A method, apparatus, and electronic equipment for determining the longest on-orbit operating time of a thruster.

Abstract

This invention provides a method, apparatus, and electronic device for determining the longest on-orbit operating time of a thruster. The method includes: establishing an installation position matrix for the thrusters based on their installation at preset tilt angles on the satellite; establishing the installation position matrix based on the satellite's body coordinate system; determining the sign relationship of the torque components along each axis of the satellite body coordinate system based on the on / off state of each thruster on the satellite; analyzing the disturbance torque generated by the installation method of each thruster on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determining the total disturbance torque generated by all thrusters. This invention ensures the attitude stability and orbital adjustment capability of the satellite in complex environments and solves the problem of insufficient accuracy in predicting the longest operating time of thrusters in existing related technologies.

Description

Technical Field

[0001] This invention relates to the field of spacecraft power control technology, and in particular to a method, apparatus and electronic equipment for determining the longest on-orbit operating time of a thruster. Background Technology

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

[0003] According to a survey of existing patent results, during actual satellite operation, there are inevitably factors such as interference torque. These factors may affect the prediction and calculation of the thruster's working time, making the final maximum working time of the thruster less accurate and hindering the control of the satellite's operating status.

[0004] There is currently no effective solution to the problem of insufficient accuracy in predicting the maximum operating time of thrusters in existing related technologies. Summary of the Invention

[0005] This invention provides a method, apparatus, and electronic device for determining the longest on-orbit operating time of a thruster, in order to address the shortcomings of existing technologies in predicting the longest operating time of thrusters that are not accurate enough.

[0006] In a first aspect, the present invention provides a method for determining the longest on-orbit operating time of a thruster, comprising:

[0007] Based on the installation of the thrusters on the satellite at a preset tilt angle, an installation position matrix for the thrusters is established; the installation position matrix is ​​established based on the satellite's body coordinate system.

[0008] Based on the on / off state of each thruster on the satellite, determine the sign relationship of the torque components of each axis in the satellite body coordinate system;

[0009] Based on the installation position matrix of each thruster, analyze the disturbance torque generated by the installation method of the thruster on each axis of the satellite body coordinate system, and determine the total disturbance torque generated by all the thrusters;

[0010] Based on the total disturbance torque generated by the thruster, the isochronous start-up control of the thruster is analyzed to determine the maximum orbit change maneuver time and the maximum acceptable orbit change speed increment of the satellite.

[0011] According to a method for determining the longest on-orbit operating time of a thruster provided by the present invention, a matrix of the installation positions of the thrusters is established based on the installation of the thrusters on the satellite at a preset tilt angle, including:

[0012] Construct the satellite body coordinate system based on the satellite's location, and determine the axes of the satellite body coordinate system;

[0013] Based on the installation location and inference direction of each thruster, determine the position coordinates of each thruster in the satellite body coordinate system;

[0014] By combining the position coordinates of all the thrusters, an installation position matrix of the thrusters is generated.

[0015] According to a method for determining the longest on-orbit operating time of a thruster provided by the present invention, based on the on / off 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:

[0016] By using the controlled variable method, the torque results of each axis in the satellite body coordinate system were obtained under different switching combinations of the thruster.

[0017] By combining the torque results under all switch combinations, the sign relationship of the torque components of each axis in the satellite body coordinate system is determined.

[0018] According to a method for determining the longest on-orbit operating time of a thruster provided by the present invention, the method analyzes the disturbance torque generated by the installation method of each thruster on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determines the total disturbance torque generated by all the thrusters, including:

[0019] Obtain the error terms related to the satellite orbit control;

[0020] Based on the error terms related to satellite orbit control, determine the disturbance torque generated by each thruster on each axis;

[0021] The total disturbance torque generated by each thruster on each axis is determined based on the disturbance torque generated by each thruster on each axis.

[0022] According to the present invention, a method for determining the longest on-orbit operating time of a thruster is provided, wherein the error terms related to satellite orbit control include the installation position deviation of the thruster, the centroid 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.

