Optimal control method and system for satellite orbit altitude and phasing coupling regulation

Abstract

The application provides a satellite orbit height and phase coupling adjustment optimal control method and system, comprising: setting a satellite orbit height, a height and phase adjustment amount, and a total number of orbit control circles; performing orbit height adjustment twice, and calculating a speed increment required for each orbit height adjustment; processing the two orbit height adjustments according to a total number of orbit control circles and an eccentricity keeping criterion, and generating a corresponding first control sequence and a second control sequence; considering the coupling influence of height adjustment on phase, calculating a phase actual adjustment amount for each control method in the first control sequence and the second control sequence; calculating a speed increment required for three times of pulse control; calculating a corresponding total speed increment in the first control sequence and the second control sequence, and finding a minimum value in all total speed increments to form a coupling adjustment optimal control strategy. The application can realize the coupling optimal adjustment of height and phase within a specified orbit control circle number with a minimum speed increment, and prolongs the on-orbit life of a satellite.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of orbit control, in particular to an optimal control method and system for coupling adjustment of satellite orbit height and phase. BACKGROUND

[0002] Currently, the orbit control of satellites in China is mainly achieved by calculating the orbit control strategy on the ground and uploading the remote control command through the ground station. The result of the orbit control is predictable on the ground, and the satellite state can be monitored in real time during the implementation of the 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 in the precision and frequency of satellite orbit control, the task of the ground station measurement and control system is becoming increasingly heavy, and even there are problems such as conflicts between different satellite measurement and control tasks. In order to solve the problem of too many ground measurement and control tasks and complex processes, most research institutions have carried out research on autonomous orbit control technology on board. In the invention patent with the publication number CN106542119A (Autonomous orbit maintenance control method on board, 2017), an autonomous orbit height control method based on average orbit semi-major axis feedback is introduced. In the paper “Autonomous orbit control method for low-orbit remote sensing satellites” (Spacecraft Engineering, 2020, No. 3), the specific on-orbit implementation process of the method is further introduced in detail. This method has been successfully applied in the development of satellites such as Gaofen-7.

[0003] However, with the gradual complexity of space missions, the existing single-satellite on-orbit service has been difficult to meet the current needs of new space missions such as global rapid coverage and multi-point payload collaborative observation. Therefore, new missions usually adopt multiple satellite formation flight to complete their functional tasks through constellation networking. Due to the influence of orbit perturbation, the satellite formation configuration also needs regular orbit control to maintain the phase of the constellation.

[0004] According to whether the phase maintenance of the satellites in the constellation controls the relative phase between the satellites or controls the absolute phase of each satellite, the phase maintenance can be divided into relative phase maintenance and absolute phase maintenance. Relative phase maintenance is to determine in real time whether the phase deviation between any adjacent satellites exceeds the threshold. If it exceeds, the semi-major axis correction amount of each satellite in the constellation is calculated and orbit control is implemented. The implementation method of relative phase maintenance is introduced in detail in the invention patent with the publication number CN113697129B (Method for controlling relative phase of constellation and computer equipment, 2023). Absolute phase maintenance is that each satellite in the constellation independently performs orbit maintenance control. Each satellite is provided with a nominal orbit model. The actual orbit and the nominal orbit are judged in real time on board, and then the phase maintenance control of the orbit of the satellite is performed according to the design threshold. The implementation method and simulation results of absolute phase maintenance are introduced in detail in the paper “High-precision phase maintenance method for low-orbit constellation” (Journal of Spacecraft Technology, 2021, No. 11).

[0005] With the increasing demand for formation satellite orbit control accuracy for various tasks, not only the satellite phase needs to be controlled and maintained, but also the orbit height, eccentricity and other orbit parameters need to be controlled and maintained with high precision. Therefore, an in-plane orbit parameter control method based on three pulses is developed, that is, three pulses with a phase interval of 180° along the track are implemented within one orbit period to realize the joint control of orbit height, eccentricity and phase. The principle, calculation method and implementation process of the three-pulse joint control method are introduced in detail in the article "InSAR satellite formation configuration control method" (published in the Journal of Geomatics, No. 12, 2022) and the invention patent with the publication number CN115320891B (a near-circular nominal orbit control method based on virtual satellites, 2023).

