Active energy balancing method for multi-momentum wheel of combined spacecraft

Abstract

The invention discloses an active energy balancing method and device for multiple momentum wheels of a combined spacecraft, the spacecraft, a medium and equipment. The method comprises the following steps: acquiring a body coordinate system of each momentum wheel; acquiring rotational inertia and angular velocity of each momentum wheel; determining a corresponding energy storage coefficient and a generalized energy function value based on the rotational inertia and the angular velocity of each momentum wheel; the sum of generalized energy function values corresponding to the momentum wheels with the energy storage coefficients larger than a preset threshold value is calculated, and energy balance factors of the momentum wheels with the energy storage coefficients larger than the preset threshold value are correspondingly determined based on the sum of the generalized energy function values; obtaining a pre-constructed energy balance condition equation, and solving the energy balance condition equation to obtain an angular velocity solution of each energy wheel; the angular velocity of each momentum wheel is actively controlled based on the angular velocity solution and the energy balance factor, so that the angular momentum of the combined spacecraft achieves energy balance, and the energy balance distribution problem of the multiple momentum wheels in the combined spacecraft under different energy levels is solved.

Description

Technical Field

[0001] The present application relates to the field of energy balancing of multiple energy storage devices, and in particular to a method, device, spacecraft, medium and equipment for active energy balancing of multiple momentum wheels of a combined spacecraft. Background Art

[0002] The momentum wheel is a device that works based on the principle of conservation of angular momentum. It is installed on a spacecraft and uses a motor to drive a flywheel to rotate at different speeds to change the angular momentum of the momentum wheel itself, thereby achieving control of the spacecraft's attitude. In addition to being a control device, the momentum wheel can also be used as an energy storage device by converting electrical energy into mechanical energy and storing it in the flywheel. In a space environment, compared with battery energy storage, the momentum wheel energy storage method has the advantages of long life, low loss, and fast dynamic response. However, since the speed of the momentum wheel is limited by the mechanical strength of the supporting structure and the rotor, the single energy storage capacity of the momentum wheel is limited.

[0003] In the attitude takeover of non-cooperative targets in space and the attitude control of multi-spacecraft assemblies, multiple spacecraft are equipped with momentum wheels as actuators for coordinated control. At the same time, multiple momentum wheels are configured inside a single spacecraft as a redundant backup system. These momentum wheels form a set of energy storage control arrays, which store energy in a distributed manner in various places of the spacecraft while coordinating the attitude of the combined spacecraft. Due to manufacturing processes, losses, environmental factors, etc., there are differences in the moment of inertia, friction coefficient, motor power coefficient, etc. between the momentum wheels, and the actual use environment of different spacecraft is different. As multiple momentum wheels control the combined spacecraft with a certain control strategy, there will be large differences in the speed between the momentum wheels. As the running time increases, these differences will gradually accumulate, resulting in some momentum wheels in the array rotating too fast, while other individual momentum wheels rotating too low, which will cause the overall performance of the momentum wheel array to decline, and even serious safety hazards. Therefore, it is very necessary to balance the energy of multiple momentum wheels. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device, spacecraft, medium and equipment for active energy balancing of multiple momentum wheels in a combined spacecraft, aiming to solve the problem of energy balancing distribution of multiple momentum wheels in a combined spacecraft under different energy levels.

[0005] To achieve the above-mentioned objectives, the first aspect of the present application provides an active energy balancing method for multiple momentum wheels of a combined spacecraft, comprising: obtaining the body coordinate system of each momentum wheel; obtaining the moment of inertia and angular velocity of each momentum wheel; determining the corresponding energy storage coefficient and generalized energy function value based on the moment of inertia and the angular velocity of each momentum wheel; calculating the sum of the generalized energy function values ​​corresponding to each momentum wheel with an energy storage coefficient greater than a preset threshold, and determining the energy balance factor of each momentum wheel with an energy storage coefficient greater than the preset threshold based on the sum of the generalized energy function values; obtaining a pre-constructed energy balance condition equation, and solving the energy balance condition equation to obtain the angular velocity solution of each energy wheel; actively controlling the angular velocity of each momentum wheel based on the angular velocity solution and the energy balance factor, so that the angular momentum of the combined spacecraft reaches energy balance.

