Full-autonomous pressure dynamic balance adjusting method for double-branch cold air propelling system

Abstract

The invention provides a full-autonomous pressure dynamic balance adjusting method for a double-branch cold air propulsion system. The full-autonomous pressure dynamic balance adjusting method is suitable for a spacecraft provided with a pressure sensor cold air propulsion system. At present, a systematic method for autonomously adjusting and controlling the effectiveness of low pressure transmission data and the buffering air capacity pressure in a traditional satellite cold air propulsion system does not exist. In order to solve the problem, the patent declarator designs a full-autonomous pressure dynamic balance adjustment algorithm of the double-branch cold air propulsion system. The method comprises two modules: low-pressure transmission data validity and air capacity pressure autonomous adjustment and control. The second module is used for adjusting and calculating the pressure of the double-branch buffer air capacitor on the basis of the first module, and opening each branch pressure control electromagnetic valve to carry out air supply operation when the pressure of the air capacitor is reduced. The pressure dynamic balance control of the double-branch symmetrical discharge system is realized by adopting a pressure following control strategy, and the problems of double-branch buffer air capacity pressure autonomous adjustment and air supply of the satellite cold air propulsion system are well solved by adopting the method.

Description

Technical Field

[0001] The present invention belongs to the technical field of spacecraft attitude control and relates to a fully autonomous pressure dynamic balance adjustment algorithm for a dual-branch cold air propulsion system. Background Art

[0002] At present, cold gas propulsion systems are widely used in attitude control missions of low, medium and high orbit satellites due to their high reliability, low cost and use of gaseous working fluids. There is no systematic method to enhance the effectiveness of low-pressure pressure transmission data and autonomous regulation and control of buffer gas volume pressure in traditional satellite cold gas propulsion systems.

[0003] Therefore, it is necessary to propose a new method for autonomously adjusting and controlling the validity of low-pressure pressure transmission data and buffer gas capacity pressure, so as to realize the autonomous judgment of the validity of low-pressure pressure transmission data and autonomous adjustment and control of buffer gas capacity pressure when there is a pressure transmission failure in the cold gas propulsion system of the satellite. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and to propose a fully autonomous pressure dynamic balance adjustment method for a dual-branch cold air propulsion system with strong versatility.

[0005] The technical solution of the present invention is:

[0006] In a first aspect, a fully autonomous pressure dynamic balance adjustment method for a dual-branch cold air propulsion system comprises:

[0007] A fully autonomous pressure dynamic balance adjustment method for a dual-branch cold air propulsion system performs the following steps in each control cycle:

[0008] The effectiveness of the low-pressure pressure transmission on each branch is determined based on the low-pressure pressure transmission measurement data on the double branches; the current pressure of the buffer gas volume on each branch is determined based on the effectiveness judgment of the low-pressure pressure transmission on the double branches;

[0009] The jet mass of this branch is calculated according to the jet pulse width of each nozzle on the double branch;

[0010] According to the current pressure of the buffer gas volume on each branch, the switch status of the high-pressure self-locking valve on the double branch, the effectiveness of the low-pressure pressure transmission, and the jet quality, the switch pulse width and switch status of the pressure control solenoid valve of each branch are determined.

[0011] According to the switch pulse width and switch state of the double-branch pressure control solenoid valve, the corresponding branch pressure control solenoid valve is controlled to perform air replenishment operation according to the switch pulse width, thereby completing the autonomous adjustment of the buffer gas volume pressure.

[0012] Preferably, judging the effectiveness of low-pressure pressure transmission on each branch includes whether pressure transmission is introduced, whether jumps and wild values ​​exist.