[0006] However, according to the principle of phase control, phase adjustment is achieved by changing the semi-major axis and then changing the angular velocity of the orbit, and the phase is adjusted by long-time integration of the angular velocity. The existing three-pulse-based orbit parameter control method can realize the coupled adjustment of orbit height, eccentricity and phase, but it needs to complete three pulse controls within one orbit period, which takes a short time and requires a large speed increment for control, thereby causing a large consumption of propellant and reducing the on-orbit service time of the satellite.

[0007] In order to reduce the speed increment required for coupled control of orbit parameters and prolong the on-orbit service time of the satellite, the present invention introduces the adjustable input variable of total orbit control number. When the total control number exceeds one, the time of three-pulse control will no longer be fixed. Pulse control at different times will result in different speed increments required to achieve the total control target. Therefore, the present invention further designs an optimal three-pulse control strategy for coupled adjustment of orbit height and phase based on eccentricity maintenance according to the total number of orbit control. Compared with the conventional three-pulse control method, the control method provided by the present invention can achieve the coupled optimal adjustment of height and phase within the specified orbit control number using the minimum speed increment, which can effectively reduce the propellant consumption in orbit control and prolong the on-orbit service life of the satellite. SUMMARY

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

[0009] The optimal control method for coupled adjustment of satellite orbit height and phase provided by the present invention comprises:

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

[0011] Step S2: The orbit height adjustment is performed twice, and the speed increment required for each orbit height adjustment is calculated;

[0012] Step S3: According to the orbit control total number of circles and the eccentricity retention criterion, the two orbit height adjustments are processed to generate the corresponding first control sequence and second control sequence;

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

[0014] Step S5: The speed increment required for three-pulse control is calculated;

[0015] Step S6: The total speed increment corresponding to the first control sequence and the second control sequence is calculated, and the minimum value is found among all total speed increments to form the coupling adjustment optimal control strategy.

[0016] Preferably, the step S2 comprises:

[0017] Step S2.1: According to the satellite running orbit height, the orbit running angular velocity is calculated, and the formula is as follows:

[0018]

[0019] Wherein, n represents the orbit running angular velocity, μ represents the earth gravity constant, Re represents the earth radius, and H represents the satellite running orbit height;

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

[0021]

[0022] Wherein, ΔV H represents the speed increment required for each orbit height adjustment, and ΔH represents the orbit height adjustment amount.

[0023] Preferably, the step S3 comprises: first, set the initial time to perform the first height adjustment, and according to the orbit control total number of circles and the eccentricity retention criterion, the control sequence that can perform the second height adjustment is generated, and then set the end time to perform the second height adjustment, and according to the orbit control total number of circles and the eccentricity retention criterion, the control sequence that can perform the first height adjustment is generated.

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

[0025] Step S3.1: Set initial time ind1=0 to perform the first height adjustment, generate a sequence of control times that can perform two height adjustments under the premise of satisfying the eccentricity maintenance criterion according to the total number of orbit control circles, denoted as the first control sequence inds1, as follows:

[0026]

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

[0028]

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

[0030] Preferably, the step S4 comprises:

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

[0032]

[0033] Wherein, Re represents the radius of the earth, n represents the orbit running angular velocity, H represents the satellite orbit height, ΔV H represents the required velocity increment for each orbit height adjustment, ind1 represents the half circle number corresponding to the first height adjustment time in each control method of the two control sequences;

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

[0035]

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

[0037] Step S4.3: Calculate the actual phase adjustment amount Δu c

[0038] Δu c = Δu-Δu H1 -ΔuH2

[0039] wherein 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 time, the velocity increment Δv 11 , Δv 12 , Δv 13 required for three-pulse control are calculated, and the formulas are as follows:

[0042]

[0043] Δv 12 = Δv H

[0044]

[0045] Second, for each control method in the second control sequence at the end time, the velocity increment Δv 21 , Δv 22 , Δv 23 required for three-pulse control are calculated, and the formulas are as follows:

[0046]

[0047] Δv 22 = Δv H

[0048]

[0049] wherein n represents the orbit running angular velocity, Re represents the earth radius, H represents the satellite orbit height, k represents the total number of orbit control laps, Δu c represents the actual phase adjustment amount, and ΔV H represents the velocity increment required for each orbit height adjustment.