[0006] Optionally, the origin of the body coordinate system of each momentum wheel is the center of mass O of each momentum wheel, the Y axis is a straight line passing through the center of mass O and perpendicular to the rotation plane, the OX axis is a straight line passing through the center of mass O and parallel to the rotation plane, and the OZ axis is a straight line passing through the center of mass O and perpendicular to the OX axis and the OY axis; wherein, the relationship between the positive direction of the OY axis and the direction of the angular velocity is determined according to the right-hand rule, the positive direction of the OX axis points to the outside of the rotating wheel, and the relationship between the positive direction of the OZ axis and the OX axis and the OY axis is determined based on the right-hand rule.

[0007] Optionally, determining the corresponding energy storage coefficient and the generalized energy function value based on the moment of inertia and the angular velocity of each momentum wheel includes: determining the corresponding angular momentum based on the moment of inertia and the angular velocity of each momentum wheel; obtaining the upper limit of the rotation speed of each momentum wheel, and determining the corresponding energy storage coefficient based on the upper limit of the angular velocity and the corresponding angular velocity; determining the generalized energy function value of each momentum wheel based on the angular velocity of each momentum wheel, the trigonometric function value of the energy storage coefficient and the moment of inertia.

[0008] Optionally, determining the corresponding angular momentum based on the moment of inertia and the angular velocity of each momentum wheel includes: obtaining a first vector, the first vector being used to characterize the transpose of the moment of inertia of all the momentum wheels; obtaining a second vector, the second vector being used to characterize the angular velocity of all the momentum wheels; and obtaining the angular momentum of all the momentum wheels based on the product of the first vector and the second vector.

[0009] Optionally, the calculation of the sum of the generalized energy function values ​​corresponding to each of the momentum wheels having an energy storage coefficient greater than a preset threshold, and determining the energy balance factors of each of the momentum wheels having an energy storage coefficient greater than a preset threshold based on the sum of the generalized energy function values, includes: arranging each of the momentum wheels in descending order of the energy storage coefficient values ​​to obtain a momentum wheel sorting table; if it is determined that the energy coefficient of the momentum wheel ranked first in the momentum wheel sorting table is less than a preset energy unloading value, no processing is performed; otherwise, the sum of the generalized energy function values ​​corresponding to each of the momentum wheels having an energy coefficient greater than or equal to the preset energy unloading value in the momentum wheel sorting table is calculated; and the first The energy balance factor of each momentum wheel is determined according to the sum of the generalized energy function values ​​of each momentum wheel in the first sublist and the generalized energy function values ​​of all the momentum wheels in the first sublist; and the energy balance factor of each momentum wheel in the second sublist is set to zero; wherein the first sublist belongs to the momentum wheel sorting table, and the first sublist is used to represent each momentum wheel whose energy coefficient is greater than or equal to the preset energy unloading value, and the second sublist belongs to the momentum wheel sorting table, and the second sublist is used to represent each momentum wheel whose energy coefficient is less than the preset energy unloading value.

[0010] Optionally, the obtaining of a pre-constructed energy balance condition equation and solving the energy balance condition equation to obtain the angular velocity solution of each energy wheel includes: obtaining a rotation matrix, wherein the rotation matrix is ​​constructed based on the projection of the unit vectors of the three main axis directions of each momentum wheel in the body coordinate system in the body coordinate system of the first momentum wheel; calculating the projection of each momentum wheel in the body coordinate system of the first momentum wheel based on a preset projection calculation formula, wherein the preset projection calculation formula is:

[0011] Ω i =A i ·[0,L i ,0] T

[0012] In the formula, Ω i represents the projection of momentum wheel i in the body coordinate system of the first momentum wheel, A i represents the rotation matrix of momentum wheel i, L i represents the angular momentum of momentum wheel i; obtain a pre-constructed energy balance condition equation, wherein the expression of the energy balance condition equation is:

[0013]

[0014] In the formula, σ i represents the energy balance factor of momentum wheel i, A irepresents the rotation matrix of momentum wheel i, L i represents the angular momentum of momentum wheel i, ω i represents the angular velocity of momentum wheel i, x j represents the unknown number to be solved, I j represents the moment of inertia of the momentum wheel j whose energy coefficient is less than the preset energy unloading value, represents the upper limit of the speed of momentum wheel i;

[0015] Solve the energy balance condition equation to obtain the balanced speed, and the balanced speed expression is:

[0016]

[0017] Among them, ∧ represents logical AND, represents the speed after equilibrium, Indicates the preset energy unloading value.

