Method and device for determining on-orbit longest working time of thruster and electronic equipment

Abstract

The invention provides a thruster on-orbit longest working time determining method and device and electronic device.The thruster on-orbit longest working time determining method comprises the steps that according to the installation condition of thrusters on a satellite according to a preset inclination angle, an installation position matrix of the thrusters is established; the installation position matrix is established based on a satellite body coordinate system of the satellite; based on the on-off state of each thruster on the satellite, determining a symbolic relation of each axis torque component on the satellite body coordinate system; and based on the installation position matrix of each thruster, analyzing the disturbance torque generated by the installation mode of the thruster on each axis of the satellite body coordinate system, and determining the total disturbance torque generated by all the thrusters. According to the invention, the attitude stability and orbit adjustment capability of the satellite in a complex environment are ensured, and the problem that the prediction of the longest working time of the thruster is not accurate enough in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft power control technology, and in particular to a method, device and electronic equipment for determining the maximum on-orbit working time of a thruster. Background Art

[0002] A thruster is a reaction thruster that generates thrust by heating or ionizing propellant with electric energy to accelerate the jet. It is integrated with the power subsystem, power converter and control subsystem, and propellant storage and delivery subsystem to become the electric propulsion system of a spacecraft. Thrusters are widely used in space propulsion missions such as satellite position keeping and orbit transfer.

[0003] According to the investigation of existing patent results, since the satellite is inevitably affected by interference torque and other factors during its actual operation, these factors may affect the prediction and calculation of the thruster's working time, making the final maximum working time of the thruster inaccurate, which is not conducive to the control of the satellite's operating status.

[0004] There is no effective solution to the problem of inaccurate prediction of the maximum working time of the thruster in the existing related technologies. Summary of the invention

[0005] The present invention provides a method, a device and an electronic device for determining the maximum on-orbit working time of a thruster, so as to solve the defect in the prior art that the maximum working time of the thruster is not accurately predicted.

[0006] In a first aspect, the present invention provides a method for determining a maximum on-orbit working time of a thruster, comprising: According to the installation of the thrusters on the satellite at a preset inclination angle, an installation position matrix of the thrusters is established; the installation position matrix is ​​established based on a satellite body coordinate system of the satellite; Determining the sign relationship of the torque components of each axis in the satellite body coordinate system based on the switch state of each thruster on the satellite; Analyzing the interference torque generated by the installation mode of the thrusters on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determining the total interference torque generated by all the thrusters; The isochronous start-up control of the thrusters is analyzed based on the total disturbance torque generated by the thrusters to determine the maximum orbit change maneuvering time and the acceptable maximum orbit change speed increment of the satellite.

[0007] According to a method for determining the maximum on-orbit working time of a thruster provided by the present invention, an installation position matrix of the thruster is established according to the installation conditions of the thruster on the satellite according to a preset inclination angle, including: Constructing the satellite body coordinate system according to the position of the satellite, and determining each axis of the satellite body coordinate system; Determine the position coordinates of each thruster in the satellite body coordinate system according to the installation position and reasoning direction of each thruster; The position coordinates of all the thrusters are integrated to generate an installation position matrix of the thrusters.

[0008] According to a method for determining the maximum on-orbit working time of a thruster provided by the present invention, based on the switch state of each thruster on the satellite, the sign relationship of the torque components of each axis in the satellite body coordinate system is determined, including: By using the control variable method, the torque results of each axis on the satellite body coordinate system under different switch combination states of the thruster are obtained; The torque results under all switch combination states are integrated to determine the sign relationship of the torque components of each axis in the satellite body coordinate system.

[0009] According to a method for determining the maximum on-orbit working time of a thruster provided by the present invention, based on the installation position matrix of each thruster, the interference torque generated by the installation mode of the thruster on each axis of the satellite body coordinate system is analyzed, and the total interference torque generated by all the thrusters is determined, including: Obtaining error terms related to the satellite orbit control; Determining the interference torque generated by each thruster on each axis in combination with the error terms related to the satellite orbit control; Based on the disturbance torque generated by each thruster at each shaft, a total disturbance torque generated by the thruster at each shaft is determined.