[0050] Preferably, in the step S6, for each control method in the two control sequences and the corresponding velocity increment required for three-pulse control, the first total velocity increment required for the first control sequence to realize the height and phase coupling adjustment and the second total velocity increment required for the second control sequence to realize the height and phase coupling adjustment 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 velocity increment corresponding to the first control sequence, i.e. the first total velocity increment, and Δv2 represents the total velocity increment corresponding to the second control sequence, i.e. the second total velocity increment;

[0054] Then, the minimum total velocity increment and the corresponding control method are found from the first total velocity increment and the second total velocity increment, to form the optimal coupling adjustment control strategy.

[0055] According to the present application, an optimal control system for coupling adjustment of satellite orbit height and phase is provided, comprising:

[0056] Module M1: setting the satellite orbit height, the height and phase adjustment amount, and the total number of orbit control circles;

[0057] Module M2: adjusting the orbit height twice and calculating the required velocity increment for each orbit height adjustment;

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

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

[0060] Module M5: calculating the required velocity increment for three times of pulse control;

[0061] Module M6: calculating the corresponding total velocity increment in the first control sequence and the second control sequence, and finding the minimum value in all total velocity increments to form the optimal coupling adjustment control strategy.

[0062] Preferably, the module M2 comprises:

[0063] Module M2.1: calculating the orbit running angular velocity according to the satellite running orbit height, with the formula as follows:

[0064]

[0065] wherein n represents the orbit running angular velocity, μ represents the earth gravity constant, Re represents the earth radius, and H represents the satellite running orbit height;

[0066] Step M2.2: calculating the required velocity increment for each orbit height adjustment according to the orbit height adjustment amount and the orbit running angular velocity, with the formula as follows:

[0067]

[0068] wherein, ΔV H represents the required speed increment for each orbit height adjustment, and ΔH represents the orbit height adjustment amount.

[0069] Preferably, the module M3 comprises: firstly setting an initial time to perform the first height adjustment, generating a control sequence for the second height adjustment according to the total orbit control circle number and the eccentricity maintenance criterion, and then setting an end time to perform the second height adjustment, generating a control sequence for the first height adjustment according to the total orbit control circle number and the eccentricity maintenance criterion.

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

[0071] 1. The present application realizes the optimal three-pulse control method of orbit height and phase coupling adjustment according to the total orbit control circle number and the eccentricity maintenance criterion, and compared with the three-pulse control method of completing orbit parameter adjustment in one orbit period, the present application can realize the optimal coupling adjustment of height and phase in the specified orbit control circle number with the minimum speed increment, effectively reduces the propellant consumption in orbit control, and prolongs the on-orbit life of the satellite.

[0072] 2. The total orbit control circle number k in the present application can be adjusted, and can be set according to different task requirements, so that the method has strong universality.

[0073] 3. The orbit control calculation method in the present application is derived according to the orbit motion law, and is simple and convenient to calculate, and is suitable for on-board calculation. BRIEF DESCRIPTION OF DRAWINGS

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

[0075] Figure 1 is a working method flowchart of the present application;

[0076] Figure 2 is a speed increment simulation result example corresponding to the requirements of all control methods under a group of orbit height, orbit height adjustment amount, phase adjustment amount and total orbit control circle number provided by the present application. DETAILED DESCRIPTION

[0077] The present application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that, for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0078] The optimal three-pulse control method for coupling adjustment of the satellite orbit height and the phase is designed and realized according to the motion law of the satellite orbit parameters based on the eccentricity keeping criterion of the satellite orbit height, the orbit height adjustment amount, the phase adjustment amount and the total orbit control circle number.

[0079] Embodiment one

[0080] According to the optimal control method for coupling adjustment of the satellite orbit height and the phase provided by the application, as shown in the figure, it comprises: Figure 1

[0081] Step S1: setting the satellite orbit height, the height and phase adjustment amount and the total orbit control circle number. Wherein, the satellite orbit height H, the orbit height adjustment amount ΔH, the phase adjustment amount Δu and the total orbit control circle number k are set.

[0082] Step S2: adjusting the orbit height twice and calculating the speed increment required for each orbit height adjustment. According to the satellite orbit height H and the orbit height adjustment amount ΔH, the speed increment ΔV required for each orbit height adjustment when adjusting the orbit height twice is calculated. H

[0083] Step S2.1: calculating the orbit running angular velocity according to the satellite orbit height, the formula is as follows:

[0084]

[0085] Wherein, n represents the orbit running angular velocity, μ represents the earth gravity constant, Re represents the earth radius and H represents the satellite orbit height.

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

[0087]

[0088] Wherein, ΔV H represents the speed increment required for each orbit height adjustment and ΔH represents the orbit height adjustment amount.