[0018] In addition, to achieve the above-mentioned purpose, the second aspect of the present application also provides an active energy balancing device for multiple momentum wheels of a combined spacecraft, including: a first acquisition module, used to acquire the body coordinate system of each momentum wheel; a second acquisition module, used to acquire the moment of inertia and angular velocity of each momentum wheel; a first calculation module, used to determine the corresponding energy storage coefficient and generalized energy function value based on the moment of inertia and angular velocity of each momentum wheel; a second calculation module, used to calculate the sum of the generalized energy function values ​​corresponding to each momentum wheel with an energy storage coefficient greater than a preset threshold, and based on the sum of the generalized energy function values, respectively determine the energy balance factor of each momentum wheel with an energy storage coefficient greater than the preset threshold; a third calculation module, used to acquire a pre-constructed energy balance condition equation, and solve the energy balance condition equation to obtain the angular velocity solution of each energy wheel; a control module, used to actively control the angular velocity of each momentum wheel based on the angular velocity solution and the energy balance factor, so that the angular momentum of the combined spacecraft reaches energy balance.

[0019] To achieve the above-mentioned purpose, the third aspect of the present application also provides a combined spacecraft, including: multiple momentum wheels, an inertial measurement unit and a controller; wherein the inertial measurement unit is used to obtain the rotational inertia information and angular velocity information of each momentum wheel in the body coordinate system, and transmit the rotational inertia information and angular velocity information to the controller; the controller is used to execute the angular momentum energy balance control method of the combined spacecraft provided in the first aspect.

[0020] To achieve the above-mentioned purpose, the fourth aspect of the present application also provides a computer-readable storage medium, which includes instructions, which, when running on a computer, enables the computer to execute the combined spacecraft multi-momentum wheel active energy balancing method provided in the first aspect.

[0021] To achieve the above-mentioned purpose, the fifth aspect of the present application also provides an electronic device, which includes: at least one processor, a memory and an input-output unit; wherein the memory is used to store a computer program, and the processor is used to call the computer program stored in the memory to execute the active energy balancing method of multiple momentum wheels of a combined spacecraft provided in the first aspect.

[0022] The embodiments of the present application propose an active energy balancing method, device, spacecraft, medium and equipment for multiple momentum wheels of a combined spacecraft, which obtain the body coordinate system of each momentum wheel; obtain the moment of inertia and angular velocity of each momentum wheel; determine the corresponding energy storage coefficient and generalized energy function value based on the moment of inertia and angular velocity of each momentum wheel; calculate the sum of the generalized energy function values ​​corresponding to each momentum wheel with an energy storage coefficient greater than a preset threshold, and determine the energy balance factor of each momentum wheel with an energy storage coefficient greater than the preset threshold based on the sum of the generalized energy function values; obtain a pre-constructed energy balance condition equation, and solve the energy balance condition equation to obtain the angular velocity solution of each energy wheel; actively control the angular velocity of each momentum wheel based on the angular velocity solution and the energy balance factor to achieve energy balance of the angular momentum of the combined spacecraft, thereby solving the problem of energy balance distribution of multiple momentum wheels in the combined spacecraft under different energy levels. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic flow chart of an embodiment of a method for active energy balancing of multiple momentum wheels of a combined spacecraft of the present application;

[0024] Figure 2 A schematic diagram of the body coordinate system of two momentum wheels provided in an embodiment of the combined spacecraft multi-momentum wheel active energy balancing method of the present application;

[0025] Figure 3 A schematic diagram showing the performance comparison between the generalized energy function and the mechanical energy function provided in an embodiment of the multi-momentum wheel active energy balancing method for a combined spacecraft of the present application;

[0026] Figure 4 A structural block diagram is provided for an embodiment of a multi-momentum wheel active energy balancing device for a combined spacecraft of the present application.

[0027] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0028] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] Multiple spacecraft equipped with momentum wheels as control and energy storage devices are connected in space with a certain topological structure to form a combined spacecraft. As multiple momentum wheels control the combined spacecraft with a certain control strategy, there will be large differences in the rotation speeds between the momentum wheels. As the running time increases, these differences will gradually accumulate, causing some momentum wheels in the array to rotate too fast, while other individual momentum wheels rotate too slowly, which will cause the overall performance of the momentum wheel array to decline, and even serious safety hazards. Therefore, it is very necessary to balance the energy of multiple momentum wheels.

