Satellite motion attitude adjustment methods, devices, satellite motion systems, and satellites

Abstract

This invention discloses a satellite motion attitude adjustment method, device, satellite motion system, and satellite, relating to the field of satellite control. The method involves acquiring the output current and actual measured rotational speed; determining a reference current based on the actual measured rotational speed, a preset reference rotational speed, and the outer velocity loop control strategy in a preset dual-loop control strategy; determining an adjustment reference voltage based on the reference current, output current, and the inner current loop control strategy in the preset dual-loop control strategy; determining a control signal output to the drive module based on the adjustment reference voltage; and controlling the drive module to adjust the operating speed of the reaction flywheel to the preset reference rotational speed, so that the reaction flywheel generates a first target torque corresponding to the target angular momentum, used to change the satellite's motion attitude. This scheme uses a reaction flywheel for satellite motion attitude adjustment, which helps reduce costs, and the preset dual-loop control strategy achieves reliable and accurate adjustment of the reaction flywheel, resulting in good control stability.

Description

Technical Field

[0001] This 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 Technology

[0002] To execute various complex space missions, it is necessary to control satellites to operate in predetermined orbits to ensure the accurate completion of missions. In this process, maintaining accurate and reliable attitude control of the satellite is unavoidable. Currently, considering the advantages of control moment gyroscopes, such as large output torque and high torque control accuracy, they are widely used in satellites as key actuators for attitude control. However, control moment gyroscopes are expensive, hindering cost reduction. Reaction flywheels, on the other hand, are cheaper and have a constant output torque direction. Therefore, how to achieve satellite attitude control based on reaction flywheels and supplemented by an effective control scheme is a pressing problem to be solved. 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 helps to reduce costs, and achieves reliable and accurate control of the reaction flywheel through a preset dual closed-loop control strategy, so as to achieve accurate adjustment of the satellite motion attitude and good control stability.

[0004] To address the aforementioned technical problems, this application provides a satellite motion attitude adjustment method, applied to a control module in a satellite motion system. The satellite motion system further includes a reaction flywheel and a drive module, with the control module, drive module, and reaction flywheel connected sequentially. The satellite motion attitude adjustment method includes:

[0005] Obtain the output current of the drive module and the actual measured speed of the reaction flywheel;

[0006] The reference current is determined based on the actual measured rotational speed, the preset reference rotational speed corresponding to the target angular momentum, and the outer velocity loop control strategy in the preset dual closed-loop control strategy.

[0007] Based on the reference current, the output current, and the inner current loop control strategy in the preset dual closed-loop control strategy, the adjustment reference voltage corresponding to the preset reference speed is determined.

[0008] The control signal output to the drive module is determined based on the adjustment reference voltage, so as to control the operation of the drive module according to the control signal, thereby driving the reaction flywheel to operate, 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 for changing the satellite's motion attitude.

[0009] Furthermore, the reference current is determined based on the actual measured rotational speed, the preset reference rotational speed, and the outer speed loop control strategy in the preset dual closed-loop control strategy, including:

[0010] The difference between the preset reference speed and the actual measured speed is defined as the speed deviation;

[0011] The speed deviation is processed using a first preset proportional element to obtain a first proportional output item;

[0012] The rotational speed deviation is processed using a preset differential element to obtain a differential output term;

[0013] The sum of the first proportional output term and the derivative output term is determined as the pre-output reference current;

[0014] The preset output current limit is used to process the preset output reference current to obtain the reference current. The preset output current limit is set based on a preset lower current limit and a preset upper current limit.

[0015] Furthermore, 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 the first condition is met, wherein the preset current lower limit value is less than the pre-output reference current determined in the current control cycle and the preset current upper limit value is less than the preset current upper limit value.

[0017] If so, the first preset switch is turned on so that the first delay phase is connected in the next control cycle. In the next control cycle, after obtaining the differential output term using the preset differential phase, the first delay phase is used to process the differential output term to obtain the first delay output term. Then, the sum of the first delay output term, the differential output term determined in the next control cycle, and the first proportional output term is determined as the pre-output reference current of the next control cycle.