[0089] Step S3: processing the two orbit height adjustments according to the total orbit control circle number and the eccentricity keeping criterion, and generating the corresponding first control sequence and the second control sequence. Specifically, first, the initial time for executing the first height adjustment is set, the control sequence for executing the second height adjustment can be generated according to the total orbit control circle number and the eccentricity keeping criterion, then the end time for executing the second height adjustment is set, the control sequence for executing the first height adjustment can be generated according to the total orbit control circle number and the eccentricity keeping criterion. The step S3 comprises the following sub-steps: ​​

[0090] Step S3.1: Set the initial time (ind1=0) to perform the first height adjustment, generate a sequence of control time that can perform two height adjustments under the premise of satisfying the eccentricity maintenance criterion according to the total number of orbit control circles, denoted 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, generate a sequence of control time that can perform two height adjustments under the premise of satisfying the eccentricity maintenance criterion according to the total number of orbit control circles, denoted as the second control sequence inds2, as follows:

[0093]

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

[0095] Step S4: Considering the coupling effect of height adjustment on phase, calculate the actual phase adjustment amount 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 influence of the first orbit height adjustment on the phase Δu H1 As follows:

[0097]

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

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

[0100]

[0101] Where ind2 represents the half circle number corresponding to the second height adjustment time in each control method of the two control sequences.

[0102] Step S4.3: Calculate the actual phase adjustment amount Δu c

[0103] Δu c = Δu - Δu H1 - Δu H2 (7)

[0104] wherein Δu represents a phase adjustment amount.

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

[0106] First, for the control sequence of the first time to perform the first height adjustment, that is, each control method in the first control sequence, calculate the velocity increment Δv 11 , Δv 12 , Δv 13 required for three-pulse control, the formulas are as follows, respectively:

[0107]

[0108] Secondly, for the control sequence of the end time to perform the second height adjustment, that is, each control method in the second control sequence, calculate the velocity increment Δv 21 , Δv 22 , Δv 23 required for three-pulse control, the formulas are as follows, respectively:

[0109]

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

[0111]

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

[0113] Then find the minimum value of the total velocity increment and the corresponding control method from the first total velocity increment and the second total velocity increment, that is, find the minimum value Δv of the total velocity increment among all Δv1, Δv2.min and the corresponding control method, forming a coupling adjustment optimal control strategy.

[0114] The present application aims to realize the coupling adjustment of orbital height and phase using minimum speed increment, effectively reduce propellant consumption, and prolong the satellite on-orbit life.

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

[0116] Step S1 is performed, and the satellite operating orbit height H is set to 500 km, the orbit height adjustment amount ΔH is set to reduce 10 km, the phase adjustment amount Δu is set to advance 5°, and the total number of orbit control k is set to 7 circles.

[0117] Step S2 is performed, and the orbit angular velocity n is calculated to be 0.0011 rad / s according to the satellite operating orbit height H and the orbit height adjustment amount ΔH of the previous step. When the orbit height is adjusted twice, the speed increment Δv required for each orbit height adjustment is calculated to be -2.77 m / s (a negative value indicates that the thrust is applied in the opposite direction of the orbit speed). H

[0118] Step S3 is performed, and first, the initial time for performing the first height adjustment is set. According to the total number of orbit control, the sequence inds1 of all control times that can perform two height adjustments under the premise of satisfying the eccentricity retention criterion is generated as follows:

[0119]

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

[0121]

[0122] Steps S4, S5, and S6 are sequentially performed, and the total speed increment of three impulse controls required to realize the coupling adjustment of height and phase under 14 control methods is obtained. The calculation results are shown in Table 1. Figure 2 ​It can be seen from the figure that the velocity increment required is different by using different control methods, i.e. adjusting the orbit height at different orbit laps. By traversing the 14 control methods, it can be found that the total velocity increment required by the 8th control method, i.e. implementing the first height adjustment at 1 / 2 lap and implementing the second height adjustment at the end of the 7th lap, is the smallest, which is 5.54 m / s. If other control methods are used, the maximum required total velocity increment can reach 9.68 m / s. The simulation shows that the velocity increment required for achieving the total control target is different by implementing pulse control at different time points, and the optimal three-pulse control strategy for achieving the orbit height and phase coupling adjustment can be obtained by using the method of the application.