[0030] The current mainstream energy balancing technologies include passive balancing and active balancing. Compared with passive balancing technology, active balancing has higher efficiency, stronger safety and more stable system. It is one of the important technologies in the field of energy management of multiple energy storage devices.

[0031] To solve the above problems, see Figure 1 , which shows an active energy balancing method for multiple momentum wheels of a combined spacecraft. Under the consideration of constraints, the momentum wheel with the highest generalized energy function is unloaded first, and its angular momentum is transferred to other momentum wheels that have not reached saturation.

[0032] Reference Figure 1 The first embodiment of the present application provides a method for active energy balancing of multiple momentum wheels of a combined spacecraft. The method can be executed by a controller of the combined spacecraft. The method for active energy balancing of multiple momentum wheels of a combined spacecraft may include:

[0033] S10, obtaining the body coordinate system of each momentum wheel;

[0034] Specifically, the origin of the body coordinate system of each momentum wheel is the center of mass O of each momentum wheel, the Y axis is a straight line passing through the center of mass O and perpendicular to the rotation plane, the OX axis is a straight line passing through the center of mass O and parallel to the rotation plane, and the OZ axis is a straight line passing through the center of mass O and perpendicular to both the OX axis and the OY axis;

[0035] Among them, the relationship between the positive direction of the OY axis and the angular velocity direction is determined according to the right-hand rule, the positive direction of the OX axis points to the outside of the rotating wheel, and the relationship between the positive direction of the OZ axis and the OX axis and the OY axis is determined based on the right-hand rule.

[0036] refer to Figure 2 , exemplarily, the origin of the momentum wheel body coordinate system Located at m i The center of mass of the momentum wheel; passing through the origin The straight line perpendicular to the plane of rotation of the momentum wheel is Axis, whose positive direction is determined by the right-hand rule according to the angular velocity of rotation; passes through the origin The direction parallel to the momentum wheel's rotation plane and pointing outward is axis; Axis based on Axis and The axis is determined by the right-hand rule. Indicates the number is m i The momentum wheel body coordinate system, vector From the origin of the first momentum wheel coordinate system Points to the origin of the kth momentum wheel coordinate system

[0037] S20, obtaining the moment of inertia and angular velocity of each momentum wheel;

[0038] In the embodiments of the present application, R a×b Represents the set of real matrices with a rows and b columns.

[0039] Number is m i The moment of inertia of the momentum wheel rotating around the axis is I i , unit is kg·m 2 . Write the moment of inertia of k momentum wheels in matrix form:

[0040]

[0041] Number is m i The angular velocity of the momentum wheel rotating around the axis is ω i , in rad / s. The angular velocity of the k momentum wheels is expressed using the matrix:

[0042]

[0043] In a matrix, the function diag() is used to get the diagonal elements.

[0044] Number is m i The angular momentum of the momentum wheel rotating around the axis is L i =I i ω i , unit is kg·m 2 / s. The angular momentum matrix of k momentum wheels is:

[0045]

[0046] use and Representing coordinate system Unit vectors in the directions of the three principal axes. In the coordinate system The projection on is (a i11 a i21 a i31 ), In the coordinate system The projection on is (ai12 a i22 a i32 ), In the coordinate system The projection on

[0047] (a i13 a i23 a i33 ). Calculated by arrive The rotation matrix is:

[0048]

[0049] S30, determining the corresponding energy storage coefficient and generalized energy function value based on the moment of inertia and angular velocity of each momentum wheel;

[0050] S40, calculating the sum of the generalized energy function values ​​corresponding to each momentum wheel having an energy storage coefficient greater than a preset threshold, and determining the energy balance factor of each momentum wheel having an energy storage coefficient greater than the preset threshold based on the sum of the generalized energy function values;

[0051] S50, obtaining a pre-constructed energy balance condition equation, and solving the energy balance condition equation to obtain an angular velocity solution of each energy wheel;

[0052] S60, actively controlling the angular velocity of each momentum wheel based on the angular velocity solution and the energy balance factor, so that the angular momentum of the combined spacecraft reaches energy balance.

