In-orbit autonomous rotation starting control method for control moment gyroscope

Abstract

The invention relates to an in-orbit autonomous rotation starting control method for a control moment gyroscope, which can autonomously complete rotation starting of the control moment gyroscope without relying on the ground after injection into an orbit, can diagnose and recover a faulted control moment gyroscope in the process, does not generate extra disturbance moment to a star body, and can be quickly accessed to carry out attitude control. During steady-state control, according to the state of a current control moment gyroscope access system, when the access number is greater than 3, the position of a theoretical frame of the control moment gyroscope is planned, zero-motion maneuvering rate control is added, and instruction resolving is performed by taking the position of the theoretical frame as a target, so that the control moment gyroscope is prevented from staying near a certain fixed position in an on-orbit frame.

Description

Technical Field

[0001] The invention relates to an on-orbit autonomous spinning control method for a controlled moment gyroscope, belonging to the technical field of satellite attitude control. Background Art

[0002] With the continuous development of satellite attitude control technology and the continuous improvement of mission requirements, modern satellites have higher and higher requirements for attitude control systems, such as high precision, high stability, large-angle rapid maneuvers, etc. In order to meet system requirements, such satellites mostly use control torque gyroscopes as actuators, which generate control force through angular momentum exchange. Compared with flywheels, they have the advantages of large output torque, strong torque amplification effect, and large angular momentum envelope.

[0003] Existing research on control moment gyros focuses on aspects such as control rate and singularity avoidance, or dynamically escapes singularity through robust pseudo-inverse, zero motion and other methods, or avoids falling into singularity through advance planning, additional frame angular velocity and other methods. Some of these studies have been verified on-orbit and can better avoid singularity and ensure that they can effectively complete various control tasks. The above research is based on the fact that the control moment gyro has established a good working state on-orbit. In actual engineering, when the control moment gyro is connected to the system, it is necessary to consider the problems of spin-up, fault diagnosis, and reconstruction. For the latter two problems, some researchers have also given solutions to ensure that the on-orbit switching does not affect the attitude control, but few people have studied the spin-up of the control moment gyro. In addition, in the steady state without attitude maneuvers, the control moment gyro frame angle position generally stays near a certain position. In this case, it is easy to cause the control moment gyro to wear, and then fail to use. The existing means are mostly to inject a set of new target frame angles through the ground at regular intervals, but ground operations are required frequently, and there will still be a phenomenon that the frame angle stays at a fixed position in a short time, and the risk still exists. Summary of the invention

[0004] The technical problem solved by the present invention is: in view of the problem that the traditional control means in the current prior art requires the intervention of ground control and there are control risks, a method for controlling the autonomous rotation of a controlled moment gyroscope on orbit is proposed.

[0005] The present invention solves the above technical problems by the following technical solutions:

[0006] A method for controlling an autonomous on-orbit rotation of a control moment gyroscope, comprising:

[0007] Determine the fault condition of each control moment gyro, set the initial access state according to the fault condition and send a power-on command to all control moment gyros;

[0008] Determine the target frame angle position according to the initial access state, and send a target frame angle position control instruction to each control moment gyro;

[0009] Determine whether the frame angle position of each control moment gyro is adjusted in place, if the judgment result is that the adjustment is not in place, send a power-off command to each control moment gyro, if the judgment result is that the adjustment is in place, send a frame angle position holding command;

[0010] After the control moment gyro that is not adjusted in place is powered off, it is powered on again, and the target frame angle position control instruction is received again according to the initial access state, and the secondary frame angle position judgment is performed. If the secondary judgment result is still not in place, all control moment gyros are cut out. If the secondary judgment result is in place, the initial access state is updated to the successful state of being in place;

[0011] In the successful arrival state, according to the frame angle position holding instruction, the control torque gyro for the rotation in position sends the inner rotor rotation instruction;

[0012] The inner rotor speed of the control moment gyro is judged, and if the inner rotor speed meets the standard, a spin-up success flag is set; if the inner rotor speed does not meet the standard, a spin-up failure flag is set;

[0013] After each control moment gyro sets the spin-up success flag, the access state is updated to the spin-up success state. If the number of control moment gyros in the spin-up success state meets the control requirements, the control moment gyros other than the spin-up success state are cut out; otherwise, all control moment gyros are cut out.