[0010] According to a method for determining the maximum on-orbit working time of a thruster provided by the present invention, the error terms related to satellite orbit control include the installation position deviation of the thruster, the center of mass deviation of the satellite, the thrust magnitude deviation of the thruster, the installation angle error of the thruster and the thrust eccentricity error of the thruster.

[0011] According to a method for determining the maximum on-orbit working time of a thruster provided by the present invention, the interference torque generated by each thruster on each axis is determined in combination with the error term related to the satellite orbit control, including: Determining the coordinates of the point of action of the thruster on the satellite; Based on the coordinates of the thruster's action point on the satellite, determining the radius vector and the thrust vector from the satellite's center of mass to the thruster's action point; the thrust vector is used to characterize the thrust magnitude of the thruster; Determining the inference direction of the thruster, and determining the current thrust direction vector of the thruster in combination with the thrust vector of the thruster; Based on the current thrust direction vector of the thruster, the interference torque generated by the thruster on each axis is determined.

[0012] According to a method for determining the maximum on-orbit working time of a thruster provided by the present invention, determining the coordinates of the action point of the thruster on the satellite includes: The action point of the thruster on the satellite is obtained, and the coordinates of the action point of the thruster are determined in combination with the center of mass deviation of the satellite.

[0013] According to a method for determining the maximum on-orbit working time of a thruster provided by the present invention, the isochronous start-up control of the thruster is analyzed based on the total interference torque generated by the thruster to determine the maximum orbit change maneuvering time and the acceptable maximum orbit change speed increment of the satellite, including: Determining the maximum disturbance torque generated by each axis of the satellite during orbital maneuvers based on the total disturbance torque generated by the thruster; Determine the maximum orbit change maneuvering time of the satellite in combination with the maximum momentum moment of a single flywheel of the satellite; The maximum orbit change velocity increment of the satellite is determined by combining the maximum orbit change maneuvering time of the satellite and the satellite acceleration when all the thrusters are fully opened.

[0014] In a second aspect, the present invention further provides a device for determining the maximum on-orbit working time of a thruster, comprising: A construction module, used to establish an installation position matrix of the thruster according to the installation condition of the thruster on the satellite according to the preset inclination angle; the installation position matrix is ​​established based on the satellite body coordinate system of the satellite; A processing module, configured to determine the sign relationship of the torque components of each axis in the satellite body coordinate system based on the switch state of each thruster on the satellite; An analysis module, configured to analyze the interference torque generated by the installation mode of the thrusters on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determine the total interference torque generated by all the thrusters; The determination module is used to analyze the isochronous start-up control of the thruster based on the total interference torque generated by the thruster, and determine the maximum orbit change maneuvering time and the acceptable maximum orbit change speed increment of the satellite.

[0015] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for determining the maximum on-orbit operating time of a thruster as described in the first aspect above is implemented.

[0016] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for determining the maximum on-orbit operating time of a thruster as described in the first aspect above.

[0017] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method for determining the maximum on-orbit operating time of a thruster as described in the first aspect above.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The method for determining the maximum on-orbit working time of a thruster provided by the present invention predicts the maximum operating time of the thruster by taking into account the interference torque of the satellite, thereby ensuring the attitude stability and orbit adjustment capability of the satellite in complex environments, effectively reducing the difficulty of manufacturing and control, and showing significant advantages in the accuracy and robustness of satellite orbit control, thereby solving the problem of inaccurate prediction of the maximum working time of the thruster in the existing related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 is a flow chart of a method for determining the maximum on-orbit working time of a thruster provided by the present invention; Figure 2 In the embodiment of the present invention, four thrusters are tilted at a preset angle. α Schematic diagram of the installation; Figure 3 Schematic diagram of the relationship between the switch states of the four thrusters and the sign of the torque components of each shaft in an embodiment of the present invention; Figure 4 It is a structural block diagram of a device for determining the maximum on-orbit working time of a thruster provided by the present invention; Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The present invention provides a method for determining the maximum on-orbit working time of a thruster. Figure 1 : is a flow chart of the method for determining the maximum on-orbit working time of a thruster provided by the present invention. Figure 1 As shown, the method comprises the following steps: Step S101, establishing an installation position matrix of the thruster according to the installation condition of the thruster on the satellite according to the preset inclination angle; the installation position matrix is ​​established based on the satellite body coordinate system of the satellite; Step S102, determining the sign relationship of the torque components of each axis in the satellite body coordinate system based on the switch state of each thruster on the satellite; Step S103, analyzing the interference torque generated by the installation mode of the thrusters on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determining the total interference torque generated by all thrusters; Step S104: analyzing the isochronous start-up control of the thrusters based on the total disturbance torque generated by the thrusters to determine the maximum orbit change maneuvering time and the acceptable maximum orbit change speed increment of the satellite.

