Satellite motion attitude adjusting method and device, satellite motion system and satellite

Abstract

The invention discloses a satellite motion attitude adjusting method and device, a satellite motion system and a satellite, and relates to the field of satellite control. Determining a reference current according to the actually measured rotating speed, the preset reference rotating speed and an outer speed loop control strategy in the preset double closed-loop control strategies; determining an adjusting reference voltage based on the reference current, the output current and an inner current loop control strategy in a preset double closed-loop control strategy; a control signal output to the driving module is determined according to the adjusting reference voltage, and the driving module is controlled to act according to the control signal to drive the operation rotating speed of the reaction flywheel to be adjusted to a preset reference rotating speed, so that the reaction flywheel generates a first target torque which corresponds to the target angular momentum and is used for changing the motion attitude of the satellite. According to the scheme, the reaction flywheel is used for adjusting the motion attitude of the satellite, the cost is reduced, reliable and accurate adjustment of the reaction flywheel is achieved through the preset double-closed-loop control strategy, and the control stability is good.

Description

Technical Field

[0001] The present invention relates to the field of satellite control technology, and in particular to a satellite motion attitude adjustment method, device, satellite motion system and satellite. Background Art

[0002] In order to carry out various complex and diverse space missions, it is necessary to control the satellite to run according to the established orbit to ensure the accurate completion of the mission. In this process, it is inevitable to maintain accurate and reliable control of the satellite's attitude. At present, considering the advantages of large output torque and high torque control accuracy, the control moment gyro has been widely used in satellites as a key actuator for satellite motion attitude control. However, the cost of the control moment gyro is high, which is not conducive to cost reduction. The price of the reaction flywheel is low and the output torque direction is constant. Therefore, how to achieve satellite motion attitude control based on the reaction flywheel and supplemented by an effective control scheme is a problem that needs to be solved urgently. Summary of the invention

[0003] In view of this, the present invention provides a satellite motion attitude adjustment method, device, satellite motion system and satellite, which are conducive to reducing costs, and through a preset double closed-loop control strategy, reliable and accurate control of the reaction flywheel is achieved to achieve accurate adjustment of the satellite motion attitude with good control stability.

[0004] In order to solve the above technical problems, the present application provides a satellite motion attitude adjustment method, which is applied to a control module in a satellite motion system, wherein the satellite motion system further includes a reaction flywheel and a drive module, wherein the control module, the drive module and the reaction flywheel are connected in sequence; the satellite motion attitude adjustment method comprises:

[0005] Obtaining the output current of the driving module and the actual measured speed of the reaction flywheel;

[0006] Determining a reference current according to the actual measured speed, a preset reference speed corresponding to the target angular momentum, and an outer speed loop control strategy in a preset dual closed-loop control strategy;

[0007] Determine a regulating reference voltage corresponding to the preset reference speed based on the reference current, the output current and an inner current loop control strategy in the preset double closed-loop control strategy;

[0008] The control signal output to the driving module is determined based on the adjustment reference voltage, so that the driving module can be controlled according to the control signal, thereby driving the reaction flywheel to move, and the operating speed of the reaction flywheel is adjusted to the preset reference speed, so that the reaction flywheel generates a first target torque corresponding to the target angular momentum for changing the satellite's motion attitude.

[0009] Further, the reference current is determined according to the actual measured speed, the preset reference speed and the outer speed loop control strategy in the preset dual closed-loop control strategy, including:

[0010] Determine the difference between the preset reference speed and the actual measured speed as a speed deviation;

[0011] Processing the speed deviation using a first preset proportional link to obtain a first proportional output item;

[0012] Processing the speed deviation using a preset differential link to obtain a differential output item;

[0013] Determine the sum of the first proportional output term and the differential output term as a pre-output reference current;

[0014] The pre-output reference current is processed by a preset output current limiting link to obtain a reference current, wherein the preset output current limiting link is set based on a preset current lower limit value and a preset current upper limit value.