[0123] Embodiment two

[0124] The application further provides an optimal satellite orbit height and phase coupling adjustment control system, which can be realized by executing the flow steps of the optimal satellite orbit height and phase coupling adjustment control method, i.e. the optimal satellite orbit height and phase coupling adjustment control method can be understood by those skilled in the art as a preferred embodiment of the optimal satellite orbit height and phase coupling adjustment control system.

[0125] According to the optimal satellite orbit height and phase coupling adjustment control system provided by the application, the optimal satellite orbit height and phase coupling adjustment control system comprises:

[0126] Module M1: setting the satellite orbit height, height and phase adjustment amount, and total orbit control laps;

[0127] Module M2: adjusting the orbit height twice and calculating the velocity increment required for each orbit height adjustment; the module M2 comprises: module M2.1: calculating the orbit running angular velocity according to the satellite running orbit height, and the formula is as follows:

[0128]

[0129] wherein n represents the orbit running angular velocity, μ represents the earth gravity constant, Re represents the earth radius, and H represents the satellite running orbit height; module M2.2: calculating the velocity increment required for each orbit height adjustment according to the orbit height adjustment amount and the orbit running angular velocity, and the formula is as follows:

[0130]

[0131] wherein ΔV H represents the velocity increment required for each orbit height adjustment, and ΔH represents the orbit height adjustment amount.

[0132] Module M3: according to the total orbit control circle number and eccentricity maintenance criterion, processing two orbit height adjustments to generate corresponding first control sequence and second control sequence; the module M3 includes: first, set the initial time to perform the first height adjustment, and according to the total orbit control circle number and eccentricity maintenance criterion, generate the control sequence that can perform the second height adjustment, and then set the end time to perform the second height adjustment, and according to the total orbit control circle number and eccentricity maintenance criterion, generate the control sequence that can perform the first height adjustment. The module M3 includes the following sub-modules:

[0133] Module M3.1: set the initial time ind1=0 to perform the first height adjustment, and according to the total orbit control circle number, generate the sequence of all control times that can perform two height adjustments under the premise of satisfying the eccentricity maintenance criterion, denoted as the first control sequence inds1, as follows:

[0134]

[0135] Module M3.2: set the end time ind2=2k to perform the second height adjustment, and according to the total orbit control circle number, generate the sequence of all control times that can perform two height adjustments under the premise of satisfying the eccentricity maintenance criterion, denoted as the second control sequence inds2, as follows:

[0136]

[0137] Wherein, ind1 represents the half circle number corresponding to the first height adjustment time, ind2 represents the half circle number corresponding to the second height adjustment time, and k represents the total orbit control circle number.

[0138] Module M4: considering the coupling effect of height adjustment on phase, calculate the actual phase adjustment amount 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, calculate the influence of the first orbit height adjustment on the phase Δu H1 , as follows:

[0139]

[0140] Wherein, Re represents the radius of the earth, n represents the orbit running angular velocity, H represents the satellite orbit height, ΔV H represents the required velocity increment of each orbit height adjustment, and ind1 represents the half circle number corresponding to the first height adjustment time in each control method of the two control sequences; module M4.2: for each control method in the second control sequence, calculate the influence of the second orbit height adjustment on the phase Δu H2 , as follows:

[0141]

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

[0143] Δu c =Δu-Δu H1 -Δu H2

[0144] Where Δu represents the phase adjustment amount.

[0145] Module M5: Calculates the velocity increment required for three-pulse control; Module M5 includes: firstly, for each control method in the first control sequence at the initial time, calculating the velocity 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, the required velocity increment Δv for three pulse control steps is calculated. 21 Δv 22 Δv 23 The formulas are as follows:

[0150]

[0151] Δv 22 =Δv H

[0152]

[0153] In the formula, n represents the orbital angular velocity, Re represents the Earth's radius, H represents the satellite's orbital altitude, k represents the total number of orbital control orbits, and Δu c ΔV represents the actual phase adjustment. H This indicates the speed increment required for each track height adjustment.

[0154] Module M6: calculate the corresponding total velocity increments in the first control sequence and the second control sequence, and find the minimum value in all total velocity increments to form the optimal control strategy of coupling adjustment. In the module M6, for each control method in the two control sequences, and the velocity increment required for the corresponding three pulse control, the first total velocity increment required for the implementation of the height and phase coupling adjustment corresponding to the first control sequence, and the second total velocity increment required for the implementation of the height and phase coupling adjustment 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] Wherein, Δv1 represents the total velocity increment corresponding to the first control sequence, that is, the first total velocity increment, and Δv2 represents the total velocity increment corresponding to the second control sequence, that is, the second total velocity increment. Then find the minimum value of the total velocity increment and the corresponding control method from the first total velocity increment and the second total velocity increment to form the optimal control strategy of coupling adjustment.