[0014] The frame angle of the control moment gyro in each successful spinning state is adjusted autonomously, and the control moment gyro that has completed a round of autonomous adjustment is subjected to zero motion control.

[0015] The number of the control moment gyroscopes is N, and the method for setting the initial access state is:

[0016] The fault conditions of each control moment gyro are collected. If a control moment gyro is in a faulty state, the faulty control moment gyro is not connected, and the control moment gyro without fault is set to the connected state;

[0017] If the number of control moment gyros in the connected state without fault is less than 3, the spin control is terminated, otherwise the initial connected state is set to SW CMG and sends a power-on command to the control torque gyro in the connected state.

[0018] The method for judging whether the frame angle position of each control moment gyro is adjusted in place is as follows:

[0019] When each control moment gyro receives the target frame angle position control instruction t1 time, the relationship between the frame angle difference between the actual frame angle position of the control moment gyro in each access state and the target frame angle position and the frame angle threshold is judged. If the frame angle difference within the continuous time length △t is less than the frame angle threshold △δ, it is adjusted in place. If not, the power is cut off.

[0020] If the result of the first frame angle position adjustment is that the adjustment is in place, a frame angle position holding instruction is sent to the control moment gyro that is adjusted in place, and a power-off instruction is sent to the control moment gyro that is not adjusted in place.

[0021] The method of controlling according to the secondary judgment result is:

[0022] If the number of frame angle positions of the control moment gyro that are still not in place after power is re-applied is less than 3, all control moment gyro are cut out and a stop hold command is sent; if the number of frame angle positions of the control moment gyro that are in place after power is re-applied is greater than or equal to 3, the initial access state is updated to the successful state of being in place.

[0023] The method for judging the speed of the inner rotor of the control moment gyro is:

[0024] After the control torque gyro sends the inner rotor rotation command, the inner rotor speed is monitored in real time. When the difference between the inner rotor speed and the target speed is less than the preset value △n for a continuous period of time △t, the inner rotor is currently spinning successfully, and the spin-up success flag QX_Flag[i] is set to 1; otherwise, the spin-up duration flag QX_Flag[i] is set to 0.

[0025] The method for judging whether the number of control moment gyros meets the control requirements in the successful spinning state is as follows:

[0026] If the number of control moment gyros in the spinning success state is greater than or equal to 3, the control requirement is considered to be met;

[0027] If the number of control torque gyros in the spinning success state is less than 3, it is considered that the control requirements are not met;

[0028] If the control requirements are met, each control moment gyro is controlled normally, the control moment gyro that is not in the successful spinning state is cut out and a power-off command is sent; if the control requirements are not met, all control moment gyros are cut out and wait for the ground control station to process.

[0029] The method for autonomously adjusting the frame angle of the control moment gyro in each successful spinning state is:

[0030] If the number of control moment gyros in the successful spinning state is greater than 3, the target frame angle position of each control moment gyro is planned in order from small to large according to the number of the control moment gyros.

[0031] The planning method of the target frame angular position of each control moment gyro is:

[0032] According to the number of control moment gyros, set the planning cycle;

[0033] In the first cycle, the target frame angle of the first control moment gyro is planned and set to a preset theoretical value;

[0034] In the subsequent N cycles, the target frame angle of the Nth control moment gyro is planned and set to a preset theoretical value;

[0035] When the last cycle is over, wait for the ground control station to perform the next round of autonomous adjustments.

[0036] The zero motion control is:

[0037] The planned value of the autonomous adjustment of the frame angle of this wheel is used as the zero motion target, the zero motion control rate is set, and the frame angle position of each control moment gyro is adjusted to ensure that the frame angle position is within the adjustment range centered on the zero motion target and does not always stay at any fixed value.

[0038] The advantages of the present invention compared with the prior art are:

[0039] (1) The present invention provides a control method for autonomously spinning up a control torque gyro on orbit, which can independently spin up the control torque gyro without relying on the ground after entering orbit. In this process, the faulty control torque gyro can be diagnosed and restored, and no additional interference torque is generated on the celestial body, so that it can quickly access the system for attitude control. During steady-state control, according to the current state of the control torque gyro accessing the system, when the number of accesses is greater than 3, the theoretical frame position of the control torque gyro is planned, zero motion control is added, and command solution is performed with the theoretical frame position as the target, so as to prevent the control torque gyro from staying near a fixed position in the on-orbit frame.