[0013] Preferably, the determining the current pressure of the buffer gas volume on each branch based on the effectiveness judgment of the dual-branch low-pressure pressure transmission includes:

[0014] Initialize the duty flag F_PMValid[i] of the dual-branch thruster branch pressure transmitter i = 1, i = 0, 1, 2, 3; update the duty flag F_PMValid[i] according to the current beat measurement value PMi and the historical value PMi_Lst of the dual-branch pressure transmitter, the low-pressure pressure transmitter jump effective judgment coefficient m_pmvalid1, and the low-pressure pressure transmitter elimination effective judgment coefficient m_pmvalid2;

[0015] Assign the current measurement value PMi as the historical value PMi_Lst;

[0016] If both pressure transmissions of branch A are valid, that is, F_PMValid[0]=1 and F_PMValid[2]=1;

[0017] If |PM0-0.17|<|PM2-0.17|, set P MAB [0] = PM0; otherwise, set P MAB [0] = PM2;

[0018] If F_PMValid[2]=0 and F_PMValid[0]=1, set P MAB [0] = PM0;

[0019] If F_PMValid[0]=0 and F_PMValid[2]=1, set P MAB [0] = PM2;

[0020] If F_PMValid[0]=0 and F_PMValid[2]=0, set P MAB [0] = 0.17;

[0021] If both pressure transmissions of branch B are valid, that is, F_PMValid[1] = 1 and F_PMValid[3] = 1

[0022] If |PM1-0.17|<|PM3-0.17|, set PMAB[1]=PM1; otherwise, set PMAB[1]=PM1. MAB [1] = PM3;

[0023] If F_PMValid[3]=0 and F_PMValid[1]=1, set P MAB [1] = PM1;

[0024] If F_PMValid[1]=0 and F_PMValid[3]=1, set P MAB [1] = PM3;

[0025] If F_PMValid[1]=0 and F_PMValid[3]=0, set P MAB [1] = 0.17;

[0026] Among them, P MAB [0], P MAB [1] are the current pressures of the buffer tanks on branches A and B respectively.

[0027] Preferably, updating the on-duty flag F_PMValid[i] according to the current beat measurement value PMi and the historical value PMi_Lst of the dual-branch pressure transmission, the low-pressure pressure transmission jump valid judgment coefficient m_pmvalid1, and the low-pressure pressure transmission elimination valid judgment coefficient m_pmvalid2 includes:

[0028] If F_PMInsys[i]=0, set F_PMValid[i]=0;

[0029] If F_PMInsys[i]=1 and |PMi-PMi_Lst|>0.05*m_pmvalid1, set F_PMValid[i]=0;

[0030] If F_PMInsys[i] = 1 and |PMi-0.17|>0.04*m_pmvalid2, then set F_PMValid[i] = 0. Preferably, the jet mass of the double branch is calculated according to the jet pulse width of each nozzle on the double branch:

[0031] ΔM[0]=k MJET (T j1 +T j3 +T j5 +T j7 +T j9 +T j11 +4T joc1 )

[0032] Determine ΔM using the assignment formula sum [0] = ΔM sum [0]+ΔM[0]

[0033] ΔM[1]=k MJET (T j2 +T j4 +T j6 +T j8 +T j10 +T j12 +4T joc2 )

[0034] ΔM sum [1] = ΔM sum [1]+ΔM[1]

[0035] Among them, ΔM sum [0], ΔM sum [1] is the accumulated jet mass of branches A and B, ΔM[0] and ΔM[1] are the jet mass of branches A and B in the current control cycle, T jm (m=1,...,12) is the pulse width of the two branch attitude control nozzles m in this cycle, T jocn (n=1,2) is the jet pulse width of the orbit control nozzle in cycle n, K MJET Jet mass conversion factor.

[0036] Preferably, the switch pulse width of each branch pressure control solenoid valve is determined, for the two thruster branches A and B:

[0037] If the high-pressure self-locking valve is closed, the switch pulse width of the branch pressure control solenoid valve that closes the high-pressure self-locking valve is 0;

[0038] If the high-pressure self-locking valve is opened and the low-pressure pressure transmission of this branch is valid, the switch pulse width of the pressure control solenoid valve of this branch is calculated according to the low-pressure pressure transmission data of this branch;

[0039] If the high-pressure self-locking valve is opened, and the low-pressure pressure transmission of this branch is invalid, while the low-pressure pressure transmission of the other branch is valid, the switch pulse width of the pressure control solenoid valve of this branch is calculated according to the low-pressure pressure transmission data of the other branch;

[0040] If the high-pressure self-locking valve is opened and the low-pressure pressure transmission of both branches is invalid, the switch pulse width of the pressure control solenoid valve of this branch is calculated according to the jet quality of this branch.