[0023] In this method, taking a satellite with four thrusters as an example, first, according to the installation inclination angle of the thrusters on the satellite, the installation position matrix of the thrusters is established, and the installation position matrix can characterize the specific positions of the four thrusters relative to the satellite. Then, according to the switch state of each thruster, the sign relationship of the torque components of each axis on the satellite body coordinate system is determined, which is convenient for the subsequent analysis of the interference torque. Then, according to the installation position matrix of each thruster, the interference torque generated by the installation method of the thruster on each axis of the satellite body coordinate system is analyzed. The total interference torque generated by all thrusters is determined by combining the results of the interference torque obtained by the above analysis. Finally, based on the total interference torque, the maximum orbit change maneuvering time of the satellite and the maximum acceptable orbit change speed increment are determined. In the above process, the interference torque of the satellite is taken into account, and the maximum operating time of the thruster is predicted, which ensures the attitude stability and orbit adjustment capability of the satellite in a complex environment, effectively reduces the difficulty of manufacturing and control, and shows significant advantages in the accuracy and robustness of satellite orbit control, solving the problem of inaccurate prediction of the maximum working time of the thruster in the existing related technologies.

[0024] In some of the embodiments, step S101, based on the installation of the thrusters on the satellite at preset inclination angles, establishes an installation position matrix of the thrusters, including: constructing a satellite body coordinate system based on the position of the satellite, and determining the axes of the satellite body coordinate system; determining the position coordinates of each thruster in the satellite body coordinate system based on the installation position and reasoning direction of each thruster; and generating an installation position matrix of the thrusters by integrating the position coordinates of all thrusters.

[0025] For example, the analysis of four thrusters at a certain angle Tilt the installation position and establish its installation position matrix. The specific process is as follows: The thruster is installed on the bottom plate where the docking ring is located. The specific installation layout is as follows: Figure 2 As shown, Figure 2 In the embodiment of the present invention, four thrusters are tilted at a preset angle. α Installation diagram, thrust direction is parallel to the YOZ plane, starting from -Z axis direction, rotating around +X axis The angle is the thrust direction of thrusters ① and ②, rotating around the +X axis - The angle is the thrust direction of thrusters ③ and ④, so the angle between the thrust direction and the +Z direction is If the thruster① installation position coordinates are marked as , , and are all greater than or equal to 0, then the thruster installation position matrix is:

[0026] in, D Represents the thruster installation position matrix.

[0027] In some of the embodiments, step S102, based on the switch state of each thruster on the satellite, determines the sign relationship of the torque components of each axis in the satellite body coordinate system, including: obtaining the torque results of each axis in the satellite body coordinate system when the thruster is in different switch combination states through the control variable method; and determining the sign relationship of the torque components of each axis in the satellite body coordinate system by integrating the torque results under all switch combination states.

[0028] For example, the sign relationship of the torque components of each shaft is obtained by the switch state of each thruster, such as Figure 3 As shown, Figure 3 Schematic diagram of the relationship between the switch states of the four thrusters and the sign of the torque components of each shaft in the embodiment of the present invention. Figure 3It can be seen that there are only two cases where the torque of the thrusters on each axis is 0: thrusters ①, ②, ③, and ④ are fully open, and thrusters ①, ②, ③, and ④ are fully closed. Therefore, when one thruster fails, the propulsion system cannot work normally under the strategy of isochronous power on and off.

