all the total speed increments to form the optimal control strategy for coupling regulation. In the module M6, for each control method in the two control sequences and the speed increment required for the corresponding three-pulse control, the first total speed increment required for achieving height and phase coupling regulation corresponding to the first control sequence and the second total speed increment required for achieving height and phase coupling regulation corresponding to the second control sequence are calculated respectively, and the formulas are as follows:

[0155] Δv1=|Δv 11 |+|Δv 12 |+|Δv 13 |

[0156] Δv2=|Δv 21 |+|Δv 22 |+|Δv 23 |

[0157] Among them, Δv1 represents the total speed increment corresponding to the first control sequence, that is, the first total speed increment, and Δv2 represents the total speed increment corresponding to the second control sequence, that is, the second total speed increment; then, the minimum total speed increment and the corresponding control method are found from the first total speed increment and the second total speed increment to form the optimal control strategy for coupled regulation.

[0158] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0159] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An optimal control method for satellite orbit height and phase coupling adjustment, characterized in that: include: Step S1: Setting the satellite orbit height, altitude and phase adjustment amount, and total orbit control number; Step S2: adjusting the track height twice, and calculating the speed increment required for each track height adjustment; Step S3: processing the two track height adjustments according to the total number of track control circles and the eccentricity maintenance criterion, and generating the corresponding first control sequence and second control sequence; Step S4: considering the coupling effect of the height adjustment on the phase, calculating the actual phase adjustment amount for each control method in the first control sequence and the second control sequence; Step S5: Calculate the speed increment required for three pulse controls; Step S6: Calculate the corresponding total speed increments in the first control sequence and the second control sequence, and find the minimum value among all total speed increments to form a coupled regulation optimal control strategy.

2. The optimal control method for satellite orbit height and phase coupling adjustment according to claim 1, characterized in that: The step S2 comprises: Step S2.1: Calculate the orbital angular velocity according to the satellite orbital altitude. The formula is as follows: Where n represents the orbital angular velocity, μ represents the earth's gravitational constant, Re represents the earth's radius, and H represents the satellite's orbital altitude; Step S2.2: Calculate the speed increment required for each track height adjustment according to the track height adjustment amount and the track running angular velocity, the formula is as follows: Where, ΔV H It represents the speed increment required for each track height adjustment, and ΔH represents the track height adjustment amount.

3. The optimal control method for satellite orbit height and phase coupling adjustment according to claim 1, characterized in that: The step S3 includes: firstly setting the initial time to perform the first height adjustment, and generating a control sequence for performing the second height adjustment according to the total number of orbit control circles and the eccentricity maintenance criterion, and then setting the end time to perform the second height adjustment, and generating a control sequence for performing the first height adjustment according to the total number of orbit control circles and the eccentricity maintenance criterion.

4. The optimal control method for satellite orbit height and phase coupling adjustment according to claim 3 is characterized in that: The step S3 includes the following sub-steps: Step S3.1: Set the initial time ind1=0 to perform the first height adjustment. According to the total number of orbit control circles, generate a sequence of control moments that can perform two height adjustments under the premise of satisfying the eccentricity maintenance criterion, recorded as the first control sequence inds1, as shown in the following formula: Step S3.2: Set the end time ind2 = 2k to perform the second height adjustment. According to the total number of orbit control circles, generate all control time sequences that can perform two height adjustments under the premise of meeting the eccentricity maintenance criterion, recorded as the second control sequence inds2, as follows: Among them, ind1 represents the half circle number corresponding to the first height adjustment moment, ind2 represents the half circle number corresponding to the second height adjustment moment, and k represents the total number of orbit control circles.