[0023] According to a method for determining the longest on-orbit operating time of a thruster provided by the present invention, the method determines the disturbance torque generated by each thruster on each axis by combining the error terms related to satellite orbit control, including:

[0024] Determine the coordinates of the point of action of the thruster on the satellite;

[0025] Based on the coordinates of the thruster's point of action on the satellite, the radius vector and thrust vector from the satellite's center of mass to the thruster's point of action are determined; the thrust vector is used to characterize the magnitude of the thrust of the thruster.

[0026] Determine the reasoning direction of the thruster, and combine it with the thrust vector of the thruster to determine the current thrust direction vector of the thruster;

[0027] Based on the current thrust direction vector of the thruster, the disturbance torque generated by the thruster on each axis is determined.

[0028] According to a method for determining the longest on-orbit operating time of a thruster provided by the present invention, determining the coordinates of the point of action of the thruster on the satellite includes:

[0029] The point of action of the thruster on the satellite is obtained, and the coordinates of the point of action of the thruster are determined by combining the deviation of the satellite's center of mass.

[0030] According to a method for determining the longest on-orbit operating time of a thruster provided by the present invention, the method analyzes the isochronous start-up control of the thruster based on the total disturbance torque generated by the thruster to determine the maximum orbital maneuver time and the acceptable maximum orbital speed increment of the satellite, including:

[0031] Based on the total disturbance torque generated by the thruster, determine the maximum disturbance torque generated by each axis of the satellite during orbital maneuvering;

[0032] Based on the maximum angular momentum of a single flywheel of the satellite, the maximum orbital maneuver time of the satellite is determined;

[0033] The maximum orbit change speed increment of the satellite is determined by combining the satellite's maximum orbit change maneuver time and the satellite's acceleration when all thrusters are fully engaged.

[0034] Secondly, the present invention also provides a device for determining the longest on-orbit operating time of a thruster, comprising:

[0035] A construction module is used to establish an installation position matrix of the thrusters based on the installation of the thrusters on the satellite at a preset tilt angle; the installation position matrix is ​​established based on the satellite's body coordinate system;

[0036] The processing module is used to determine the sign relationship of the torque components of each axis in the satellite body coordinate system based on the on / off state of each of the thrusters on the satellite.

[0037] The analysis module is used to analyze the disturbance torque generated by the installation method of each thruster on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and to determine the total disturbance torque generated by all the thrusters;

[0038] The determination module is used to analyze the isochronous start-up control of the thruster based on the total disturbance torque generated by the thruster, and determine the maximum orbit change maneuver time and the maximum acceptable orbit change speed increment of the satellite.

[0039] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for determining the longest on-orbit operating time of the thruster as described in the first aspect above.

[0040] In a fourth aspect, the present invention also 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 longest on-orbit operating time of a thruster as described in the first aspect above.

[0041] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the method for determining the longest on-orbit operating time of a thruster as described in the first aspect above.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The method for determining the longest on-orbit operating time of a thruster provided by this invention predicts the longest operating time of the thruster by taking into account the disturbance torque of the satellite. This ensures the attitude stability and orbit adjustment capability of the satellite in complex environments, effectively reduces the manufacturing and control difficulty, and demonstrates significant advantages in the accuracy and robustness of satellite orbit control. It also solves the problem of insufficient accuracy in predicting the longest operating time of the thruster in existing related technologies. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0045] Figure 1 This is a flowchart of the method for determining the longest on-orbit operating time of a thruster provided by the present invention;

[0046] Figure 2In this embodiment of the invention, the four thrusters are tilted at a preset angle. α Installation diagram;

[0047] Figure 3 This is a schematic diagram showing the relationship between the switching states of the four thrusters and the signs of the torque components of each axis in an embodiment of the present invention;

[0048] Figure 4 This is a structural block diagram of the device for determining the longest on-orbit working time of a thruster provided by the present invention;

[0049] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0051] This invention provides a method for determining the longest on-orbit operating time of a thruster. Figure 1 This is a flowchart of the method for determining the longest on-orbit operating time of a thruster provided by the present invention, as shown below. Figure 1 As shown, the method includes the following steps:

[0052] Step S101: Based on the installation of the thrusters on the satellite at a preset tilt angle, establish the installation position matrix of the thrusters; the installation position matrix is ​​established based on the satellite's body coordinate system.