[0041] Preferably, if the high-pressure self-locking valve is opened and the low-pressure pressure transmission of this branch is valid, the calculation formula for calculating the switch pulse width of the pressure control solenoid valve of this branch according to the low-pressure pressure transmission data of this branch is:

[0042]

[0043] Among them, k MP is the gas volume mass-pressure coefficient; P MRangeH [k] is the upper limit of the normal working pressure of the k-branch gas container; T GAS [k] is the switch pulse width of the k-branch pressure control solenoid valve;

[0044] If P MAB [k]≤P MRangeL [k], then F_GASPUMP[k]=1; otherwise F_GASPUMP[k]=0;

[0045] Among them, P MRangeL [k] sets the lower limit of normal working pressure of the branch air containers of thrusters A and B;

[0046] F_GASPUMP[k] is the switch status of the pressure control solenoid valves of the two thruster branches A and B.

[0047] Preferably, if the high-pressure self-locking valve is opened, and the low-pressure pressure transmission of this branch is invalid, while the low-pressure pressure transmission of the other branch is valid, the switch pulse width of the pressure control solenoid valve of this branch is calculated according to the low-pressure pressure transmission data of the other branch:

[0048]

[0049] If P MAB [0]≤P MRangeL [1], then F_GASPUMP[1]=1;

[0050] If P MAB [1]≤P MRangeL [0], then F_GASPUMP[0]=1;

[0051] Preferably, if the high-pressure self-locking valve is opened and the low-pressure pressure transmission of both branches is invalid, the switch pulse width of the pressure control solenoid valve of this branch is calculated according to the jet mass of this branch;

[0052] T GAS [0] = ΔM sum [0] / dM AB [0]

[0053] T GAS [1] = ΔM sum [1] / dM AB [1]

[0054] Among them, dM AB [k](k=0,1) is the flow coefficient of the solenoid valve.

[0055] In a second aspect, a fully autonomous pressure dynamic balance regulating device for a dual-branch cold air propulsion system comprises:

[0056] The first module is used to determine the effectiveness of dual-branch low-pressure transmission;

[0057] The second module is used to determine the measured value of the double-branch low-pressure pressure transmission;

[0058] The third module is used to calculate the jet mass according to the jet pulse width of each nozzle on the double branch;

[0059] The fourth module is used to calculate the switch pulse width and switch state of the pressure control solenoid valve of the branch according to the opening state of the high-pressure self-locking valve on the double branches and the low-pressure pressure transmission validity mark;

[0060] The fifth module is used to perform air replenishment operations according to the switching state and pulse width of the pressure control solenoid valve on the double branches.

[0061] In a third aspect, a fully autonomous pressure dynamic balance regulating device for a dual-branch cold air propulsion system comprises:

[0062] one or more processors;

[0063] a storage device for storing one or more programs,

[0064] When the one or more programs are executed by the one or more processors, the one or more processors implement a fully autonomous pressure dynamic balance adjustment algorithm for a dual-branch cold air propulsion system as described in the first aspect.

[0065] In a fourth aspect, a readable storage medium stores a computer program thereon, which, when executed by a processor, implements the method for autonomous pressure regulation of dual-branch symmetrical exhaust of a cold air propulsion system as described in the first aspect.