[0029] In some of the embodiments, step S103, based on the installation position matrix of each thruster, analyzes the interference torque generated by the installation method of the thruster on each axis of the satellite body coordinate system, and determines the total interference torque generated by all thrusters, including: obtaining error terms related to satellite orbit control; determining the interference torque generated by each thruster on each axis in combination with the error terms related to satellite orbit control; based on the interference torque generated by each thruster on each axis, determining the total interference torque generated by the thruster on each axis.

[0030] In this embodiment, the error items related to satellite orbit control include the installation position deviation of the thruster, the center of mass deviation of the satellite, the thrust magnitude deviation of the thruster, the installation angle error of the thruster and the thrust eccentricity error of the thruster.

[0031] Specifically, in combination with error terms related to satellite orbit control, the interference torque generated by each thruster on each axis is determined, including: determining the coordinates of the thruster's point of action on the satellite; based on the coordinates of the thruster's point of action on the satellite, determining the radius vector and thrust vector from the satellite's center of mass to the thruster's point of action; the thrust vector is used to characterize the thrust size of the thruster; determining the inference direction of the thruster, and determining the current thrust direction vector of the thruster in combination with the thrust vector of the thruster; based on the current thrust direction vector of the thruster, determining the interference torque generated by the thruster on each axis.

[0032] More specifically, determining the coordinates of the thruster's point of action on the satellite includes: obtaining the thruster's point of action on the satellite, and determining the coordinates of the thruster's point of action in combination with the satellite's center of mass deviation.

[0033] For example, first, given the satellite orbit control related error terms, they are as follows: thruster installation position deviation ≤ 2mm; satellite center of mass deviation ≤ 5mm (tank center of mass change and satellite platform eccentricity error); thrust magnitude deviation ≤ 5% (1N thruster); thruster installation angle error ≤ 0.5° (better than 0.2); thrust eccentricity error < 1° (thruster processing error). The thrust direction deviation angle is the cumulative thruster installation angle error and the thrust eccentricity error of the thruster itself: .

[0034] The four thrusters are at a certain angle In the case of tilted installation, the interference torque generated by each axis is analyzed. The specific process is as follows: Considering the deviation of the center of mass in the XOY plane of the satellite body coordinate system, the center of mass coordinate can be set to ,have ,in . Let the coordinates of the thrust points of the four thrusters on the star be , Considering the thruster installation position deviation, the coordinates of the four thruster action points can be expressed as , , , .have , , , ,in .

[0035] Radius vector from center of mass to thruster action point It can be expressed as:

[0036] in, represents the radius vector. The thrust vector can be expressed as:

[0037] in, is the thrust vector, is the thrust size, is the unit vector of thrust direction. Considering the deviation of thrust magnitude, we have:

[0038] Since the theoretical thrust direction of the thruster is parallel to the YOZ plane, it starts from the -Z axis and rotates around the +X axis. The angle is the thrust direction of thrusters ① and ②, rotating around the +X axis The angle is the thrust direction of thrusters ③ and ④, so the theoretical thrust direction of the thruster is It can be expressed as (it can be seen as the coordinate system rotating in the opposite direction):

[0039] in, , , , For the X-axis rotation matrix, we have: .

[0040] Further considering the thrust direction angle deviation, the thrust direction vector takes the thruster installation point as the vertex and the theoretical thrust direction vector as the axis, and the semi-cone angle is The cone envelope of . Figure 3 As shown, establish the coordinate system , the origin of the coordinate system is the center of the cone base, and Axis parallel, The direction is consistent with the theoretical thrust. Axis and , The current thrust direction can be regarded as the theoretical thrust direction vector first revolving around + Axis rotation Angle, then around + Axis rotation Angle. Coordinate system Rotate the coordinate system around the +X axis Therefore, the thrust direction vector of the thruster is , which can be expressed as:

[0041] Among them, is the Y-axis rotation matrix, , and there is .

[0042] Based on the above, when considering the thruster installation position deviation, center of mass deviation, thrust magnitude deviation and thrust direction deviation, the interference torque generated by each thruster is , which can be expressed as:

[0043] The total disturbance torque generated by the four thrusters is expressed as:

[0044] in, It indicates the total disturbance torque. It can be seen that the thruster will generate disturbance torque on the X, Y and Z axes.