[0015] Further, after determining that the sum of the first proportional output term and the differential output term is the pre-output reference current, the method further includes:

[0016] Determine whether a first condition is met, wherein the first condition is that the preset current lower limit value < the pre-output reference current determined in the current control cycle < the preset current upper limit value;

[0017] If so, determine that the first preset switch link is turned on to connect the first delay link of the next control cycle, so that after the differential output item is obtained by using the preset differential link in the next control cycle, the first delay link is used to process the differential output item to obtain the first delayed output item, and then determine that the sum of the first delayed output item, the differential output item determined in the next control cycle and the first proportional output item is the pre-output reference current of the next control cycle;

[0018] If not, it is determined that the first preset switch link is turned off so that the first delay link is not connected in the next control cycle.

[0019] Further, determining a regulating reference voltage corresponding to the preset reference speed based on the reference current, the output current and the inner current loop control strategy in the preset double closed-loop control strategy includes:

[0020] Determine a difference between the reference current and the output current as a current deviation;

[0021] Processing the current deviation using a second preset proportional link to obtain a second proportional output item;

[0022] Processing the current deviation using a preset integral link to obtain an integral output item;

[0023] Determine that the sum of the second proportional output item and the integral output item is a pre-output voltage;

[0024] The pre-output voltage is processed by a preset output voltage limiting link to obtain a regulating reference voltage, and the preset output voltage limiting link is set based on a preset voltage lower limit value and a preset voltage upper limit value.

[0025] Further, after determining that the sum of the second proportional output item and the integral output item is the pre-output voltage, the method further includes:

[0026] Determine whether a second condition is met, where the second condition is that the preset voltage lower limit value < the pre-output voltage determined in the current control cycle < the preset voltage upper limit value;

[0027] If so, determine that the second preset switch link is turned on to connect the second delay link of the next control cycle, so that after the integral output item is obtained by using the preset integral link in the next control cycle, the integral output item is processed by the second delay link to obtain the second delayed output item, and then the sum of the second delayed output item, the integral output item determined in the next control cycle and the second proportional output item is determined as the pre-output voltage of the next control cycle;

[0028] If not, it is determined that the second preset switch link is turned off so that the second delay link is not connected in the next control cycle.

[0029] Furthermore, the reaction flywheel is also connected to a power supply via a switch module; the switch module is connected to the control module; the satellite motion system further includes a magnetic torquer connected to the control module;

[0030] The satellite motion attitude adjustment method further includes:

[0031] When it is determined that any reaction flywheel fails, the switch module is controlled to switch from on to off to cut off the power supply to the failed reaction flywheel, and the magnetic torque generated by the magnetic torquer is controlled so as to adjust the torque generated by the magnetic torquer to a second target torque corresponding to the target control posture.

[0032] In order to solve the above technical problems, the present invention also provides a satellite motion attitude adjustment device, comprising:

[0033] Memory for storing computer programs;

[0034] A processor is used to implement the steps of the satellite motion attitude adjustment method as described above when executing the computer program.

[0035] In order to solve the above technical problems, the present invention further provides a satellite motion system, comprising a reaction flywheel and a drive module, and also comprising the satellite motion attitude adjustment device as described above;

[0036] The satellite motion attitude adjustment device, the driving module and the reaction flywheel are connected in sequence.

[0037] Further, the satellite motion system includes N flywheel assemblies, and each of the flywheel assemblies includes four reaction flywheels that are obliquely arranged to maintain a preset angle with respect to the satellite inertia main axis, and N is an integer not less than 1;

[0038] The driving module includes N driving submodules, the input end of each driving submodule is connected to the satellite attitude adjustment device, and the output end of each driving submodule is connected to the control end of each flywheel group in a one-to-one correspondence.

[0039] In order to solve the above technical problems, the present invention also provides a satellite, comprising the satellite motion system as described above.