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

[0019] Furthermore, determining 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 dual closed-loop control strategy includes:

[0020] The difference between the reference current and the output current is defined as the current deviation.

[0021] The current deviation is processed using a second preset proportional element to obtain a second proportional output item;

[0022] The current deviation is processed using a preset integration circuit to obtain an integral output term;

[0023] The sum of the second proportional output term and the integral output term is determined as the pre-output voltage;

[0024] The preset output voltage is processed by a preset output voltage limiting circuit to obtain an adjustable reference voltage. The preset output voltage limiting circuit is set based on a preset lower voltage limit and a preset upper voltage limit.

[0025] Furthermore, 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:

[0026] Determine whether a second condition is met, wherein the second condition is that the preset lower voltage limit is less than the preset output voltage determined in the current control cycle and the preset upper voltage limit is less than the preset upper voltage limit.

[0027] If so, the second preset switch is turned on to enable the second delay circuit to be connected in the next control cycle. In the next control cycle, after obtaining the integral output term using the preset integral circuit, the second delay circuit is used to process the integral output term to obtain the second delay output term. Then, the sum of the second delay output term, the integral output term determined in the next control cycle, and the second proportional output term is determined to be the pre-output voltage of the next control cycle.

[0028] If not, determine that the second preset switch 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 also includes a magnetic torque converter connected to the control module;

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

[0031] When a fault is detected in any reaction flywheel, the switch module is controlled to switch from on to off to cut off the power supply to the faulty reaction flywheel, and the magnetic torque generated by the magnetic torque generator is controlled to adjust the torque generated by the magnetic torque generator to a second target torque corresponding to the target control attitude.

[0032] To address the aforementioned technical problems, the present invention also provides a satellite motion attitude adjustment device, comprising:

[0033] Memory, used to store computer programs;

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

[0035] To solve the above-mentioned technical problems, the present invention also provides a satellite motion system, including a reaction flywheel and a drive module, and also includes the satellite motion attitude adjustment device as described above;

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

[0037] Furthermore, the satellite motion system includes N flywheel groups, and each flywheel group includes four reaction flywheels that are obliquely arranged at a preset angle to the satellite's principal axis of inertia, where N is an integer not less than 1;

[0038] The drive module includes N drive sub-modules. The input terminal of each drive sub-module is connected to the satellite motion attitude adjustment device, and the output terminal of each drive sub-module is connected to the control terminal of each flywheel assembly.

[0039] To address the aforementioned technical problems, the present invention also provides a satellite, including the satellite motion system described above.

[0040] This application provides a satellite motion attitude adjustment method, device, satellite motion system, and satellite. The satellite motion system includes a control module, a drive module, and a reaction flywheel connected in sequence. The system acquires the output current of the drive module and the actual measured rotational speed of the reaction flywheel. A reference current is determined based on the actual measured rotational speed, a preset reference rotational speed corresponding to the target angular momentum, and the outer velocity loop control strategy in a preset dual-loop control strategy. An adjustment reference voltage corresponding to the preset reference rotational speed is determined based on the reference current, the output current, and the inner current loop control strategy in the preset dual-loop control strategy. A control signal is determined based on the adjustment reference voltage and output to the drive module. This control signal controls the drive module's operation, thereby driving the reaction flywheel to adjust its operating speed to the preset reference rotational speed. This allows the reaction flywheel to generate a first target torque corresponding to the target angular momentum, which enables the satellite's motion attitude to be changed. Therefore, this solution uses a reaction flywheel for satellite motion control, which helps reduce costs. Furthermore, the preset dual-loop control strategy achieves reliable and accurate control of the reaction flywheel, resulting in good control stability and facilitating practical applications.

[0041] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0042] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

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

[0044] Figure 2 This invention provides a schematic diagram of determining the reference current using an external velocity loop control strategy.