[0066] The advantages of the present invention compared with the prior art are:

[0067] This method is highly versatile and can be used for the autonomous judgment of the validity of low-pressure pressure transmission data and the autonomous regulation and control of buffer gas volume pressure in a type of cold gas propulsion system equipped with a pressure sensor. It fully exploits the pressure sensor measurement information and realizes the autonomous judgment of the validity of low-pressure pressure transmission data when the cold gas propulsion system has a pressure transmission failure. At the same time, the control strategy based on pressure following ensures the autonomous regulation and control of the buffer gas volume pressure, improving the safety, effectiveness and autonomy of the spacecraft attitude control thruster. This method relies on mature components of the satellite control system and does not require the addition of new measurement or execution components; the algorithm requires a small amount of calculation and does not require additional computing resources. Therefore, it has a good market promotion prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 The present invention is a flow chart of a fully autonomous pressure dynamic balance adjustment algorithm for a dual-branch cold air propulsion system. DETAILED DESCRIPTION

[0069] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0070] The present invention provides a fully autonomous pressure dynamic balance adjustment method for a dual-branch cold air propulsion system, such as Figure 1 As shown, including:

[0071] (1) Determine the effectiveness of low-pressure pressure transmission on each branch based on the low-pressure pressure transmission measurement on the two branches (including whether the pressure transmission is introduced, whether there is a jump and wild value);

[0072] (2) determining the current pressure of the buffer gas volume on each branch based on the effectiveness of the dual-branch low-pressure pressure transmission;

[0073] In the present invention, the steps of judging the effectiveness of low-pressure pressure transmission on each branch (including whether pressure transmission is introduced, whether there is a jump and wild value) and determining the current pressure of the buffer gas volume on each branch according to the low-pressure pressure transmission measurement on the two branches include:

[0074] (1)F_PMValid[i]=1(i=0,1,2,3);

[0075] (2) If F_PMInsys[i]=0, set F_PMValid[i]=0 (i=0, 1, 2, 3);

[0076] (3) If F_PMInsys[i]=1 and |PMi-PMi_Lst|>0.05*m_pmvalid1, set F_PMValid[i]=0 (i=0,1,2,3);

[0077] (4) If F_PMInsys[i]=1 and |PMi-0.17|>0.04*m_pmvalid2, set F_PMValid[i]=0 (i=0,1,2,3);

[0078] (5)PMi_Lst=PMi(i=0,1,2,3);

[0079] (6) If both pressure transmissions of branch A are valid, that is, F_PMValid[0] = 1 and F_PMValid[2] = 1

[0080] If |PM0-0.17|<|PM2-0.17|, set P MAB [0] = PM0; otherwise, set P MAB [0] = PM2;

[0081] Otherwise, if F_PMValid[0]=1, set P MAB [0] = PM0;

[0082] Otherwise, if F_PMValid[2]=1, set P MAB [0] = PM2;

[0083] Otherwise, set P MAB [0] = 0.17;

[0084] Among them, F_PMInsys[i] is the on-duty flag of the four pressure transmissions of the two branches A and B;

[0085] F_PMValid[i] is the validity flag of the four pressure transmissions of the two branches A and B;

[0086] PMi and PMi_Lst are the current measurement values ​​and historical values ​​of the four pressure transmissions of the two branches A and B respectively;

[0087] m_pmvalid1 is the low-voltage transmission jump effective judgment coefficient;

[0088] m_pmvalid2 is the low-pressure transmission rejection effective judgment coefficient;

[0089] P MAB [0], P MAB [1] is the current pressure of the buffer gas volume on branches A and B respectively;

[0090] (7) If both pressure transmissions of branch B are valid, that is, F_PMValid[1] = 1 and F_PMValid[3] = 1

[0091] If |PM1-0.17|<|PM3-0.17|, set P MAB [1] = PM1; otherwise, set P MAB [1] = PM3;

[0092] Otherwise, if F_PMValid[1]=1, set P MAB [1] = PM1;

[0093] Otherwise, if F_PMValid[3]=1, set P MAB [1] = PM3;

[0094] Otherwise, set P MAB [1] = 0.17;

[0095] (3) Calculate the jet mass of the double branch according to the jet pulse width of each nozzle;