[0158] Those skilled in the art know that in addition to implementing the system provided by the present application and each device, module, unit thereof in the form of pure computer readable program code, the same function can be realized by logically programming the method steps to make the system provided by the present application and each device, module, unit thereof in the form of logic gate, switch, application specific integrated circuit, programmable logic controller and embedded microcontroller. Therefore, the system provided by the present application and each device, module, unit thereof can be considered as a hardware component, and the devices, modules, units included therein for realizing various functions can also be considered as structures within the hardware component; the devices, modules, units for realizing various functions can also be considered as both software modules realizing the method and structures within the hardware component.

[0159] The specific embodiments of the present application are described above. It should be understood that the present application 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 essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily without conflict.

Claims

1. A method of optimal control of satellite orbital height and phase coupling regulation, characterized in that, The method comprises the following steps: Step S1: setting a satellite orbit height, a height adjustment amount, a phase adjustment amount, and a total number of orbit control circles; Step S2: performing orbit height adjustment twice, and calculating a speed increment required for each time of orbit height adjustment; Step S3: processing the two times of orbit height adjustment according to a total number of orbit control circles and an eccentricity maintenance criterion, and generating a corresponding first control sequence and a second control sequence; Step S4: considering the coupling effect of height adjustment on phase, calculating a phase actual adjustment amount for each control method in the first control sequence and the second control sequence; Step S5: calculating a speed increment required for three times of pulse control; Step S6: calculating a total speed increment corresponding to the first control sequence and the second control sequence, and finding a minimum value in all total speed increments to form a coupling adjustment optimal control strategy. The step S3 comprises the following steps: first, setting an initial time to perform the first time of height adjustment, and generating a control sequence in which the second time of height adjustment can be performed according to the total number of orbit control circles and the eccentricity maintenance criterion; then, setting an end time to perform the second time of height adjustment, and generating a control sequence in which the first time of height adjustment can be performed according to the total number of orbit control circles and the eccentricity maintenance criterion.

2. The optimal control method of satellite orbit altitude and phase coupling regulation according to claim 1, characterized in that, The step S2 comprises the following steps: Step S2.1: calculating an orbit running angular velocity according to a satellite running orbit height, and the formula is as follows: wherein n represents the orbit running angular velocity, μ represents an earth gravity constant, Re represents an earth radius, and H represents the satellite running orbit height; Step S2.2: calculating a speed increment required for each time of orbit height adjustment according to an orbit height adjustment amount and the orbit running angular velocity, and the formula is as follows: where ΔV H represents the speed increment required for each orbit height adjustment, and ΔH represents the orbit height adjustment amount.

3. The optimal control method of satellite orbit altitude and phase coupling regulation according to claim 1, characterized in that, The step S3 comprises the following sub-steps: Step S3.1: setting an initial time ind1=0 to perform the first time of height adjustment, and generating a sequence of control times in which two times of height adjustment can be performed under the premise of satisfying the eccentricity maintenance criterion according to the total number of orbit control circles, and the sequence is recorded as a first control sequence inds1, and the formula is as follows: Step S3.2: setting an end time ind2=2k to perform the second time of height adjustment, and generating a sequence of control times in which two times of height adjustment can be performed under the premise of satisfying the eccentricity maintenance criterion according to the total number of orbit control circles, and the sequence is recorded as a second control sequence inds2, and the formula is as follows: wherein ind1 represents a half circle number corresponding to the first time of height adjustment, ind2 represents a half circle number corresponding to the second time of height adjustment, and k represents the total number of orbit control circles.

4. The optimal control method of satellite orbit altitude and phase coupling regulation according to claim 1, characterized in that, The step S4 comprises the following steps: Step S4.1 : For each control method in the first control sequence, calculate the impact of the first orbit height adjustment on the phase, Δu H1 As follows: where Re represents the earth radius, n represents the orbit running angular velocity, H represents the satellite orbit height, ΔV H represents the velocity increment required for each orbit height adjustment, and ind1 represents the half-turn number corresponding to the first height adjustment time in each control method of the two control sequences. Step S4.2: For each control method in the second control sequence, calculate the impact of a second orbital height adjustment on the phase, Δu H2 As follows: wherein ind2 represents a half circle number corresponding to the second time of height adjustment in each control method of the two control sequences; Step S4.3: Calculate the phase actual adjustment amount Δu for each control method in the first control sequence and the second control c Δu c = Δu - Δu H1 - Δu H2 wherein Δu represents the phase adjustment amount.