[0040] (2) The present invention completes the autonomous on-orbit spin-up of the control torque gyro through autonomous diagnosis and autonomous processing, which can not only ensure that the available control torque gyro completes the spin-up quickly and effectively, but also isolate the faulty gyro and perform simple processing to restore it. The gyro can continue to be used normally after recovery, and the unusable one is isolated from the system, which will not generate additional interference torque to the system. During the entire spin-up process, the control torque gyro can be quickly connected to the system for use without ground intervention. In steady state, the satellite autonomously plans the frame angle position to ensure that the frame angle position does not stay near a certain value for a long time, thereby reducing ground intervention and effectively controlling risks;

[0041] (3) The present invention uses the original measurement information and processing methods on the satellite to complete the autonomous rotation and troubleshooting of the control moment gyro through logical judgment. The frame angle position planning is simple and does not require the introduction of complex algorithms. The software is simple to implement and is easy to verify on the ground, making it suitable for engineering use. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A flow chart of the autonomous spinning of the controlled moment gyroscope provided by the present invention;

[0043] Figure 2 A flow chart of the control force rejection gyro autonomous frame angular position adjustment provided by the present invention. DETAILED DESCRIPTION

[0044] A control method for autonomously spinning up a control moment gyro on orbit can autonomously spin up a control moment gyro without relying on the ground after entering orbit. In the process, the faulty control moment gyro can be diagnosed and restored, and no additional interference torque is generated on the satellite, so that it can be quickly connected for attitude control. During steady-state control, according to the current state of the control moment gyro access system, when the number of accesses is greater than 3, the theoretical frame position of the control moment gyro is planned, zero motion control is added, and command solution is performed with the theoretical frame position as the target to prevent the control moment gyro from staying near a fixed position in the orbital frame.

[0045] The control method for autonomously spinning a control moment gyro on orbit comprises the following steps:

[0046] Determine the fault condition of each control moment gyro, set the initial access state according to the fault condition and send a power-on command to all control moment gyros;

[0047] Determine the target frame angle position according to the initial access state, and send a target frame angle position control instruction to each control moment gyro;

[0048] Determine whether the frame angle position of each control moment gyro is adjusted in place, if the judgment result is that the adjustment is not in place, send a power-off command to each control moment gyro, if the judgment result is that the adjustment is in place, send a frame angle position holding command;

[0049] After the control moment gyro that is not adjusted in place is powered off, it is powered on again, and the target frame angle position control instruction is received again according to the initial access state, and the secondary frame angle position judgment is performed. If the secondary judgment result is still not in place, all control moment gyros are cut out. If the secondary judgment result is in place, the initial access state is updated to the successful state of being in place;

[0050] In the successful arrival state, according to the frame angle position holding instruction, the control torque gyro for the rotation in position sends the inner rotor rotation instruction;

[0051] The inner rotor speed of the control moment gyro is judged, and if the inner rotor speed meets the standard, a spin-up success flag is set; if the inner rotor speed does not meet the standard, a spin-up failure flag is set;

[0052] After each control moment gyro sets the spin-up success flag, the access state is updated to the spin-up success state. If the number of control moment gyros in the spin-up success state meets the control requirements, the control moment gyros other than the spin-up success state are cut out; otherwise, all control moment gyros are cut out.

[0053] Autonomously adjust the frame angle of the control moment gyro in each successful spinning state;

[0054] Zero motion control is performed on the control moment gyro that completes one round of autonomous adjustment.

[0055] The number of control moment gyros is N, and the method for setting the initial access state is:

[0056] The fault conditions of each control moment gyro are collected. If a control moment gyro is in a faulty state, the faulty control moment gyro is not connected, and the control moment gyro without fault is set to the connected state;

[0057] If the number of control moment gyros in the connected state without fault is less than 3, the spin control is terminated, otherwise the initial connected state is set to SW CMG and sends a power-on command to the control torque gyro in the connected state.