[0045] Figure 3 A schematic diagram illustrating how an internal current loop control strategy is used to determine the adjustment reference voltage, as provided by this invention.

[0046] Figure 4 This is a schematic diagram of the structure of a satellite motion attitude adjustment device provided by the present invention. Detailed Implementation

[0047] The core of this invention is to provide a satellite motion attitude adjustment method, device, satellite motion system, and satellite, which helps to reduce costs and achieves reliable and accurate control of the reaction flywheel through a preset dual closed-loop control strategy, so as to achieve accurate adjustment of the satellite attitude and good control stability.

[0048] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0049] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0050] Please refer to Figure 1 , Figure 1 The flowchart illustrates a satellite motion attitude adjustment method provided by this invention.

[0051] This satellite motion attitude adjustment method is applied to the control module of a satellite motion system. The satellite motion system also includes a reaction flywheel and a drive module, with the control module, drive module, and reaction flywheel connected sequentially. The satellite motion attitude adjustment method includes:

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

[0053] S12: Determine the reference current based on the actual measured rotational speed, the preset reference rotational speed corresponding to the target angular momentum, and the outer velocity loop control strategy in the preset dual closed-loop control strategy;

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

[0055] S14: Determine the control signal output to the drive module based on the adjustment reference voltage, so as to control the drive module to move according to the control signal, thereby driving the reaction flywheel to move, and adjusting the running speed of the reaction flywheel to the preset reference speed, so that the reaction flywheel generates the first target torque corresponding to the target angular momentum to change the satellite's motion attitude.

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

[0057] Understandably, due to the series configuration, the output current of the drive module is also the current flowing through the reaction flywheel. This current can be acquired by the current acquisition module. Here, there are no special limitations on the specific structure of the current acquisition module; any device capable of current acquisition can be used. A pre-designed dual closed-loop control strategy is provided, which specifically includes an outer speed loop control strategy and an inner current loop control strategy. This reliably adjusts the operating speed of the reaction flywheel to the 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, used to change the satellite's motion attitude to the target attitude, thus achieving accurate attitude adjustment.

[0058] In summary, this application provides a satellite motion attitude adjustment method. In this scheme, a reaction flywheel is used for satellite attitude control, which helps to reduce costs. Furthermore, a preset dual closed-loop control strategy is used to achieve reliable and accurate control of the reaction flywheel, thereby realizing accurate adjustment of the satellite motion attitude. The control stability is good and it is conducive to practical applications.

[0059] Based on the above embodiments:

[0060] In some embodiments, determining the reference current based on the actual measured rotational speed, a preset reference rotational speed, and the outer speed loop control strategy in a preset dual-closed-loop control strategy includes:

[0061] The difference between the preset reference speed and the actual measured speed is defined as the speed deviation;

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

[0063] The speed deviation is processed using a preset differential element 22 to obtain the differential output term;

[0064] The sum of the first proportional output term and the derivative output term is determined as the pre-output reference current;

[0065] The preset output current limiting circuit 23 is used to process the preset output reference current to obtain the reference current. The preset output current limiting circuit 23 is set based on the preset lower current limit and the preset upper current limit.

[0066] In this embodiment, please refer to Figure 2 , Figure 2 This invention provides a schematic diagram of determining a reference current using an external velocity loop control strategy; it should be noted that the proportional gain k set for the first preset proportional element 21 here is... p The specific value is not particularly limited, and the differential gain k is set for the preset differential element 22. d The specific values ​​are not particularly limited; they can be adjusted and set according to actual control requirements. It can be understood that by using proportional and derivative adjustment, it is possible to ensure a rapid response to speed deviations, reduce overshoot, and improve the stability of speed control.