[0053] Step S102: Based on the on / off state of each thruster on the satellite, determine the sign relationship of the torque components of each axis in the satellite body coordinate system;

[0054] Step S103: Analyze the disturbance torque generated by the installation method of each thruster on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determine the total disturbance torque generated by all thrusters;

[0055] Step S104: Analyze the isochronous start-up control of the thruster based on the total disturbance torque generated by the thruster, and determine the maximum orbit change maneuver time and the maximum acceptable orbit change speed increment of the satellite.

[0056] In this method, taking a satellite with four thrusters as an example, firstly, a thruster installation position matrix is ​​established based on the installation tilt angle of the thrusters on the satellite. This matrix characterizes the specific positions of the four thrusters relative to the satellite. Then, based on the on / off state of each thruster, the sign relationship of the torque components along each axis of the satellite's body coordinate system is determined, facilitating subsequent analysis of disturbance torques. Next, the disturbance torques generated by the thruster installation method on each axis of the satellite's body coordinate system are analyzed based on the installation position matrix of each thruster. Combining the results of the above analysis of disturbance torques, the total disturbance torque generated by all thrusters is determined. Finally, based on the total disturbance torque, the maximum orbital maneuver time and the acceptable maximum orbital velocity increment of the satellite are determined. This process considers the satellite's disturbance torque and predicts the maximum operating time of the thrusters, ensuring the satellite's attitude stability and orbital adjustment capability in complex environments. It effectively reduces manufacturing and control difficulties, demonstrating significant advantages in the accuracy and robustness of satellite orbital control, and solving the problem of insufficient accuracy in predicting the maximum operating time of thrusters in existing related technologies.

[0057] In some embodiments, step S101, based on the installation of the thrusters on the satellite at a preset tilt angle, establishes a thruster installation position matrix, including: constructing a satellite body coordinate system based on the satellite's location and determining each axis 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 inference direction of each thruster; and generating a thruster installation position matrix by combining the position coordinates of all thrusters.

[0058] For example, analyzing four thrusters at a certain angle For tilted installation locations, an installation position matrix is ​​established, and the specific process is as follows:

[0059] The thruster is installed on the base plate where the docking ring is located, and the specific installation layout is as follows: Figure 2 As shown, Figure 2 In this embodiment of the invention, the four thrusters are tilted at a preset angle. α The installation diagram shows the thrust direction parallel to the YOZ plane, originating from the -Z axis and rotating around the +X axis. The angle indicates the thrust direction of thrusters ① and ②, rotated around the +X axis. The angle after the angle indicates the thrust direction of thrusters ③ and ④, thus the angle between the thrust direction and the +Z direction is... If the installation position coordinates of thruster ① are... , , and If all values ​​are greater than or equal to 0, then the thruster installation position matrix is:

[0060]

[0061] in, D This represents the matrix indicating the installation positions of the thrusters.

[0062] In some embodiments, step S102, determining the sign relationship of torque components of each axis in the satellite body coordinate system based on the switching state of each thruster on the satellite, includes: obtaining the torque results of each axis in the satellite body coordinate system under different switching combinations of thrusters by using the controlled variable method; and determining the sign relationship of torque components of each axis in the satellite body coordinate system by combining the torque results of all switching combinations.

[0063] For example, the sign relationship of each axial torque component can be obtained by analyzing the on / off state of each thruster, such as... Figure 3 As shown, Figure 3 This is a schematic diagram showing the relationship between the on / off states of the four thrusters and the signs of the torque components of each axis in an embodiment of the present invention. Figure 3 It can be concluded that there are only two situations in which the torque of the thrusters on all axes is 0: when thrusters ①, ②, ③, and ④ are fully open, and when thrusters ①, ②, ③, and ④ are all closed. Therefore, when one thruster fails, the propulsion system cannot function properly under the isochronous start-up and shutdown strategy.

[0064] In some embodiments, step S103, which analyzes the disturbance torque generated by the installation method of each thruster on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and determines the total disturbance torque generated by all thrusters, includes: obtaining error terms related to satellite orbit control; determining the disturbance torque generated by each thruster on each axis based on the error terms related to satellite orbit control; and determining the total disturbance torque generated by each thruster on each axis based on the disturbance torque generated by each thruster on each axis.