[0058] The method for judging whether the frame angle position of each control moment gyro is adjusted in place is as follows:

[0059] When each control moment gyro receives the target frame angle position control instruction t1 time, the relationship between the frame angle difference between the actual frame angle position of the control moment gyro in each access state and the target frame angle position and the frame angle threshold is judged. If the frame angle difference within the continuous time length △t is less than the frame angle threshold △δ, it is adjusted in place. If not, the power is cut off.

[0060] If the result of the first frame angle position adjustment is that the adjustment is in place, a frame angle position holding instruction is sent to the control moment gyro that is adjusted in place, and a power-off instruction is sent to the control moment gyro that is not adjusted in place.

[0061] The method of controlling according to the secondary judgment result is:

[0062] If the number of frame angle positions of the control moment gyro that are still not in place after power is re-applied is less than 3, all control moment gyro are cut out and a stop hold command is sent; if the number of frame angle positions of the control moment gyro that are in place after power is re-applied is greater than or equal to 3, the initial access state is updated to the successful state of being in place.

[0063] The method for judging the speed of the inner rotor of the control moment gyro is:

[0064] After the control torque gyro sends the inner rotor rotation command, the inner rotor speed is monitored in real time. When the difference between the inner rotor speed and the target speed is less than the preset value △n for a continuous period of time △t, the inner rotor is currently spinning successfully, and the spin-up success flag QX_Flag[i] is set to 1; otherwise, the spin-up duration flag QX_Flag[i] is set to 0.

[0065] The method for judging whether the number of control moment gyros meets the control requirements in the successful spinning state is as follows:

[0066] If the number of control moment gyros in the spinning success state is greater than or equal to 3, the control requirement is considered to be met;

[0067] If the number of control torque gyros in the spinning success state is less than 3, it is considered that the control requirements are not met;

[0068] If the control requirements are met, each control moment gyro is controlled normally, the control moment gyro that is not in the successful spinning state is cut out and a power-off command is sent; if the control requirements are not met, all control moment gyros are cut out and wait for the ground control station to process.

[0069] The method for autonomously adjusting the frame angle of the control moment gyro in each successful spinning state is:

[0070] If the number of control moment gyros in the successful spinning state is greater than 3, the target frame angle position of each control moment gyro is planned in order from small to large according to the number of the control moment gyros.

[0071] The planning method of the target frame angular position of each control moment gyro is:

[0072] According to the number of control moment gyros, set the planning cycle;

[0073] In the first cycle, the target frame angle of the first control moment gyro is planned and set to a preset theoretical value;

[0074] In the subsequent N cycles, the target frame angle of the Nth control moment gyro is planned and set to a preset theoretical value;

[0075] When the last cycle is over, wait for the ground control station to perform the next round of autonomous adjustments.

[0076] Zero motion control is:

[0077] The planned value of the autonomous adjustment of the frame angle of this wheel is used as the zero motion target, the zero motion control rate is set, and the frame angle position of each control moment gyro is adjusted to ensure that the frame angle position is within the adjustment range centered on the zero motion target and does not always stay at any fixed value.

[0078] The following is further described in conjunction with the accompanying drawings and preferred embodiments of the specification:

[0079] In the current embodiment, the process of the on-orbit autonomous control method of the control moment gyro is as follows: Figure 1 As shown, after entering orbit, the control torque gyro can be independently completed to spin up without relying on the ground. In this process, the faulty control torque gyro can be diagnosed and restored, and no additional interference torque is generated to the satellite, so that it can be quickly connected to the system for attitude control. During steady-state control, according to the current state of the control torque gyro connected to the system, when the number of connections is greater than 3, the theoretical frame position of the control torque gyro is planned, zero motion control rate control is added, and instruction solution is performed with the theoretical frame position as the target to prevent the control torque gyro from staying near a fixed position in the orbital frame. The present invention is further elaborated in detail below in conjunction with the accompanying drawings.