[0067] Furthermore, there are no special restrictions on the specific values ​​of the preset lower current limit and the preset upper current limit. For example, the preset lower current limit can be -ILIMIT and the preset upper current limit can be ILIMIT, where ILIMIT is the current threshold. It can be seen that the preset output current limiting circuit 23 can ensure that the output reference current meets the following condition: preset lower current limit < reference current < preset upper current limit, so as to prevent the control signal from being too large and causing control instability.

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

[0069] Determine if the first condition is met. The first condition is that the preset current lower limit value is less than the pre-output reference current determined in the current control cycle and the preset current upper limit value.

[0070] If so, the first preset switch 24 is turned on so that the first delay 25 is connected in the next control cycle. In the next control cycle, after obtaining the differential output term using the preset differential 22, the first delay 25 is used to process the differential output term to obtain the first delay output term. Then, the sum of the first delay output term, the differential output term determined in the next control cycle, and the first proportional output term is determined as the pre-output reference current of the next control cycle.

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

[0072] Specifically, such as Figure 2 As shown, the first preset switching element 24 mainly functions as a switch, that is, it is turned on when the first condition is met, so that the first delay element 25 is connected, and the pre-output reference current obtained in the next control cycle is the sum of the first delayed output term, the differential output term determined in the next control cycle, and the first proportional output term. It is understandable that the above judgment will be made again in the next control cycle to determine whether the first delay element 25 is connected in the next two control cycles. It is also understandable that the expression for the first delay element 25 here is Z. -1 .

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

[0074] In some embodiments, determining 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 dual closed-loop control strategy includes:

[0075] The difference between the reference current and the output current is defined as the current deviation.

[0076] The current deviation is processed using the second preset proportional element 31 to obtain the second proportional output item;

[0077] The current deviation is processed using a preset integrator 32 to obtain the integral output term;

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

[0079] The preset output voltage is processed by the preset output voltage limiting circuit 33 to obtain the adjustable reference voltage. The preset output voltage limiting circuit 33 is set based on the preset lower voltage limit and the preset upper voltage limit.

[0080] In this embodiment, please refer to Figure 3 , Figure 3 This is a schematic diagram of a method for determining the adjustment reference voltage using an internal current loop control strategy provided by the present invention; here, the proportional gain k is set for the second preset proportional element 31. p The specific value is not particularly limited, and the integral gain k is set for the preset integral stage 32. i The specific values ​​are not particularly limited; they can be adjusted and set according to actual control requirements. It can be understood that by using proportional-integral adjustment, it is possible to ensure a rapid response to speed deviations and eliminate steady-state errors, thereby ensuring control accuracy.

[0081] Furthermore, there are no specific limitations on the specific values ​​of the preset lower voltage limit and the preset upper voltage limit. For example, the preset lower voltage limit can be -VM, and the preset upper voltage limit can be VM, where VM is the voltage threshold. It can be seen that the preset output voltage limiting circuit 33 can ensure that the output adjustment reference voltage meets the following condition: preset lower voltage limit < adjustment reference voltage < preset upper voltage limit, so as to prevent the control signal from being too large and causing control instability.

[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 the second condition is met. The second condition is that the preset lower voltage limit is less than the preset output voltage determined in the current control cycle and the preset upper voltage limit is less than the preset upper voltage limit.

[0084] If so, the second preset switch 34 is turned on so that the second delay 35 is connected in the next control cycle. In the next control cycle, after obtaining the integral output term using the preset integrator 32, the integral output term is processed by the second delay 35 to obtain the second delay output term. Then, the sum of the second delay output term, the integral output term determined in the next control cycle, and the second proportional output term is determined to be the pre-output voltage of the next control cycle.

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

[0086] Specifically, the second preset switch 34 here mainly functions as a switch, that is, it conducts when the second condition is met, so that the second delay switch 35 is engaged, resulting in the pre-output voltage obtained in the next control cycle being the sum of the second delayed output term, the integral output term determined in the next control cycle, and the second proportional output term. It is understandable that the above judgment will be made again in the next control cycle to determine whether the second delay switch 35 is engaged in the next two control cycles. It is also understandable that the expression for the second delay switch 35 here is Z. -1 .