5. The optimal control method for satellite orbit altitude and phase coupling regulation according to claim 1, characterized in that, The step S5 comprises the following steps: First, for each control method in the first control sequence at the initial time, the velocity increment Δv required for three-pulse control is calculated 11 Δv 12 Δv 13 , and the formulas are as follows: Δv 12 = Δv H Secondly, for each control method in the second control sequence at the end time, the velocity increment Δv required for three-pulse control is calculated 21 , Δv 22 , Δv 23 , the formulas are as follows, respectively: Δv 22 = Δv H In the formula, n represents an orbit running angular velocity, Re represents an earth radius, H represents a satellite orbit height, k represents a total number of orbit control laps, Δu c represents a phase actual adjustment amount, ΔV H represents a velocity increment required for each orbit height adjustment.

6. The optimal control method of satellite orbit altitude and phase coupling regulation according to claim 1, characterized in that, In the step S6, for each control method in the two control sequences and a speed increment required for three times of pulse control, a first total speed increment required for realizing height and phase coupling adjustment corresponding to the first control sequence is calculated, and a second total speed increment required for realizing height and phase coupling adjustment corresponding to the second control sequence is calculated, 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 the optimal coupling adjustment control strategy.

7. An optimal control system for satellite orbital height and phase coupling regulation, characterized by, Comprise: Module M1: setting the satellite orbit height, height adjustment amount, and orbit control total number of circles; Module M2: performing orbit height adjustment twice, and calculating the speed increment required for each time of orbit height adjustment; Module M3: processing the two times of orbit height adjustment according to the orbit control total number of circles and the eccentricity maintenance criterion, to generate the corresponding first control sequence and second control sequence; Module M4: considering the coupling effect of height adjustment on phase, calculating the actual phase adjustment amount for each control system in the first control sequence and the second control sequence; Module M5: calculating the speed increment required for three times of pulse control; Module M6: calculating the corresponding total speed increment in the first control sequence and the second control sequence, and finding the minimum value in all total speed increments to form the optimal coupling adjustment control strategy; The module M3 comprises: firstly, setting the initial time to perform the first time of height adjustment, and generating the control sequence that can perform the second time of height adjustment according to the orbit control total number of circles and the eccentricity maintenance criterion; and then, setting the end time to perform the second time of height adjustment, and generating the control sequence that can perform the first time of height adjustment according to the orbit control total number of circles and the eccentricity maintenance criterion.

8. The optimal control system for satellite orbit altitude and phase coupling regulation according to claim 7, characterized in that, The module M2 comprises: Module M2.1: calculating the orbit running angular velocity according to the satellite running orbit height, with the formula as follows: Wherein, n represents the orbit running angular velocity, μ represents the earth gravity constant, Re represents the earth radius, and H represents the satellite running orbit height; Step M2.2: calculating the speed increment required for each time of orbit height adjustment according to the orbit height adjustment amount and the orbit running angular velocity, with the formula as follows: where ΔV H represents the speed increment required for each orbit height adjustment, and ΔH represents the orbit height adjustment amount.

9. The optimal control system for satellite orbit altitude and phase coupling regulation of claim 7, wherein, The module M3 comprises the following sub-modules: Module M3.1: setting the initial time ind1=0 to perform the first time of height adjustment, and generating the sequence of control times that can perform two times of height adjustment under the premise of satisfying the eccentricity maintenance criterion, i.e. the first control sequence inds1, according to the orbit control total number of circles, with the formula as follows: Module M3.2: setting the end time ind2=2k to perform the second time of height adjustment, and generating the sequence of control times that can perform two times of height adjustment under the premise of satisfying the eccentricity maintenance criterion, i.e. the second control sequence inds2, according to the orbit control total number of circles, with the formula as follows: Wherein, ind1 represents the half number of circles corresponding to the first time of height adjustment, ind2 represents the half number of circles corresponding to the second time of height adjustment, and k represents the orbit control total number of circles.

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