[0053] In summary, the present embodiment provides an active energy balancing method for multiple momentum wheels of a combined spacecraft, which obtains the body coordinate system of each momentum wheel; obtains the moment of inertia and angular velocity of each momentum wheel; determines the corresponding energy storage coefficient and generalized energy function value based on the moment of inertia and angular velocity of each momentum wheel; calculates the sum of the generalized energy function values ​​corresponding to each momentum wheel with an energy storage coefficient greater than a preset threshold, and determines the energy balance factor of each momentum wheel with an energy storage coefficient greater than the preset threshold based on the sum of the generalized energy function values; obtains a pre-constructed energy balance condition equation, and solves the energy balance condition equation to obtain the angular velocity solution of each energy wheel; actively controls the angular velocity of each momentum wheel based on the angular velocity solution and the energy balance factor, so that the angular momentum of the combined spacecraft reaches energy balance, thereby solving the problem of energy balance distribution of multiple momentum wheels in the combined spacecraft under different energy levels.

[0054] In the embodiment of the present application, step S30 may specifically include the following execution process:

[0055] S301, determining the corresponding angular momentum based on the moment of inertia and angular velocity of each momentum wheel;

[0056] S302, obtaining the upper limit of the rotation speed of each momentum wheel, and determining the corresponding energy storage coefficient based on the upper limit of the angular velocity and the corresponding angular velocity;

[0057] S303, determining the generalized energy function value of each momentum wheel based on the angular velocity of each momentum wheel, the trigonometric function value of the energy storage coefficient, and the moment of inertia.

[0058] The combined spacecraft calculates the energy storage coefficient and generalized energy function value of each momentum wheel by executing steps S301 to S303, laying a foundation for subsequent energy distribution.

[0059] The calculation process of the energy storage coefficient and the generalized energy function value is shown below as an example:

[0060] Number is m i The upper limit of the speed of the momentum wheel is

[0061] For all momentum wheels m i ∈D m , calculate its energy storage coefficient:

[0062]

[0063] For all momentum wheels m i ∈D m , calculate its generalized energy function:

[0064]

[0065] Figure 3 This is a schematic diagram of the performance comparison between the generalized energy function and the mechanical energy function provided in the embodiment of the active energy balancing method for multiple momentum wheels of the combined spacecraft of the present application. It can be seen from the figure that the performance of the generalized energy function in the present application is better than that of the mechanical energy function. The figure shows the changes of the generalized energy function and the mechanical energy function with the variables. It can be seen from the figure: When is small (close to 0), the values ​​of both energy functions are close to 0 and grow slowly. As the generalized energy function increases, the growth rate of the generalized energy function is significantly faster than that of the mechanical energy function, especially in Greater than After that, the gap gradually widened.

[0066] In the embodiment of the present application, step S301 may specifically include the following execution process:

[0067] S3011, obtaining a first vector, where the first vector is used to represent the transpose of the moment of inertia of all momentum wheels;

[0068] S3012, obtaining a second vector, where the second vector is used to represent the angular velocity of all momentum wheels;

[0069] S3013. Based on the product of the first vector and the second vector, obtain the angular momentum of all momentum wheels.

[0070] The combined spacecraft calculates the intermediate parameter angle used by each momentum wheel for energy balance by executing steps S3011 to S3013.

[0071] In the embodiment of the present application, step S40 may specifically include the following execution process:

[0072] S401, arranging the momentum wheels in descending order according to the energy storage coefficient values ​​to obtain a momentum wheel sorting table;

[0073] S402, if it is determined that the energy coefficient of the momentum wheel at the front of the momentum wheel ranking table is less than the preset energy unloading value, no processing is performed;

[0074] S403, otherwise, calculating the sum of the generalized energy function values ​​corresponding to each momentum wheel in the momentum wheel sorting table whose energy coefficient is greater than or equal to the preset energy unloading value;

[0075] S404, and calculating the sum of the generalized energy function values ​​of each momentum wheel in the first sublist and the generalized energy function values ​​of all momentum wheels in the first sublist, and determining the energy balance factor of each momentum wheel according to each generalized energy function value and the sum of the generalized energy function values;

[0076] S405, and setting the energy balance factor of each momentum wheel in the second sublist to zero;

[0077] Among them, the first sub-list belongs to the momentum wheel sorting table, and the first sub-list is used to represent each momentum wheel whose energy coefficient is greater than or equal to the preset energy unloading value. The second sub-list belongs to the momentum wheel sorting table, and the second sub-list is used to represent each momentum wheel whose energy coefficient is less than the preset energy unloading value.

[0078] The combined spacecraft evaluates the energy level of the momentum wheel by executing steps S401 to S405.