[0040] The present application provides a satellite motion attitude adjustment method, device, satellite motion system and satellite, wherein the satellite motion system includes a control module, a drive module and a reaction flywheel connected in sequence, and obtains the output current of the drive module and the actual measured speed of the reaction flywheel; determines the reference current according to the actual measured speed, the preset reference speed corresponding to the target angular momentum and the outer speed loop control strategy in the preset double closed-loop control strategy; determines the adjustment reference voltage corresponding to the preset reference speed based on the reference current, the output current and the inner current loop control strategy in the preset double closed-loop control strategy; determines the control signal output to the drive module according to the adjustment reference voltage, so as to control the action of the drive module according to the control signal, thereby driving the action of the reaction flywheel, and adjusting the operating speed of the reaction flywheel to the preset reference speed, so that the reaction flywheel generates a first target torque corresponding to the target angular momentum, and the satellite motion attitude can be changed by relying on the first target torque. It can be seen that the scheme uses the reaction flywheel for satellite motion control, which is conducive to reducing costs, and realizes reliable and accurate control of the reaction flywheel through the preset double closed-loop control strategy, with good control stability, which is conducive to practical application.

[0041] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0043] Figure 1 A flow chart of a satellite motion attitude adjustment method provided by the present invention;

[0044] Figure 2 A schematic diagram of determining a reference current by relying on an outer speed loop control strategy provided by the present invention;

[0045] Figure 3 A schematic diagram of determining and adjusting a reference voltage by relying on an inner current loop control strategy provided by the present invention;

[0046] Figure 4 The present invention provides a schematic structural diagram of a satellite motion attitude adjustment device. DETAILED DESCRIPTION

[0047] The core of the present invention is to provide a satellite motion attitude adjustment method, device, satellite motion system and satellite, which is conducive to reducing costs, and through a preset double closed-loop control strategy, reliable and accurate control of the reaction flywheel is achieved to achieve accurate adjustment of the satellite attitude with good control stability.

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0049] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0050] Please refer to Figure 1 , Figure 1 The present invention provides a flow chart of a satellite motion attitude adjustment method.

[0051] The satellite motion attitude adjustment method is applied to a control module in a satellite motion system, wherein the satellite motion system further comprises a reaction flywheel and a drive module, wherein the control module, the drive module and the reaction flywheel are connected in sequence; the satellite motion attitude adjustment method comprises:

[0052] S11: Obtain the output current of the drive module and the actual measured speed of the reaction flywheel;

[0053] S12: determining a reference current according to an actual measured speed, a preset reference speed corresponding to a target angular momentum, and an outer speed loop control strategy in a preset dual closed-loop control strategy;

[0054] S13: determining a regulating reference voltage corresponding to a preset reference speed based on the reference current, the output current and an inner current loop control strategy in a preset dual closed-loop control strategy;

[0055] S14: Determine the control signal output to the driving module based on the adjusted reference voltage, so as to control the action of the driving module according to the control signal, thereby driving the reaction flywheel to act, and adjusting the operating speed of the reaction flywheel to a preset reference speed, so that the reaction flywheel generates a first target torque corresponding to the target angular momentum for changing the satellite's motion attitude.

[0056] In this embodiment, specifically, the satellite here includes but is not limited to a micro-nano satellite, the control module may be an MCU (Micro Controller Unit), the drive module may include a motor controller and a motor, the input end of the motor controller is connected to the control module, the output end of the motor controller is connected to the motor, and the motor is connected to the reaction flywheel.

[0057] It can be understood that, due to the series setting, the output current of the driving module is also the current flowing through the reaction flywheel, and the current can be collected by the current acquisition module. The specific structure of the current acquisition module is not particularly limited here, and various devices that can realize current collection are all acceptable; a preset dual closed-loop control strategy is pre-designed, which specifically includes an outer speed loop control strategy and an inner current loop control strategy, thereby reliably achieving the adjustment of the operating speed of the reaction flywheel to a preset reference speed. Since the preset reference speed corresponds to the target angular momentum, and the target angular momentum is determined based on the current target attitude to be adjusted, the reaction flywheel can generate a first target torque corresponding to the target angular momentum for changing the satellite motion attitude to the target attitude, thereby achieving accurate adjustment of the attitude.

[0058] In summary, the present application provides a method for adjusting the satellite motion attitude. In this scheme, a reaction flywheel is used for the attitude control of the satellite, which is conducive to reducing costs. Reliable and accurate control of the reaction flywheel is achieved through a preset dual closed-loop control strategy to achieve accurate adjustment of the satellite motion attitude. The control has good stability and is conducive to practical application.