[0065] In this embodiment, the error terms related to satellite orbit control include thruster installation position deviation, satellite center of mass deviation, thruster thrust magnitude deviation, thruster installation angle error, and thruster thrust eccentricity error.

[0066] Specifically, based on the error terms related to satellite orbit control, the disturbance torque generated by each thruster on each axis is determined, including: determining the coordinates of the thruster's point of action relative to the satellite; based on the coordinates of the thruster's point of action relative to 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 magnitude of the thruster; determining the thruster's reasoning direction, and combining the thrust vector to determine the thruster's current thrust direction vector; and based on the thruster's current thrust direction vector, determining the disturbance torque generated by the thruster on each axis.

[0067] More specifically, determining the coordinates of the thruster's point of action relative to the satellite includes: obtaining the thruster's point of action relative to the satellite, and determining the coordinates of the thruster's point of action in conjunction with the satellite's center of mass deviation.

[0068] For example, firstly, given the error terms related to satellite orbit control, specifically as follows: thruster installation position deviation ≤ 2mm; satellite center of gravity deviation ≤ 5mm (change in tank center of gravity and eccentricity error of satellite platform); thrust magnitude deviation ≤ 5% (1N thruster); thruster installation angle error ≤ 0.5° (better than 0.2); thrust eccentricity error < 1° (thruster manufacturing process error). The thrust direction deviation angle is the sum of the thruster installation angle error and the thruster's own thrust eccentricity error: .

[0069] With the four thrusters at a certain angle When the device is installed at an angle, the disturbance torques generated along each axis are 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 coordinates of the center of mass can be set as follows: ,have ,in Let the coordinates of the points of application of the thrust from the four thrusters on the celestial body be... , Considering the thruster installation position deviation, the coordinates of the four thruster action points can be expressed as follows: , , , .have , , , ,in .

[0070] The radius vector from the center of mass to the point of action of the thruster It can be represented as:

[0071]

[0072] in, Represents the radius vector. The thrust vector can be represented as:

[0073]

[0074] in, For thrust vector, For the magnitude of thrust, Let be the unit vector in the direction of thrust. Considering the deviation in thrust magnitude, then:

[0075]

[0076] Since the theoretical thrust direction of the thruster is parallel to the YOZ plane, it originates from the -Z axis and rotates around the +X axis. The angle indicates the thrust direction of thrusters ① and ②, rotating around the +X axis. The angle indicates the thrust direction of thrusters ③ and ④, therefore the theoretical thrust direction of the thrusters is... This can be represented as (and can be seen as the coordinate system rotating in the opposite direction):

[0077]

[0078] in, , , , Let X be the rotation matrix along the X-axis, then: .

[0079] Further considering the thrust direction angle deviation, the thrust direction vector, with the thruster mounting point as the vertex and the theoretical thrust direction vector as the axis, has a half-cone angle of . Within the conical envelope. For example... Figure 3 As shown, establish a coordinate system The origin of the coordinate system is the center of the base of the cone. and The axes are parallel. Consistent with the theoretical thrust direction, shaft and , The axes form a right-handed system. The current thrust direction can be considered as the theoretical thrust direction vector first revolving around + Axis rotation Angle, then around + Axis rotation Angle. And coordinate system. Rotate the coordinate system about the +X axis Angle. Therefore, the thrust vector of the thruster is... , can be represented as:

[0080]

[0081] Where is the Y-axis rotation matrix, and we have And there are .

[0082] In summary, when considering the thruster installation position deviation, center of gravity deviation, thrust magnitude deviation, and thrust direction deviation, the disturbance torque generated by each thruster... , can be represented as:

[0083]

[0084] The total disturbance torque generated by the four thrusters is expressed as:

[0085]

[0086] in, This represents the total disturbance torque. Therefore, it can be seen that the thruster generates disturbance torques along the X, Y, and Z axes.