[0079] Specifically, the method for evaluating the energy level of the momentum wheel includes the following execution process:

[0080] For all momentum wheels m i ∈D m , according to its energy storage coefficient η i Arranged in a list from high to low:

[0081] B m =[m a1 ,m a2 ,...,m ak ],η a1 ≥ηa2 ≥…≥η ak

[0082] The momentum wheel unloading threshold is:

[0083] If the energy storage coefficient of all units in is less than Right now No active energy balancing is required.

[0084] If B m There are units with energy storage coefficients greater than Right now It is necessary to actively balance its energy.

[0085] The energy of the momentum wheels exceeding the threshold is distributed, and the rotation speeds of all momentum wheels are recalculated.

[0086] The sum of the generalized energy functions of the momentum wheels exceeding the threshold is:

[0087] For the momentum wheel m i ∈D m , and its normalized energy balance factor is:

[0088]

[0089] In the embodiment of the present application, step S50 may specifically include the following execution process:

[0090] S501, obtaining a rotation matrix, wherein the rotation matrix is ​​constructed based on the projection of the unit vectors of the three principal axis directions of each momentum wheel in the body coordinate system in the body coordinate system of the first momentum wheel;

[0091] S502, calculating the projection of each momentum wheel in the body coordinate system of the first momentum wheel based on a preset projection calculation formula, wherein the preset projection calculation formula is:

[0092] Ω i =A i ·[0,L i ,0] T

[0093] In the formula, Ω i represents the projection of momentum wheel i in the body coordinate system of the first momentum wheel, A i represents the rotation matrix of momentum wheel i, L i represents the angular momentum of momentum wheel i;

[0094] S503, obtaining a pre-constructed energy balance condition equation, wherein the expression of the energy balance condition equation is:

[0095]

[0096] In the formula, σ i represents the energy balance factor of momentum wheel i, A i represents the rotation matrix of momentum wheel i, L i represents the angular momentum of momentum wheel i, ω i represents the angular velocity of momentum wheel i, x j represents the unknown number to be solved, I j represents the moment of inertia of the momentum wheel j whose energy coefficient is less than the preset energy unloading value, represents the upper limit of the speed of momentum wheel i;

[0097] S504, solve the energy balance condition equation to obtain the balanced speed, and the balanced speed expression is:

[0098]

[0099] Among them, ∧ represents logical AND, represents the speed after equilibrium, Indicates the preset energy unloading value.

[0100] By executing steps S501 to S504, the combined spacecraft achieves the goal of preferentially distributing the energy in the momentum wheel whose energy is approaching saturation to other units while taking into account various constraints, thereby solving the problem of balanced energy distribution of multiple momentum wheels in the combined spacecraft under different energy levels.

[0101] Exemplarily, distributing the energy in the momentum wheel that is saturated with energy to other units includes the following execution process:

[0102] According to List D m The order in which the numbers are calculated is m i The angular momentum of the momentum wheel is L i exist The projection on is: i =A i ·[0,L i ,0] T .

[0103] by For unknown numbers, solve

[0104]

[0105] For the momentum wheel m i ∈D m , the balanced speed is:

[0106]

[0107] refer to Figure 4 Based on the above embodiments, the present application further provides a combined spacecraft multi-momentum wheel active energy balancing device. The combined spacecraft multi-momentum wheel active energy balancing device 100 includes a first acquisition module 101, a second acquisition module 102, a first calculation module 103, a second calculation module 104, a third calculation module 105 and a control module 106.

[0108] The first acquisition module 101 is used to acquire the body coordinate system of each momentum wheel;

[0109] The second acquisition module 102 is used to acquire the moment of inertia and angular velocity of each momentum wheel;

[0110] The first calculation module 103 is used to determine the corresponding energy storage coefficient and generalized energy function value based on the moment of inertia and angular velocity of each momentum wheel;

[0111] The second calculation module 104 calculates the sum of the generalized energy function values ​​corresponding to each momentum wheel having an energy storage coefficient greater than a preset threshold, and determines the energy balance factor of each momentum wheel having an energy storage coefficient greater than the preset threshold based on the sum of the generalized energy function values;

[0112] The third calculation module 105 is used to obtain a pre-constructed energy balance condition equation, and solve the energy balance condition equation to obtain an angular velocity solution of each energy wheel;

[0113] The control module 106 is used to actively control the angular velocity of each momentum wheel based on the angular velocity solution and the energy balance factor, so that the angular momentum of the combined spacecraft reaches energy balance.