5. The optimal control method for satellite orbit height and phase coupling adjustment according to claim 1, characterized in that: The step S4 comprises: Step S4.1: For each control method in the first control sequence, calculate the effect of the first orbit height adjustment on the phase Δu H1 , as follows: Where Re is the radius of the earth, n is the angular velocity of the orbit, H is the altitude of the satellite orbit, ΔV H represents the speed increment required for each orbit height adjustment, and ind1 represents the number of half turns corresponding to the first height adjustment moment in each control method of the two control sequences; Step S4.2: For each control method in the second control sequence, calculate the effect Δu of the second orbit height adjustment on the phase H2 , as follows: Wherein, ind2 represents the number of half turns corresponding to the second height adjustment moment in each control method of the two control sequences; Step S4.3: Calculate the actual phase adjustment Δu for each control method in the first control sequence and the second control sequence c Δu c =Δu-Δu H1 -Δu H2 Here, Δu represents the phase adjustment amount.

6. The optimal control method for satellite orbit height and phase coupling adjustment according to claim 1, characterized in that: The step S5 comprises: First, for each control method in the first control sequence at the initial moment, calculate the speed increment Δv required for three pulse controls 11 , Δv 12 , Δv 13 , the formulas are as follows: Δv 12 =Δv H Secondly, for each control method in the second control sequence at the end time, calculate the speed increment Δv required for three pulse controls 21 , Δv 22 , Δv 23 , the formulas are as follows: Δv 22 =Δv H Where n represents the orbital angular velocity, Re represents the radius of the earth, H represents the satellite orbital altitude, k represents the total number of orbital control circles, and Δu c Indicates the actual phase adjustment, ΔV H Indicates the speed increment required for each orbital altitude adjustment.

7. The optimal control method for satellite orbit height and phase coupling adjustment according to claim 1, characterized in that: In step S6, for each control method in the two control sequences and the speed increment required for the corresponding three-pulse control, the first total speed increment required for achieving the height and phase coupling adjustment corresponding to the first control sequence and the second total speed increment required for achieving the height and phase coupling adjustment corresponding to the second control sequence are calculated respectively, and the formulas are as follows: Δv1=|Δv 11 |+|Δv 12 |+|Δv 13 | Δv2=|Δv 21 |+|Δv 22 |+|Δv 23 | Wherein, Δv1 represents the total speed increment corresponding to the first control sequence, i.e., the first total speed increment, and Δv2 represents the total speed increment corresponding to the second control sequence, i.e., the second total speed increment; Then, the minimum total speed increment and the corresponding control method are found from the first total speed increment and the second total speed increment to form an optimal control strategy for coupled regulation.

8. An optimal control system for satellite orbit height and phase coupling adjustment, characterized in that: include: Module M1: Set the satellite orbit height, altitude and phase adjustment, and total orbit control number; Module M2: Perform track height adjustment twice and calculate the speed increment required for each track height adjustment; Module M3: Processing two track height adjustments according to the total number of track control circles and the eccentricity maintenance criterion, and generating the corresponding first control sequence and second control sequence; Module M4: considering the coupling effect of the height adjustment on the phase, calculating the actual phase adjustment amount for each control system in the first control sequence and the second control sequence; Module M5: Calculate the speed increment required for three pulse control; Module M6: Calculate the corresponding total speed increments in the first control sequence and the second control sequence, and find the minimum value among all total speed increments to form an optimal control strategy for coupled regulation.

9. The optimal control system for satellite orbit height and phase coupling adjustment according to claim 8, characterized in that: The module M2 comprises: Module M2.1: Calculate the orbital angular velocity based on the satellite orbital altitude. The formula is as follows: Where n represents the orbital angular velocity, μ represents the earth's gravitational constant, Re represents the earth's radius, and H represents the satellite's orbital altitude; Step M2.2: Calculate the speed increment required for each track height adjustment based on the track height adjustment amount and the track running angular velocity. The formula is as follows: Where, ΔV H It represents the speed increment required for each track height adjustment, and ΔH represents the track height adjustment amount.

10. The optimal control system for satellite orbit altitude and phase coupling adjustment according to claim 8, characterized in that: The module M3 includes: firstly setting the initial time to perform the first height adjustment, and generating a control sequence for the second height adjustment according to the total number of orbit control circles and the eccentricity maintenance criterion, and then setting the end time to perform the second height adjustment, and generating a control sequence for the first height adjustment according to the total number of orbit control circles and the eccentricity maintenance criterion.

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