[0087] In some embodiments, the isochronous start-up control of the thrusters is analyzed based on the total disturbance torque generated by the thrusters to determine the maximum orbital maneuver time and the acceptable maximum orbital speed increment of the satellite. This includes: determining the maximum disturbance torque generated by each axis of the satellite during orbital maneuver based on the total disturbance torque generated by the thrusters; determining the maximum orbital maneuver time of the satellite by combining the maximum moment of momentum of a single flywheel of the satellite; and determining the maximum orbital speed increment of the satellite by combining the maximum orbital maneuver time of the satellite and the satellite acceleration when all thrusters are fully engaged.

[0088] For example, affected by factors such as thruster installation error, thrust magnitude, and center of mass deviation, the maximum disturbance torque generated by each axis of the satellite during orbital maneuvering is The maximum angular momentum of a single flywheel is... Assuming that half of the flywheel's maximum angular momentum is the change in angular momentum that can be provided on each axis, then the time for the satellite's maximum orbital maneuver is:

[0089]

[0090] in, t max This indicates the maximum trajectory change time, since the thrust of thrusters ①, ②, ③, and ④ is all... Satellite quality Then, the satellite's acceleration when all four thrusters are fully engaged is:

[0091]

[0092] in, a If the acceleration is expressed as an integer, then the maximum acceptable velocity increment for orbital changes is:

[0093]

[0094] in, This represents the maximum increment of orbital maneuvering speed. Therefore, considering the impact of the maximum disturbance torque generated by each axis of the satellite during orbital maneuvering on the satellite's attitude control system under the condition of ultimate thrust error, the maximum acceptable increment of orbital maneuvering speed for the satellite is: .

[0095] Within one time step, the tilt angle of the thrust direction is set to 0 according to the torque calculation formula described above. By iterating through all possible deviation scenarios, the maximum disturbance torque in each possible case can be calculated and determined. The final results are shown in the following example, demonstrating the peak values ​​of the disturbance torques generated by the thruster on the X, Y, and Z axes under the combined effect of multiple deviation factors.

[0096] Considering all error sources, the impact of different thrust installation angle errors on satellite orbit changes is shown in Table 1 below:

[0097] Table 1. Data on the impact of different thrust installation angle errors on satellite orbit changes (considering all error sources).

[0098]

[0099] Considering only the thrust angle error, the impact of different thrust installation angle errors on satellite orbit changes is shown in Table 2 below:

[0100] Table 2. Data on the impact of different thrust installation angle errors on satellite orbit changes (considering only thrust angle errors).

[0101]

[0102] In summary, this method comprehensively analyzes factors such as the thruster installation position, switching status, and disturbance torque of a four-thrust satellite. In particular, considering the disturbance torque and error term, it ensures the satellite's attitude stability and orbit adjustment capability in complex environments, effectively reduces manufacturing and control difficulties, and demonstrates significant advantages in the accuracy and robustness of satellite orbit control.

[0103] The present invention also provides a device for determining the longest on-orbit operating time of a thruster. The device for determining the longest on-orbit operating time of a thruster provided by the present invention will be described below. The device for determining the longest on-orbit operating time of a thruster described below can be referred to in correspondence with the method for determining the longest on-orbit operating time of a thruster described above. Figure 4 This is a structural block diagram of the device for determining the longest on-orbit operating time of a thruster provided by the present invention, as shown in the figure. Figure 4 As shown, the device includes:

[0104] Module 401 is used to establish the installation position matrix of the thrusters based on the installation of the thrusters on the satellite at a preset tilt angle; the installation position matrix is ​​established based on the satellite's body coordinate system.

[0105] Processing module 402 is used to determine the sign relationship of torque components of each axis in the satellite body coordinate system based on the on / off state of each thruster on the satellite.

[0106] Analysis module 403 is used to analyze the disturbance torque generated by the installation method of each thruster on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and to determine the total disturbance torque generated by all thrusters;

[0107] The determination module 404 is used to analyze the isochronous start-up control of the thruster based on the total disturbance torque generated by the thruster, and to determine the maximum orbit change maneuver time and the maximum acceptable orbit change speed increment of the satellite.