[0045] In some of the embodiments, the isochronous start-up control of the thrusters is analyzed based on the total interference torque generated by the thrusters to determine the maximum orbit change maneuvering time and the acceptable maximum orbit change speed increment of the satellite, including: determining the maximum interference torque generated by each axis of the satellite during the orbital maneuvering process based on the total interference torque generated by the thrusters; determining the maximum orbit change maneuvering time of the satellite in combination with the maximum momentum torque of a single flywheel of the satellite; determining the maximum orbit change speed increment of the satellite in combination with the maximum orbit change maneuvering time of the satellite and the satellite acceleration when all thrusters are fully opened.

[0046] For example, affected by factors such as thruster installation error, thrust size, and center of mass deviation, the maximum interference torque generated by each axis of the satellite during orbital maneuvers is The maximum momentum of a single flywheel is , assuming that half of the maximum momentum of the flywheel is the momentum change that can be provided on each axis, the maximum orbit change maneuver time of the satellite is:

[0047] in, t max Indicates the maximum orbit change engine time. Since the thrusts of thrusters ①, ②, ③, and ④ are , satellite quality , then the acceleration of the satellite when all four thrusters are fully opened is:

[0048] in, a represents acceleration, then the maximum acceptable track change speed increment is:

[0049] in, Therefore, considering the influence of the maximum disturbance torque generated by each axis of the satellite during orbital maneuvers on the satellite attitude control system under the condition of the limit thrust error, the maximum orbit change speed increment acceptable to the satellite is .

[0050] In one time step, according to the above torque calculation formula, the inclination angle of the thrust direction is set to 0. All possible deviation conditions are traversed. By this method, the maximum interference torque in each possible condition can be calculated and determined. The final result is shown in the following embodiment, which shows the peak value of the interference torque generated by the thruster on the X, Y, and Z axes under the joint action of multiple deviation factors.

[0051] Considering all error sources, the impact of different thrust installation angle errors on satellite orbit change is shown in Table 1: Table 1 Data table of the impact of different thrust installation angle errors on satellite orbit change (considering all error sources)

[0052] Considering only the thrust angle error, the impact of different thrust installation angle errors on satellite orbit change is shown in Table 2: Table 2 Data table of the impact of different thrust installation angle errors on satellite orbit change (only considering thrust angle error)

[0053] In summary, this method ensures the attitude stability and orbit adjustment capability of the satellite in complex environments by comprehensively analyzing factors such as the thruster installation position, switch status, and interference torque of the four-thruster satellite, especially when considering the interference torque and error terms, effectively reduces the difficulty of manufacturing and control, and shows significant advantages in the accuracy and robustness of satellite orbit control.

[0054] The present invention also provides a device for determining the maximum on-orbit working time of a thruster. The device for determining the maximum on-orbit working time of a thruster provided by the present invention is described below. The device for determining the maximum on-orbit working time of a thruster described below and the method for determining the maximum on-orbit working time of a thruster described above can be referred to each other. Figure 4 : is a structural block diagram of a device for determining the maximum on-orbit working time of a thruster provided by the present invention, such as Figure 4 As shown, the device comprises: A construction module 401 is used to establish an installation position matrix of the thruster according to the installation of the thruster on the satellite according to a preset inclination angle; the installation position matrix is ​​established based on the satellite body coordinate system of the satellite; The processing module 402 is used to determine the sign relationship of the torque components of each axis in the satellite body coordinate system based on the switch state of each thruster on the satellite; An analysis module 403 is used to analyze the interference torque generated by the installation mode of the thrusters on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determine the total interference torque generated by all thrusters; The determination module 404 is used to analyze the isochronous start-up control of the thrusters based on the total disturbance torque generated by the thrusters, and determine the maximum orbit change maneuvering time and the acceptable maximum orbit change speed increment of the satellite.