[0080] Step 1: Set the initial CMG access status SW according to the CMG failure situation in the current system CMG , the default is that all N CMGs are connected. If a CMG is in a faulty state, the CMG will not be connected. If the number of CMGs connected to the system is less than 3, the spin-up ends. Otherwise, a power-on command is sent to the unpowered CMGs connected to the system, and the following steps are performed;

[0081] Step 2: According to the CMG status SW of the current access system CMG , select the corresponding target frame angle position δc, and send a frame angle position control instruction to the CMG connected to the system;

[0082] Step 3: After a period of time t1 after the command is sent, determine whether the frame angles of all CMGs connected to the system are in place (determination method: the difference between the frame angle position returned by the connected CMGs and the command angle position is continuously △t less than the threshold △δ). If in place, execute steps 6 to 7; if not, execute step 4;

[0083] Step 4: If the CMG connected to the system is not in place, first power off the CMG that is not in place, and then power it back on, and then resend the frame angle control command according to the original connection status. If it is in place, execute step 6; if it is not in place, execute step 5;

[0084] Step 5: If the frame corner still cannot be put in place after power is cut off again, the CMG that is not in place will be cut out of the system. If the number of CMGs in place is greater than or equal to 3, the CMG access status will be updated to CMG that has been successfully put in place, and return to step 2 to start again; if the number of CMGs in place is less than 3, all CMGs will be cut off, and all CMGs will send a stop and hold command to wait for ground processing.

[0085] Step 6: If the frame angles of all CMGs connected to the system are in place, a frame angle position holding instruction is sent, and an inner rotor rotation instruction is sent to the CMGs connected to the system but not rotating;

[0086] Step 7: After sending the spin-up command, the CMG inner rotor speed is judged in real time. When the difference between the inner rotor speed and the target speed is continuously △t less than △n, it is considered that the CMG has successfully started to spin up, and the corresponding spin-up success flag QX_Flag[i] is set to 1 (i represents the i-th CMG in the system), otherwise QX_Flag[i] remains at 0; execute step 8;

[0087] Step 8: After reaching the set autonomous spin-up time t_qx, update the CMG access system status SW according to the current access status and spin-up success status CMG If the number of available CMGs in the updated state is greater than or equal to 3, normal control will be started, the unconnected CMGs will be cut out of the system, and a power-off command will be sent. If the number of available CMGs is less than 3, all CMGs will be cut off and wait for ground processing.

[0088] Step 9: After the CMG successfully starts to spin, if the number of CMGs connected to the system is greater than 3, the frame angle autonomous adjustment function is started, and the target frame angle position of each CMG is planned in order from small to large according to the CMG number of the connected system. For example, the planning period of the frame angle of each control torque gyro is set to Tcmg. In the first period, the target frame angle of the first CMG can be set to δc1+f(t), where t>0 and <=Tcmg, and f(0)=f(Tcmg)=0 is ensured. In the second period, the target frame angle of the second CMG is δc2+f(t), and so on. When the last period ends, it starts again from the first period. Figure 2 shown.

[0089] Step 10: Add zero motion control rate. The target value of zero motion is the planned frame angle position. The zero motion control rate is used to ensure that the CMG frame angle position will not always stay near a fixed value.

[0090] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0091] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A method for controlling an autonomous on-orbit rotation of a control moment gyroscope, characterized in that include: Determine the fault condition of each control moment gyro, set the initial access state according to the fault condition and send a power-on command to all control moment gyros; Determine the target frame angle position according to the initial access state, and send a target frame angle position control instruction to each control moment gyro; Determine whether the frame angle position of each control moment gyro is adjusted in place, if the judgment result is that the adjustment is not in place, send a power-off command to each control moment gyro, if the judgment result is that the adjustment is in place, send a frame angle position holding command; After the control moment gyro that is not adjusted in place is powered off, it is powered on again, and the target frame angle position control instruction is received again according to the initial access state, and the secondary frame angle position judgment is performed. If the secondary judgment result is still not in place, all control moment gyros are cut out. If the secondary judgment result is in place, the initial access state is updated to the successful state of being in place; In the successful arrival state, according to the frame angle position holding instruction, the control torque gyro for the rotation in position sends the inner rotor rotation instruction; The inner rotor speed of the control moment gyro is judged, and if the inner rotor speed meets the standard, a spin-up success flag is set; if the inner rotor speed does not meet the standard, a spin-up failure flag is set; After each control moment gyro sets the spin-up success flag, the access state is updated to the spin-up success state. If the number of control moment gyros in the spin-up success state meets the control requirements, the control moment gyros other than the spin-up success state are cut out; otherwise, all control moment gyros are cut out. The frame angle of the control moment gyro in each successful spinning state is adjusted autonomously, and the control moment gyro that has completed a round of autonomous adjustment is subjected to zero motion control.