[0059] Based on the above embodiments:

[0060] In some embodiments, the reference current is determined according to the actual measured speed, the preset reference speed, and the outer speed loop control strategy in the preset dual closed-loop control strategy, including:

[0061] Determine the difference between the preset reference speed and the actual measured speed as the speed deviation;

[0062] The speed deviation is processed by using the first preset proportional link 21 to obtain a first proportional output item;

[0063] The speed deviation is processed by a preset differential link 22 to obtain a differential output item;

[0064] Determine the sum of the first proportional output term and the differential output term as the pre-output reference current;

[0065] The pre-output reference current is processed by the preset output current limiting link 23 to obtain the reference current. The preset output current limiting link 23 is set based on the preset current lower limit value and the preset current upper limit value.

[0066] In this embodiment, please refer to Figure 2 , Figure 2 Schematic diagram of a reference current determined by an outer speed loop control strategy provided by the present invention; it should be noted that the proportional gain k set for the first preset proportional link 21 is p The specific value of is not particularly limited. For the differential gain k set by the preset differential link 22, d There is no special limitation on the specific value of , which can be adjusted and set according to the actual control requirements; it can be understood that the proportional plus differential adjustment method can not only ensure a rapid response to the speed deviation, but also help reduce overshoot and improve the stability of speed control.

[0067] In addition, there is no special limitation on the specific values ​​of the preset current lower limit and the preset current upper limit. For example, the preset current lower limit can be -ILIMIT, and the preset current upper limit can be ILIMIT, where ILIMIT is the current threshold. It can be seen that the preset output current limiting link 23 can ensure that the output reference current satisfies: preset current lower limit < reference current < preset current upper limit, so as to prevent the control from being unstable due to excessive control signals.

[0068] In some embodiments, after determining that the sum of the first proportional output term and the differential output term is the pre-output reference current, the method further includes:

[0069] Determine whether a first condition is met, the first condition being that a preset current lower limit value < a pre-output reference current determined in a current control cycle < a preset current upper limit value;

[0070] If yes, it is determined that the first preset switch link 24 is turned on to connect the first delay link 25 of the next control cycle, so that after the differential output item is obtained by using the preset differential link 22 in the next control cycle, the differential output item is processed by using the first delay link 25 to obtain the first delayed output item, and then the sum of the first delayed output item, the differential output item determined in the next control cycle and the first proportional output item is determined as the pre-output reference current of the next control cycle;

[0071] If not, it is determined that the first preset switch link 24 is turned off so that the first delay link 25 is not connected in the next control cycle.

[0072] Specifically, Figure 2 As shown, the first preset switch link 24 here mainly plays the role of a switch, that is, it is turned on when the first condition is met to connect the first delay link 25, so that the pre-output reference current obtained in the next control cycle is the sum of the first delay output item, the differential output item determined in the next control cycle, and the first proportional output item. It can be understood that the above judgment will still be made in the next control cycle to determine whether the first delay link 25 is connected in the next two control cycles. It can be understood that the expression of the first delay link 25 here is Z -1 .

[0073] When the first condition is not met, the first preset switch link 24 is turned off so that the first delay link 25 is not connected in the next control cycle, and the pre-output reference current is still the sum of the first proportional output item and the differential output item.

[0074] In some embodiments, determining a regulating reference voltage corresponding to a preset reference speed based on a reference current, an output current, and an inner current loop control strategy in a preset dual closed-loop control strategy includes:

[0075] Determine the difference between the reference current and the output current as the current deviation;

[0076] The current deviation is processed by the second preset proportional link 31 to obtain a second proportional output item;

[0077] The current deviation is processed by a preset integral link 32 to obtain an integral output item;

[0078] Determine the sum of the second proportional output term and the integral output term as the pre-output voltage;

[0079] The pre-output voltage is processed by a preset output voltage limiting link 33 to obtain an adjustment reference voltage. The preset output voltage limiting link 33 is set based on a preset voltage lower limit value and a preset voltage upper limit value.