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

[0088] In some embodiments, the reaction flywheel is also connected to a power supply via a switching module; the switching module is connected to a control module; the satellite motion system also includes a magnetic torque converter connected to the control module.

[0089] Satellite motion attitude adjustment methods also include:

[0090] When a fault is detected in any reaction flywheel, the control switch module switches from on to off to cut off the power supply to the faulty reaction flywheel, and controls the magnetic torque generated by the magnetic torquer to adjust the torque generated by the magnetic torquer to the second target torque corresponding to the target control attitude.

[0091] Specifically, the satellite motion system may include multiple reaction flywheels, each connected to a power supply via a corresponding switching module. These switching modules can be isolating switches. When it is determined that no reaction flywheel is faulty, all switching modules are turned on, supplying power to each flywheel. The control module can actively determine the operating status of each reaction flywheel. If any reaction flywheel is determined to be faulty, the control module turns off the corresponding switching module to cut off the power supply to the faulty flywheel, thus achieving fault isolation. Alternatively, a warning signal indicating a fault in the reaction flywheel can be output so that technicians can be informed and take appropriate action as quickly as possible; no specific limitations are imposed here.

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

[0093] In addition, the satellite motion system may also include a magnetic torquer. The magnetic moment generated by the magnetic torquer can interact with the Earth's magnetic field to generate a torque for controlling the satellite's attitude. Therefore, in the event of a failure of any reaction flywheel, in order to ensure that the satellite remains 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 moment generated by the magnetic torquer. This achieves joint control of the magnetic torquer and the reaction flywheel to change the satellite's attitude. The magnetic moment generated by the magnetic torquer can be controlled by changing the duty cycle of the PWM signal (Pulse Width Modulation) to adjust the current in the magnetic rod in the magnetic torquer, thereby changing the magnetic moment.

[0094] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of a satellite motion attitude adjustment device provided by the present invention.

[0095] The satellite's attitude control device includes:

[0096] Memory 41 is used to store computer programs;

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

[0098] For a description of the satellite motion attitude adjustment device provided in this application, please refer to the embodiments of the satellite motion attitude adjustment method described above, which will not be repeated here.

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

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

[0101] For a description of the satellite motion system provided in this application, please refer to the embodiments of the satellite motion attitude adjustment method described above, which will not be repeated here.

[0102] In some embodiments, the satellite motion system includes N flywheel groups, and each flywheel group includes four reaction flywheels that are obliquely arranged at a preset angle to the satellite's principal axis of inertia, where N is an integer not less than 1;

[0103] The drive module includes N drive sub-modules. The input terminal of each drive sub-module is connected to the satellite motion attitude adjustment device, and the output terminal of each drive sub-module is connected to the control terminal of each flywheel assembly.

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

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

[0106] For a description of the satellite provided in this application, please refer to the above-described embodiments of the satellite motion attitude adjustment method; further details will not be repeated here.

[0107] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. Relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0108] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for adjusting the motion attitude of a satellite, characterized in that, A control module is applied to a satellite motion system, the satellite motion system further including a reaction flywheel and a drive module, the control module, the drive module and the reaction flywheel being connected in sequence; the satellite motion attitude adjustment method includes: Obtain the output current of the drive module and the actual measured speed of the reaction flywheel; The reference current is determined based on the actual measured rotational speed, the preset reference rotational speed corresponding to the target angular momentum, and the outer velocity loop control strategy in the preset dual closed-loop control strategy. Based on the reference current, the output current, and the inner current loop control strategy in the preset dual closed-loop control strategy, the adjustment reference voltage corresponding to the preset reference speed is determined. The control signal output to the drive module is determined based on the adjustment reference voltage, so as to control the operation of the drive module according to the control signal, thereby driving the reaction flywheel to operate, 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 for changing the satellite's motion attitude.