2. The method for controlling an autonomous on-orbit rotation of a control moment gyro according to claim 1, characterized in that: The number of the control moment gyroscopes is N, and the method for setting the initial access state is: The fault conditions of each control moment gyro are collected. If a control moment gyro is in a faulty state, the faulty control moment gyro is not connected, and the control moment gyro without fault is set to the connected state; If the number of control moment gyros in the connected state without fault is less than 3, the spin control is terminated, otherwise the initial connected state is set to SW CMG and sends a power-on command to the control torque gyro in the connected state.

3. The method for controlling an autonomous on-orbit rotation of a control moment gyro according to claim 2, characterized in that: The method for judging whether the frame angle position of each control moment gyro is adjusted in place is as follows: When each control moment gyro receives the target frame angle position control instruction t1 time, the relationship between the frame angle difference between the actual frame angle position of the control moment gyro in each access state and the target frame angle position and the frame angle threshold is judged. If the frame angle difference within the continuous time length △t is less than the frame angle threshold △δ, it is adjusted in place. If not, the power is cut off.

4. The method for controlling an autonomous on-orbit rotation of a control moment gyro according to claim 3, characterized in that: If the result of the first frame angle position adjustment is that the adjustment is in place, a frame angle position holding instruction is sent to the control moment gyro that is adjusted in place, and a power-off instruction is sent to the control moment gyro that is not adjusted in place.

5. The method for controlling an autonomous on-orbit rotation of a control moment gyro according to claim 2, characterized in that: The method of controlling according to the secondary judgment result is: If the number of frame angle positions of the control moment gyro that are still not in place after power is re-applied is less than 3, all control moment gyro are cut out and a stop hold command is sent; if the number of frame angle positions of the control moment gyro that are in place after power is re-applied is greater than or equal to 3, the initial access state is updated to the successful state of being in place.

6. The method for controlling an autonomous on-orbit rotation of a control moment gyro according to claim 2, characterized in that: The method for judging the speed of the inner rotor of the control moment gyro is: After the control torque gyro sends the inner rotor rotation command, the inner rotor speed is monitored in real time. When the difference between the inner rotor speed and the target speed is less than the preset value △n for a continuous period of time △t, the inner rotor is currently spinning successfully, and the spin-up success flag QX_Flag[i] is set to 1; otherwise, the spin-up duration flag QX_Flag[i] is set to 0.

7. The method for controlling the autonomous on-orbit rotation of a control moment gyro according to claim 2, characterized in that: The method for judging whether the number of control moment gyros meets the control requirements in the successful spinning state is as follows: If the number of control torque gyros in the spinning success state is greater than or equal to 3, the control requirement is considered to be met; If the number of control torque gyros in the spinning success state is less than 3, it is considered that the control requirements are not met; If the control requirements are met, each control moment gyro is controlled normally, the control moment gyro that is not in the successful spinning state is cut out and a power-off command is sent; if the control requirements are not met, all control moment gyros are cut out and wait for the ground control station to process.

8. The method for controlling an autonomous on-orbit rotation of a control moment gyro according to claim 2, characterized in that: The method for autonomously adjusting the frame angle of the control moment gyro in each successful spinning state is: If the number of control moment gyros in the successful spinning state is greater than 3, the target frame angle position of each control moment gyro is planned in order from small to large according to the number of the control moment gyros.

9. The method for controlling the autonomous on-orbit rotation of a control moment gyro according to claim 8, characterized in that: The planning method of the target frame angular position of each control moment gyro is: According to the number of control moment gyros, set the planning cycle; In the first cycle, the target frame angle of the first control moment gyro is planned and set to a preset theoretical value; In the subsequent N cycles, the target frame angle of the Nth control moment gyro is planned and set to a preset theoretical value; When the last cycle is over, wait for the ground control station to perform the next round of autonomous adjustments.

10. The method for controlling the autonomous on-orbit rotation of a control moment gyro according to claim 9, characterized in that: The zero motion control is: The planned value of the autonomous adjustment of the frame angle of this wheel is used as the zero motion target, the zero motion control rate is set, and the frame angle position of each control moment gyro is adjusted to ensure that the frame angle position is within the adjustment range centered on the zero motion target and does not always stay at any fixed value.

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