[0080] In this embodiment, please refer to Figure 3 , Figure 3 A schematic diagram of a method for determining an adjustment reference voltage by relying on an inner current loop control strategy provided by the present invention; here, the proportional gain k set for the second preset proportional link 31 is p The specific value of is not particularly limited. For the integral gain k set in the preset integral link 32, i There is no special limitation on the specific value of , which can be adjusted and set according to the actual control requirements; it can be understood that the proportional plus integral adjustment method can not only ensure a rapid response to the speed deviation, but also help eliminate the steady-state error, thereby ensuring the control accuracy.

[0081] In addition, there is no special limitation on the specific values ​​of the preset voltage lower limit and the preset voltage upper limit. For example, the preset voltage lower limit can be -VM, and the preset voltage upper limit can be VM, where VM is the voltage threshold. It can be seen that the preset output voltage limiting link 33 can ensure that the output regulation reference voltage satisfies: preset voltage lower limit < regulation reference voltage < preset voltage upper limit, so as to prevent an excessively large control signal from causing unstable control.

[0082] In some embodiments, after determining that the sum of the second proportional output term and the integral output term is the pre-output voltage, the method further includes:

[0083] Determine whether a second condition is met, the second condition being that a preset voltage lower limit value < a preset output voltage determined in a current control cycle < a preset voltage upper limit value;

[0084] If yes, it is determined that the second preset switch link 34 is turned on to connect the second delay link 35 of the next control cycle, so that after the integral output item is obtained by using the preset integral link 32 in the next control cycle, the integral output item is processed by the second delay link 35 to obtain the second delayed output item, and then the sum of the second delayed output item, the integral output item determined in the next control cycle and the second proportional output item is determined as the pre-output voltage of the next control cycle;

[0085] If not, it is determined that the second preset switch link 34 is turned off so that the second delay link 35 is not connected in the next control cycle.

[0086] Specifically, the second preset switch link 34 here mainly plays the role of a switch, that is, it is turned on when the second condition is met to connect the second delay link 35, so that the pre-output voltage obtained in the next control cycle is the sum of the second delayed output item, the integral output item determined in the next control cycle, and the second proportional output item. It can be understood that the above judgment will still be made in the next control cycle to determine whether the second delay link 35 is connected in the next two control cycles. It can be understood that the expression of the second delay link 35 here is Z -1 .

[0087] When the second condition is not met, the second preset switch link 34 is turned off so that the second delay link 35 is not connected in the next control cycle, and the pre-output reference voltage is still the sum of the second proportional output item and the integral output item.

[0088] In some embodiments, the reaction flywheel is further connected to a power supply via a switch module; the switch module is connected to a control module; the satellite motion system further comprises a magnetic torquer connected to the control module;

[0089] The satellite motion attitude adjustment method further includes:

[0090] When it is determined that any reaction flywheel fails, the control switch module switches from on to off to cut off the power supply to the failed reaction flywheel, and controls the magnetic torque generated by the magnetic torquer so as to adjust the torque generated by the magnetic torquer to a second target torque corresponding to the target control posture.

[0091] Specifically, the satellite motion system may include multiple reaction flywheels, and each reaction flywheel is connected to the power supply through the corresponding switch module. The switch module here can be an isolating switch, and then when it is determined that the reaction flywheel has not failed, each of the switch modules is controlled to be turned on, and the power supply supplies power to each reaction flywheel; the control module can actively determine the working state of each reaction flywheel, and then when it is determined that any reaction flywheel has failed, the switch module corresponding to the reaction flywheel is controlled to be turned off to cut off the power supply to the failed reaction flywheel, thereby achieving fault isolation. Of course, a prompt signal indicating that the reaction flywheel has failed can also be output so that the technicians can know the situation as soon as possible and handle it, which is not particularly limited here.

[0092] It can be understood that the faults of the reaction flywheel referred to here include but are not limited to overheating caused by temperature exceeding the temperature threshold, overcurrent caused by current exceeding the current threshold, overvoltage caused by voltage exceeding the upper limit of the voltage threshold, and undervoltage caused by voltage less than the lower limit of the voltage threshold, etc. No special limitation is made here, and fault monitoring can be flexibly performed according to actual needs.