[0114] Based on the above embodiments, the present application also provides a combined spacecraft, including: multiple momentum wheels, an inertial measurement unit and a controller; wherein the inertial measurement unit is used to obtain the rotational inertia information and angular velocity information of each momentum wheel in the body coordinate system, and transmit the rotational inertia information and angular velocity information to the controller; the controller is used to execute the angular momentum energy balance control method of the combined spacecraft provided in any of the above embodiments.

[0115] Based on the above embodiments, the present application also provides a computer-readable storage medium, which includes instructions, which, when executed on a computer, enables the computer to execute any one of the combined spacecraft multi-momentum wheel active energy balancing methods provided in any one of the aforementioned embodiments.

[0116] Based on the above embodiments, the present application also provides an electronic device, which includes: at least one processor, a memory and an input-output unit; wherein the memory is used to store computer programs, and the processor is used to call the computer programs stored in the memory to execute the active energy balancing method for multiple momentum wheels of a combined spacecraft provided in any of the above embodiments.

[0117] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for active energy balancing of multiple momentum wheels of a combined spacecraft, characterized in that: include: Obtain the body coordinate system of each momentum wheel; Obtaining the moment of inertia and angular velocity of each momentum wheel; Determine the corresponding energy storage coefficient and generalized energy function value based on the rotational inertia and the angular velocity of each momentum wheel; Calculating the sum of the generalized energy function values ​​corresponding to each of the momentum wheels having an energy storage coefficient greater than a preset threshold, and determining the energy balance factor of each of the momentum wheels having an energy storage coefficient greater than the preset threshold based on the sum of the generalized energy function values; Obtaining a pre-constructed energy balance condition equation, and solving the energy balance condition equation to obtain an angular velocity solution of each of the energy wheels; The angular velocity of each momentum wheel is actively controlled based on the angular velocity solution and the energy balance factor, so that the angular momentum of the combined spacecraft reaches energy balance.

2. The active energy balancing method for multiple momentum wheels of a combined spacecraft as claimed in claim 1, characterized in that: The origin of the body coordinate system of each momentum wheel is the center of mass O of each momentum wheel, the Y axis is a straight line passing through the center of mass O and perpendicular to the rotation plane, the OX axis is a straight line passing through the center of mass O and parallel to the rotation plane, and the OZ axis is a straight line passing through the center of mass O and perpendicular to the OX axis and the OY axis; Among them, the relationship between the positive direction of the OY axis and the angular velocity direction is determined according to the right-hand rule, the positive direction of the OX axis points to the outside of the rotating wheel, and the relationship between the positive direction of the OZ axis and the OX axis and the OY axis is determined based on the right-hand rule.

3. The active energy balancing method for multiple momentum wheels of a combined spacecraft as claimed in claim 2, characterized in that: The determining of the corresponding energy storage coefficient and generalized energy function value based on the rotational inertia and the angular velocity of each momentum wheel includes: determining a corresponding angular momentum based on the moment of inertia and the angular velocity of each of the momentum wheels; Obtaining the upper limit of the rotation speed of each momentum wheel, and determining the corresponding energy storage coefficient based on the upper limit of the angular velocity and the corresponding angular velocity; The generalized energy function value of each momentum wheel is determined based on the angular velocity of each momentum wheel, the trigonometric function value of the energy storage coefficient, and the moment of inertia.

4. The active energy balancing method for multiple momentum wheels of a combined spacecraft as claimed in claim 3, characterized in that: The determining the corresponding angular momentum based on the rotational inertia and the angular velocity of each momentum wheel comprises: Obtaining a first vector, wherein the first vector is used to represent the transpose of the moment of inertia of all the momentum wheels; Obtaining a second vector, where the second vector is used to characterize the angular velocity of all the momentum wheels; Based on the product of the first vector and the second vector, the angular momentum of all the momentum wheels is obtained.