[0055] When the device is in use, taking a satellite with four thrusters as an example, firstly, the construction module 401 establishes the installation position matrix of the thrusters according to the installation inclination angle of the thrusters on the satellite, and the installation position matrix can characterize the specific positions of the four thrusters relative to the satellite. Then, the processing module 402 determines the sign relationship of the torque components of each axis in the satellite body coordinate system according to the switch state of each thruster, so as to facilitate the subsequent analysis of the interference torque. The analysis module 403 then analyzes the interference torque generated by the installation method of the thrusters on each axis of the satellite body coordinate system according to the installation position matrix of each thruster. The results of the interference torque obtained by the above analysis are combined to determine the total interference torque generated by all thrusters. Finally, the determination module 404 determines the maximum orbit change maneuvering time and the acceptable maximum orbit change speed increment of the satellite based on the total interference torque. In the above process, the interference torque of the satellite is taken into consideration, and the maximum operating time of the thruster is predicted, which ensures the attitude stability and orbit adjustment capability of the satellite in complex environments, effectively reduces the difficulty of manufacturing and control, and demonstrates significant advantages in the accuracy and robustness of satellite orbit control, solving the problem of inaccurate prediction of the maximum working time of the thruster in existing related technologies.

[0056] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5As shown, the electronic device may include: a processor 501, a communications interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communications interface 502 and the memory 503 communicate with each other via the communication bus 504. The processor 501 may call the logic instructions in the memory 503 to execute a method for determining the maximum on-orbit working time of a thruster, the method comprising: According to the installation of the thrusters on the satellite according to the preset inclination angle, an installation position matrix of the thrusters is established; the installation position matrix is ​​established based on the satellite body coordinate system of the satellite; Based on the on / off status of each thruster on the satellite, determine the sign relationship of the torque components of each axis in the satellite body coordinate system; Based on the installation position matrix of each thruster, the interference torque generated by the installation mode of the thruster on each axis of the satellite body coordinate system is analyzed, and the total interference torque generated by all thrusters is determined; The isochronous start-up control of the thrusters is analyzed based on the total disturbance torque generated by the thrusters to determine the maximum orbit change maneuvering time and the maximum acceptable orbit change speed increment of the satellite.

[0057] In addition, the logic instructions in the above-mentioned memory 503 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0058] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the method for determining the maximum on-orbit working time of a thruster provided by the above methods, the method comprising: According to the installation of the thrusters on the satellite according to the preset inclination angle, an installation position matrix of the thrusters is established; the installation position matrix is ​​established based on the satellite body coordinate system of the satellite; Based on the on / off status of each thruster on the satellite, determine the sign relationship of the torque components of each axis in the satellite body coordinate system; Based on the installation position matrix of each thruster, the interference torque generated by the installation mode of the thruster on each axis of the satellite body coordinate system is analyzed, and the total interference torque generated by all thrusters is determined; The isochronous start-up control of the thrusters is analyzed based on the total disturbance torque generated by the thrusters to determine the maximum orbit change maneuvering time and the maximum acceptable orbit change speed increment of the satellite.

[0059] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the method for determining the maximum on-orbit working time of a thruster provided by the above methods, the method comprising: According to the installation of the thrusters on the satellite according to the preset inclination angle, an installation position matrix of the thrusters is established; the installation position matrix is ​​established based on the satellite body coordinate system of the satellite; Based on the on / off status of each thruster on the satellite, determine the sign relationship of the torque components of each axis in the satellite body coordinate system; Based on the installation position matrix of each thruster, the interference torque generated by the installation mode of the thruster on each axis of the satellite body coordinate system is analyzed, and the total interference torque generated by all thrusters is determined; The isochronous start-up control of the thrusters is analyzed based on the total disturbance torque generated by the thrusters to determine the maximum orbit change maneuvering time and the maximum acceptable orbit change speed increment of the satellite.

[0060] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0061] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the maximum on-orbit working time of a thruster, characterized in that: include: Establishing an installation position matrix of the thrusters according to the installation conditions of the thrusters on the satellite according to the preset inclination angles; The installation position matrix is ​​established based on the satellite body coordinate system of the satellite; Determining the sign relationship of the torque components of each axis in the satellite body coordinate system based on the switch state of each thruster on the satellite; Analyzing the interference torque generated by the installation mode of the thrusters on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determining the total interference torque generated by all the thrusters; The isochronous start-up control of the thrusters is analyzed based on the total disturbance torque generated by the thrusters to determine the maximum orbit change maneuvering time and the acceptable maximum orbit change speed increment of the satellite.