[0093] In addition, the satellite motion system may also include a magnetic torquer. The magnetic torque generated by the magnetic torquer can interact with the geomagnetic field to generate a torque for controlling the satellite's attitude. Therefore, when any reaction flywheel fails, in order to ensure that the satellite is still in the target control attitude, the torque generated by the magnetic torquer can be adjusted to a second target torque corresponding to the target control attitude by controlling the magnetic torque generated by the magnetic torquer, thereby realizing the joint control of the magnetic torquer and the reaction flywheel to change the satellite's attitude; wherein, the method of controlling the magnetic torque generated by the magnetic torquer can be to change the duty cycle of the PWM signal (Pulse Width Modulation) to adjust the current of the magnetic rod in the magnetic torquer, thereby changing the magnetic moment.

[0094] Please refer to Figure 4 , Figure 4 The present invention provides a schematic structural diagram of a satellite motion attitude adjustment device.

[0095] The satellite motion attitude adjustment device comprises:

[0096] A memory 41, used for storing computer programs;

[0097] The processor 42 is used to implement the steps of the satellite motion attitude adjustment method as described above when executing the computer program.

[0098] For the introduction of the satellite motion attitude adjustment device provided in this application, please refer to the above-mentioned embodiment of the satellite motion attitude adjustment method, which will not be repeated here.

[0099] The present invention also provides a satellite motion system, comprising a reaction flywheel and a drive module, and also comprising the satellite motion attitude adjustment device as described above;

[0100] The satellite motion attitude adjustment device, the drive module and the reaction flywheel are connected in sequence.

[0101] For an introduction to the satellite motion system provided in this application, please refer to the above-mentioned embodiment of the satellite motion attitude adjustment method, which will not be repeated here.

[0102] In some embodiments, the satellite motion system includes N flywheel assemblies, and each flywheel assembly includes four reaction flywheels that are obliquely arranged at a preset angle to the satellite inertia main axis, and N is an integer not less than 1;

[0103] The driving module comprises N driving submodules, the input end of each driving submodule is connected to the satellite attitude adjustment device, and the output end of each driving submodule is connected to the control end of each flywheel group in a one-to-one correspondence.

[0104] In this embodiment, one driving submodule is responsible for driving a group of flywheel groups; specifically, the preset angle here can be 54.74°, that is, the four reaction flywheels and the satellite inertia main axis are arranged at an angle of 54.74°, which not only achieves the purpose of redundant setting, but also increases the space for controlling angular momentum.

[0105] The present invention also provides a satellite, comprising the satellite motion system as described above.

[0106] For the introduction of the satellite provided in this application, please refer to the above-mentioned embodiment of the satellite motion attitude adjustment method, which will not be repeated here.

[0107] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts refer to the method part description. Relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements that are not clearly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or equipment including the elements.

[0108] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A satellite motion attitude adjustment method, characterized in that: A control module applied to a satellite motion system, wherein the satellite motion system further comprises a reaction flywheel and a drive module, wherein the control module, the drive module and the reaction flywheel are connected in sequence; and the satellite motion attitude adjustment method comprises: Obtaining the output current of the driving module and the actual measured speed of the reaction flywheel; Determining a reference current according to the actual measured speed, a preset reference speed corresponding to the target angular momentum, and an outer speed loop control strategy in a preset dual closed-loop control strategy; Determine a regulating reference voltage corresponding to the preset reference speed based on the reference current, the output current and an inner current loop control strategy in the preset dual closed-loop control strategy; The control signal output to the driving module is determined based on the adjustment reference voltage, so that the driving module can be controlled according to the control signal, thereby driving the reaction flywheel to move, and the operating speed of the reaction flywheel is adjusted to the preset reference speed, so that the reaction flywheel generates a first target torque corresponding to the target angular momentum for changing the satellite's motion attitude.