5. The active energy balancing method for multiple momentum wheels of a combined spacecraft as claimed in claim 1, characterized in that: The calculating the sum of the generalized energy function values ​​corresponding to each of the momentum wheels having an energy storage coefficient greater than a preset threshold, and determining the energy balance factor of each of the momentum wheels having an energy storage coefficient greater than a preset threshold based on the sum of the generalized energy function values, respectively, includes: Arrange the momentum wheels in descending order according to the energy storage coefficient values ​​to obtain a momentum wheel sorting table; If it is determined that the energy coefficient of the momentum wheel ranked first in the momentum wheel ranking table is less than a preset energy unloading value, no processing is performed; Otherwise, calculating the sum of the generalized energy function values ​​corresponding to the momentum wheels whose energy coefficients are greater than or equal to the preset energy unloading value in the momentum wheel sorting table; and calculating the sum of the generalized energy function values ​​of each momentum wheel in the first sublist and the generalized energy function values ​​of all the momentum wheels in the first sublist, and determining the energy balance factor of each momentum wheel according to each generalized energy function value and the sum of the generalized energy function values; and setting the energy balance factor of each of the momentum wheels in the second sublist to zero; Among them, the first sub-list belongs to the momentum wheel sorting table, and the first sub-list is used to represent each momentum wheel whose energy coefficient is greater than or equal to the preset energy unloading value, and the second sub-list belongs to the momentum wheel sorting table, and the second sub-list is used to represent each momentum wheel whose energy coefficient is less than the preset energy unloading value.

6. The active energy balancing method for multiple momentum wheels of a combined spacecraft as claimed in claim 5, characterized in that: The obtaining of the pre-constructed energy balance condition equation and solving the energy balance condition equation to obtain the angular velocity solution of each energy wheel includes: Acquire a rotation matrix, wherein the rotation matrix is ​​constructed based on the projection of the unit vectors of the three principal axis directions of each momentum wheel in the body coordinate system in the body coordinate system of the first momentum wheel; The projection of each momentum wheel in the body coordinate system of the first momentum wheel is calculated based on a preset projection calculation formula, wherein the preset projection calculation formula is: Oh i =A i ·[0,L i ,0] T In the formula, Ω i represents the projection of momentum wheel i in the body coordinate system of the first momentum wheel, A i represents the rotation matrix of momentum wheel i, L i represents the angular momentum of momentum wheel i; Obtain a pre-constructed energy balance condition equation, wherein the expression of the energy balance condition equation is: In the formula, σ i represents the energy balance factor of momentum wheel i, A i represents the rotation matrix of momentum wheel i, L i represents the angular momentum of momentum wheel i, ω i represents the angular velocity of momentum wheel i, x j represents the unknown number to be solved, I j represents the moment of inertia of the momentum wheel j whose energy coefficient is less than the preset energy unloading value, represents the upper limit of the speed of momentum wheel i; Solve the energy balance condition equation to obtain the balanced speed, and the balanced speed expression is: Among them, ∧ represents logical AND, represents the speed after equilibrium, Indicates the preset energy unloading value.

7. A combined spacecraft multi-momentum wheel active energy balancing device, characterized in that: include: A first acquisition module is used to acquire the body coordinate system of each momentum wheel; A second acquisition module, used to acquire the moment of inertia and angular velocity of each momentum wheel; A first calculation module, used for determining a corresponding energy storage coefficient and a generalized energy function value based on the rotational inertia and the angular velocity of each momentum wheel; A second calculation module calculates the sum of the generalized energy function values ​​corresponding to each of the momentum wheels having an energy storage coefficient greater than a preset threshold, and determines the energy balance factor of each of the momentum wheels having an energy storage coefficient greater than the preset threshold based on the sum of the generalized energy function values; A third calculation module is used to obtain a pre-constructed energy balance condition equation and solve the energy balance condition equation to obtain an angular velocity solution of each energy wheel; The control module is used to actively control the angular velocity of each momentum wheel based on the angular velocity solution and the energy balance factor so that the angular momentum of the combined spacecraft reaches energy balance.

8. A combined spacecraft, characterized in that: include: multiple momentum wheels, inertial measurement units, and controllers; Wherein, the inertial measurement unit is used to obtain the rotational inertia information and angular velocity information of each momentum wheel in the body coordinate system, and transmit the rotational inertia information and angular velocity information to the controller; The controller is used to execute the angular momentum energy balance control method of the combined spacecraft as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The invention comprises instructions, which, when running on a computer, enable the computer to execute the method for active energy balancing of multiple momentum wheels of a combined spacecraft as claimed in any one of claims 1 to 6.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor, memory, and input-output unit; The memory is used to store a computer program, and the processor is used to call the computer program stored in the memory to execute the combined spacecraft multi-momentum wheel active energy balancing method according to any one of claims 1 to 6.

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