[0108] Taking a satellite with four thrusters as an example, the device first constructs a matrix of thruster installation positions based on the installation tilt angles of the thrusters on the satellite. This matrix represents the specific positions of the four thrusters relative to the satellite. Then, the processing module 402 determines the sign relationships of the torque components along each axis of the satellite's body coordinate system based on the on / off status of each thruster, facilitating subsequent analysis of interference torques. The analysis module 403 then analyzes the interference torques generated by the thruster installation method on each axis of the satellite's body coordinate system based on the installation position matrix of each thruster. Combining the results of the above analysis, the total interference torque generated by all thrusters is determined. Finally, the determination module 404 determines the maximum orbital maneuver time and the maximum acceptable orbital speed increment of the satellite based on the total interference torque. In the above process, the interference torque of the satellite was taken into account, and the maximum operating time of the thruster was predicted, which ensured the attitude stability and orbit adjustment capability of the satellite in complex environments, effectively reduced the manufacturing and control difficulty, and showed significant advantages in the accuracy and robustness of satellite orbit control. It also solved the problem of insufficient accuracy in predicting the maximum operating time of the thruster in existing related technologies.

[0109] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include: a processor 501, a communication interface 502, a memory 503, and a communication bus 504, wherein the processor 501, the communication interface 502, and the memory 503 communicate with each other via the communication bus 504. The processor 501 can call logical instructions from the memory 503 to execute a method for determining the longest on-orbit operating time of the thruster, the method including:

[0110] Based on the installation of the thrusters on the satellite at a preset tilt angle, an installation position matrix for the thrusters is established; the installation position matrix is ​​established based on the satellite's body coordinate system.

[0111] Based on the on / off state of each thruster on the satellite, determine the sign relationship of the torque components of each axis in the satellite body coordinate system;

[0112] Based on the installation position matrix of each thruster, analyze the disturbance torque generated by the installation method of the thrusters on each axis of the satellite body coordinate system, and determine the total disturbance torque generated by all thrusters;

[0113] Based on the total disturbance torque generated by the thruster, the isochronous start-up control of the thruster is analyzed to determine the maximum orbit change maneuver time and the maximum acceptable orbit change speed increment of the satellite.

[0114] Furthermore, the logical instructions in the aforementioned memory 503 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0115] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the method for determining the longest on-orbit operating time of the thruster provided by the above methods, the method comprising:

[0116] Based on the installation of the thrusters on the satellite at a preset tilt angle, an installation position matrix for the thrusters is established; the installation position matrix is ​​established based on the satellite's body coordinate system.

[0117] Based on the on / off state of each thruster on the satellite, determine the sign relationship of the torque components of each axis in the satellite body coordinate system;

[0118] Based on the installation position matrix of each thruster, analyze the disturbance torque generated by the installation method of the thrusters on each axis of the satellite body coordinate system, and determine the total disturbance torque generated by all thrusters;

[0119] Based on the total disturbance torque generated by the thruster, the isochronous start-up control of the thruster is analyzed to determine the maximum orbit change maneuver time and the maximum acceptable orbit change speed increment of the satellite.

[0120] In another aspect, the present invention also 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 longest on-orbit operating time of a thruster provided by the methods described above, the method comprising:

[0121] Based on the installation of the thrusters on the satellite at a preset tilt angle, an installation position matrix for the thrusters is established; the installation position matrix is ​​established based on the satellite's body coordinate system.

[0122] Based on the on / off state of each thruster on the satellite, determine the sign relationship of the torque components of each axis in the satellite body coordinate system;

[0123] Based on the installation position matrix of each thruster, analyze the disturbance torque generated by the installation method of the thrusters on each axis of the satellite body coordinate system, and determine the total disturbance torque generated by all thrusters;

[0124] Based on the total disturbance torque generated by the thruster, the isochronous start-up control of the thruster is analyzed to determine the maximum orbit change maneuver time and the maximum acceptable orbit change speed increment of the satellite.