2. The method for determining the maximum on-orbit working time of a thruster according to claim 1, characterized in that: According to the installation of the thrusters on the satellite according to the preset inclination angle, an installation position matrix of the thrusters is established, including: Constructing the satellite body coordinate system according to the position of the satellite, and determining each axis of the satellite body coordinate system; Determine the position coordinates of each thruster in the satellite body coordinate system according to the installation position and reasoning direction of each thruster; The position coordinates of all the thrusters are integrated to generate an installation position matrix of the thrusters.

3. The method for determining the maximum on-orbit working time of a thruster according to claim 1, characterized in that: Determining the sign relationship of the torque components of each axis in the satellite body coordinate system based on the switch state of each thruster on the satellite includes: By using the control variable method, the torque results of each axis on the satellite body coordinate system under different switch combination states of the thruster are obtained; The torque results under all switch combination states are integrated to determine the sign relationship of the torque components of each axis in the satellite body coordinate system.

4. The method for determining the maximum on-orbit working time of a thruster according to claim 1, characterized in that: Analyzing the interference torque generated by the installation mode of the thrusters on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determining the total interference torque generated by all the thrusters, including: Obtaining error terms related to the satellite orbit control; Determining the interference torque generated by each thruster on each axis in combination with the error terms related to the satellite orbit control; Based on the disturbance torque generated by each thruster at each shaft, a total disturbance torque generated by the thruster at each shaft is determined.

5. The method for determining the maximum on-orbit working time of a thruster according to claim 4, characterized in that: The error items related to the satellite orbit control include the installation position deviation of the thruster, the center of mass deviation of the satellite, the thrust magnitude deviation of the thruster, the installation angle error of the thruster and the thrust eccentricity error of the thruster.

6. The method for determining the maximum on-orbit working time of a thruster according to claim 5, characterized in that: In combination with the satellite orbit control related error terms, determining the interference torque generated by each thruster on each axis includes: Determining the coordinates of the point of action of the thruster on the satellite; Based on the coordinates of the thruster's action point on the satellite, determining the radius vector and the thrust vector from the satellite's center of mass to the thruster's action point; the thrust vector is used to characterize the thrust magnitude of the thruster; Determining the inference direction of the thruster, and determining the current thrust direction vector of the thruster in combination with the thrust vector of the thruster; Based on the current thrust direction vector of the thruster, the interference torque generated by the thruster on each axis is determined.

7. The method for determining the maximum on-orbit working time of a thruster according to claim 6, characterized in that: Determining the coordinates of the point of action of the thruster on the satellite includes: The action point of the thruster on the satellite is obtained, and the coordinates of the action point of the thruster are determined in combination with the center of mass deviation of the satellite.

8. The method for determining the maximum on-orbit working time of a thruster according to claim 1, characterized in that: Analyzing the isochronous start-up control of the thruster based on the total disturbance torque generated by the thruster to determine the maximum orbit change maneuvering time and the acceptable maximum orbit change speed increment of the satellite, including: Determining the maximum disturbance torque generated by each axis of the satellite during orbital maneuvers based on the total disturbance torque generated by the thruster; Determine the maximum orbit change maneuvering time of the satellite in combination with the maximum momentum moment of a single flywheel of the satellite; The maximum orbit change speed increment of the satellite is determined by combining the maximum orbit change maneuvering time of the satellite and the satellite acceleration when all the thrusters are fully opened.

9. A device for determining the maximum working time of a thruster on orbit, characterized in that: include: A construction module, for establishing an installation position matrix of the thrusters according to the installation conditions of the thrusters on the satellite at preset inclination angles; The installation position matrix is ​​established based on the satellite body coordinate system of the satellite; A processing module, configured to determine the sign relationship of the torque components of each axis in the satellite body coordinate system based on the switch state of each thruster on the satellite; An analysis module, configured to analyze the interference torque generated by the installation mode of the thrusters on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determine the total interference torque generated by all the thrusters; The determination module is used to analyze the isochronous start-up control of the thruster based on the total interference torque generated by the thruster, and determine the maximum orbit change maneuvering time and the acceptable maximum orbit change speed increment of the satellite.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for determining the maximum on-orbit working time of a thruster according to any one of claims 1 to 8 is implemented.

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