2. The satellite motion attitude adjustment method according to claim 1, characterized in that: Determining the reference current according to the actual measured speed, the preset reference speed and the outer speed loop control strategy in the preset dual closed-loop control strategy includes: Determine the difference between the preset reference speed and the actual measured speed as a speed deviation; Processing the speed deviation using a first preset proportional link to obtain a first proportional output item; Processing the speed deviation using a preset differential link to obtain a differential output item; Determine the sum of the first proportional output term and the differential output term as a pre-output reference current; The pre-output reference current is processed by a preset output current limiting link to obtain a reference current, wherein the preset output current limiting link is set based on a preset current lower limit value and a preset current upper limit value.

3. The satellite motion attitude adjustment method according to claim 2, characterized in that: After determining that the sum of the first proportional output term and the differential output term is the pre-output reference current, the method further includes: Determine whether a first condition is met, wherein the first condition is that the preset current lower limit value < the pre-output reference current determined in the current control cycle < the preset current upper limit value; If so, determine that the first preset switch link is turned on to connect the first delay link of the next control cycle, so that after the differential output item is obtained by using the preset differential link in the next control cycle, the first delay link is used to process the differential output item to obtain the first delayed output item, and then determine that the sum of the first delayed output item, the differential output item determined in the next control cycle and the first proportional output item is the pre-output reference current of the next control cycle; If not, it is determined that the first preset switch link is turned off so that the first delay link is not connected in the next control cycle.

4. The satellite motion attitude adjustment method according to claim 1, characterized in that: Determining a regulating reference voltage corresponding to the preset reference speed based on the reference current, the output current and an inner current loop control strategy in the preset double closed-loop control strategy includes: Determine a difference between the reference current and the output current as a current deviation; Processing the current deviation using a second preset proportional link to obtain a second proportional output item; Processing the current deviation using a preset integral link to obtain an integral output item; Determine that the sum of the second proportional output item and the integral output item is a pre-output voltage; The pre-output voltage is processed by a preset output voltage limiting link to obtain a regulating reference voltage, and the preset output voltage limiting link is set based on a preset voltage lower limit value and a preset voltage upper limit value.

5. The satellite motion attitude adjustment method according to claim 4, characterized in that: After determining that the sum of the second proportional output item and the integral output item is the pre-output voltage, the method further includes: Determine whether a second condition is met, where the second condition is that the preset voltage lower limit value < the pre-output voltage determined in the current control cycle < the preset voltage upper limit value; If so, determine that the second preset switch link is turned on to connect the second delay link of the next control cycle, so that after the integral output item is obtained by using the preset integral link in the next control cycle, the integral output item is processed by the second delay link to obtain the second delayed output item, and then the sum of the second delayed output item, the integral output item determined in the next control cycle and the second proportional output item is determined as the pre-output voltage of the next control cycle; If not, it is determined that the second preset switch link is turned off so that the second delay link is not connected in the next control cycle.

6. The satellite motion attitude adjustment method according to any one of claims 1 to 5, characterized in that: The reaction flywheel is also connected to the power supply through a switch module; the switch module is connected to the control module; the satellite motion system also includes a magnetic torquer connected to the control module; The satellite motion attitude adjustment method further includes: When it is determined that any reaction flywheel fails, the switch module is controlled to switch from on to off to cut off the power supply to the failed reaction flywheel, and the magnetic torque generated by the magnetic torquer is controlled so as to adjust the torque generated by the magnetic torquer to a second target torque corresponding to the target control posture.

7. A satellite motion attitude adjustment device, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the satellite motion attitude adjustment method as described in any one of claims 1 to 6 when executing the computer program.

8. A satellite motion system, characterized in that: It includes a reaction flywheel and a drive module, and also includes a satellite motion attitude adjustment device as claimed in claim 7; The satellite motion attitude adjustment device, the driving module and the reaction flywheel are connected in sequence.

9. The satellite motion system according to claim 8, characterized in that: The satellite motion system includes N flywheel assemblies, and each of the flywheel assemblies includes four reaction flywheels that are obliquely arranged at a preset angle to the satellite inertia main axis, where N is an integer not less than 1; The driving module includes N driving submodules, the input end of each driving submodule is connected to the satellite attitude adjustment device, and the output end of each driving submodule is connected to the control end of each flywheel group in a one-to-one correspondence.

10. A satellite, characterized in that: Comprising a satellite motion system as claimed in claim 8 or 9.

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