[0125] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0126] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the longest on-orbit operating time of a thruster, characterized in that, include: Based on the installation of the thrusters on the satellite at a preset tilt angle, establish the installation position matrix of the thrusters; The installation position matrix is ​​established based on the satellite's body coordinate system; Based on the on / off state 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, analyze the disturbance torque generated by the installation method of the thruster on each axis of the satellite body coordinate system, and determine the total disturbance torque generated by all the thrusters; Based on the total disturbance torque generated by the thruster, the isochronous start-up control of the thruster is analyzed to determine the maximum orbit change maneuver time and the maximum acceptable orbit change speed increment of the satellite. Based on the installation position matrix of each thruster, the interference torque generated by the installation method of the thrusters on each axis of the satellite body coordinate system is analyzed, and the total interference torque generated by all the thrusters is determined, including: Obtain the error terms related to the satellite orbit control; Based on the error terms related to satellite orbit control, determine the disturbance torque generated by each thruster on each axis; Based on the disturbance torque generated by each of the thrusters on each axis, the total disturbance torque generated by the thrusters on each axis is determined; The error terms related to satellite orbit control include the installation position deviation of the thruster, the centroid 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; Based on the error terms related to satellite orbit control, the disturbance torque generated by each thruster on each axis is determined, including: Determine the coordinates of the point of action of the thruster on the satellite; Based on the coordinates of the thruster's point of action relative to the satellite, the radius vector and thrust vector from the satellite's center of mass to the thruster's point of action are determined; the thrust vector is used to characterize the magnitude of the thrust of the thruster. Determine the reasoning direction of the thruster, and combine it with the thrust vector of the thruster to determine the current thrust direction vector of the thruster; Based on the current thrust direction vector of the thruster, the disturbance torque generated by the thruster on each axis is determined.

2. The method for determining the longest on-orbit operating time of a thruster according to claim 1, characterized in that, Based on the installation of the thrusters on the satellite at a preset tilt angle, an installation position matrix for the thrusters is established, including: Construct the satellite body coordinate system based on the satellite's location, and determine the axes of the satellite body coordinate system; Based on the installation location and inference direction of each thruster, determine the position coordinates of each thruster in the satellite body coordinate system; By combining the position coordinates of all the thrusters, an installation position matrix of the thrusters is generated.

3. The method for determining the longest on-orbit operating time of a thruster according to claim 1, characterized in that, Based on the on / off state of each thruster on the satellite, the sign relationship of each axial torque component in the satellite body coordinate system is determined, including: By using the controlled variable method, the torque results of each axis in the satellite body coordinate system were obtained under different switching combinations of the thruster. By combining the torque results under all switch combinations, the sign relationship of the torque components of each axis in the satellite body coordinate system is determined.

4. The method for determining the longest on-orbit operating time of a thruster according to claim 1, characterized in that, Determining the coordinates of the point of action of the thruster with respect to the satellite includes: The point of action of the thruster on the satellite is obtained, and the coordinates of the point of action of the thruster are determined by combining the deviation of the satellite's center of mass.

5. The method for determining the longest on-orbit operating time of a thruster according to claim 1, characterized in that, Based on the total disturbance torque generated by the thruster, the isochronous start-up control of the thruster is analyzed to determine the maximum orbit change maneuver time and the acceptable maximum orbit change velocity increment of the satellite, including: Based on the total disturbance torque generated by the thruster, determine the maximum disturbance torque generated by each axis of the satellite during orbital maneuvering; Based on the maximum angular momentum of a single flywheel of the satellite, the maximum orbital maneuver time of the satellite is determined; The maximum orbit change speed increment of the satellite is determined by combining the satellite's maximum orbit change maneuver time and the satellite's acceleration when all thrusters are fully engaged.

6. A device for determining the longest on-orbit operating time of a thruster, used to implement the method for determining the longest on-orbit operating time of a thruster as described in any one of claims 1-5, characterized in that, include: The construction module is used to establish the installation position matrix of the thrusters based on the installation of the thrusters on the satellite at a preset tilt angle; The installation position matrix is ​​established based on the satellite's body coordinate system; The processing module is used to determine the sign relationship of the torque components of each axis in the satellite body coordinate system based on the on / off state of each of the thrusters on the satellite. The analysis module is used to analyze the disturbance torque generated by the installation method of each thruster on each axis of the satellite body coordinate system based on the installation position matrix of each thruster, and to determine the total disturbance 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 disturbance torque generated by the thruster, and to determine the maximum orbit change maneuver time and the maximum acceptable orbit change speed increment of the satellite.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method for determining the longest on-orbit operating time of the thruster as described in any one of claims 1 to 5.

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