2. The satellite motion attitude adjustment method as described in claim 1, characterized in that, The reference current is determined based on the actual measured rotational speed, the preset reference rotational speed, and the outer speed loop control strategy in the preset dual closed-loop control strategy, including: The difference between the preset reference speed and the actual measured speed is defined as the speed deviation; The speed deviation is processed using a first preset proportional element to obtain a first proportional output item; The rotational speed deviation is processed using a preset differential element to obtain a differential output term; The sum of the first proportional output term and the derivative output term is determined as the pre-output reference current; The preset output current limit is used to process the preset output reference current to obtain the reference current. The preset output current limit is set based on a preset lower current limit and a preset upper current limit.

3. The satellite motion attitude adjustment method as described in claim 2, characterized in that, After determining that the sum of the first proportional output term and the derivative output term is the pre-output reference current, the method further includes: Determine whether the first condition is met, wherein the preset current lower limit value is less than the pre-output reference current determined in the current control cycle and the preset current upper limit value is less than the preset current upper limit value. If so, the first preset switch is turned on so that the first delay phase is connected in the next control cycle. In the next control cycle, after obtaining the differential output term using the preset differential phase, the first delay phase is used to process the differential output term to obtain the first delay output term. Then, the sum of the first delay output term, the differential output term determined in the next control cycle, and the first proportional output term is determined as the pre-output reference current of the next control cycle. If not, determine that the first preset switch is turned off so that the first delay switch is not connected in the next control cycle.

4. The satellite motion attitude adjustment method as described in claim 1, characterized in that, Determining 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 dual closed-loop control strategy includes: The difference between the reference current and the output current is defined as the current deviation. The current deviation is processed using a second preset proportional element to obtain a second proportional output item; The current deviation is processed using a preset integration circuit to obtain an integral output term; The sum of the second proportional output term and the integral output term is determined as the pre-output voltage; The preset output voltage is processed by a preset output voltage limiting circuit to obtain an adjustable reference voltage. The preset output voltage limiting circuit is set based on a preset lower voltage limit and a preset upper voltage limit.

5. The satellite motion attitude adjustment method as described in claim 4, characterized in that, 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: Determine whether a second condition is met, wherein the second condition is that the preset lower voltage limit is less than the preset output voltage determined in the current control cycle and the preset upper voltage limit is less than the preset upper voltage limit. If so, the second preset switch is turned on to enable the second delay circuit to be connected in the next control cycle. In the next control cycle, after obtaining the integral output term using the preset integral circuit, the second delay circuit is used to process the integral output term to obtain the second delay output term. Then, the sum of the second delay output term, the integral output term determined in the next control cycle, and the second proportional output term is determined to be the pre-output voltage of the next control cycle. If not, determine that the second preset switch 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 a power supply via a switch module; the switch module is connected to the control module; the satellite motion system also includes a magnetic torque generator connected to the control module. The satellite motion attitude adjustment method further includes: When a fault is detected in any reaction flywheel, the switch module is controlled to switch from on to off to cut off the power supply to the faulty reaction flywheel, and the magnetic torque generated by the magnetic torque generator is controlled to adjust the torque generated by the magnetic torque generator to a second target torque corresponding to the target control attitude.

7. A satellite motion attitude adjustment device, characterized in that, include: Memory, used to store computer programs; A processor, configured 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 the satellite motion attitude adjustment device as described in claim 7; The satellite motion attitude adjustment device, the drive module, and the reaction flywheel are connected in sequence.

9. The satellite motion system as described in claim 8, characterized in that, The satellite motion system includes N flywheel groups, and each flywheel group includes four reaction flywheels that are obliquely arranged at a preset angle to the satellite's principal axis of inertia, where N is an integer not less than 1; The drive module includes N drive sub-modules. The input terminal of each drive sub-module is connected to the satellite motion attitude adjustment device, and the output terminal of each drive sub-module is connected to the control terminal of each flywheel assembly.

10. A satellite, characterized in that, Including the satellite motion system as described in claim 8 or 9.

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