[0096] ΔM[0]=k MJET (T j1 +T j3 +T j5 +T j7 +T j9 +T j11 +4T joc1 )

[0097] ΔM sum [0] = ΔM sum [0]+ΔM[0]

[0098] ΔM[1]=k MJET (T j2 +T j4 +T j6 +Tj8 +T j10 +T j12 +4T joc2 )

[0099] ΔM sum [1] = ΔM sum [1]+ΔM[1]

[0100] Among them, ΔM sum [0], ΔM sum [1] is the accumulated jet mass of branches A and B, ΔM[0] and ΔM[1] are the jet mass of branches A and B in the current control cycle, T ji (i=1,...,12) is the pulse width of the A and B branch attitude control nozzles in this cycle, T joci (i=1,2) is the jet pulse width of the orbit control nozzle in this cycle, K MJET Jet mass conversion coefficient, the default value is 0.017g / s (nominal value of 10mN thruster flow), which can be modified by injection;

[0101] (4) Calculate the switch pulse width of the pressure control solenoid valve of this branch according to the opening state of the high-pressure self-locking valve on the double branch and the low-pressure pressure transmission validity mark;

[0102] (4.1) For the two thruster branches A and B, if the high-pressure self-locking valve is closed, the air replenishment operation cannot be performed, and the switch pulse width of the pressure control solenoid valve of this branch is 0;

[0103] (4.2) For the two thruster branches A and B, if the high-pressure self-locking valve is open and the low-pressure pressure transmission of this branch is valid, the switch pulse width of the pressure control solenoid valve of this branch is calculated based on the low-pressure pressure transmission data of this branch:

[0104]

[0105] Among them, k MP P is the gas volume mass-pressure coefficient, the default value is 17.235g / Mpa (gas volume 2.93g nominal pressure 0.17Mpa), which can be modified by injection; MRangeH [i] (i = 1, 2) is the upper limit of the normal working pressure of the gas container. The default value is 0.19Mpa and can be modified by injection; T GAS [i](i=1,2) is the switching pulse width of the solenoid valve.

[0106] If P MAB [0]≤P MRangeL [0], then F_GASPUMP[0]=1;

[0107] If P MAB [1]≤P MRangeL[1], then F_GASPUMP[1]=1;

[0108] Among them, P MRangeL [i] Set the lower limit for the normal operating pressure of the thruster branch air containers A and B;

[0109] F_GASPUMP[i] is the switch status of the pressure control solenoid valves of the two thrusters A and B;

[0110] (4.3) For the two thruster branches A and B, if the high-pressure self-locking valve is open and the low-pressure pressure transmission of this branch is invalid, while the low-pressure pressure transmission of the other branch is valid, the switch pulse width of the pressure control solenoid valve of this branch is calculated based on the low-pressure pressure transmission data of the other branch:

[0111]

[0112] If P MAB [0]≤P MRangeL [1], then F_GASPUMP[1]=1;

[0113] If P MAB [1]≤P MRangeL [0], then F_GASPUMP[0]=1;

[0114] (4.4) For the two thruster branches A and B, if the high-pressure self-locking valve is open and the low-pressure pressure transmission of both branches is invalid, the switch pulse width of the pressure control solenoid valve of this branch is calculated according to the jet mass of this branch in (1);

[0115] T GAS [0] = ΔM sum [0] / dM AB [0]

[0116] T GAS [1] = ΔM sum [1] / dM AB [1]

[0117] Among them, dM AB [k] (i=0,1) is the flow coefficient of the solenoid valve. The default value is 0.727g / s (1.7MPa upstream and 0.17MPa downstream nominal value), which can be modified by injection.

[0118] (5) Perform air replenishment operation according to the switch state and pulse width of the pressure control solenoid valve on the double branches.

[0119] If F_GASPUMP[0] = 1, the A thruster branch opens the pressure control solenoid valve according to the desired pulse width T GAS [0] Perform gas replenishment operation;

[0120] If F_GASPUMP[1] = 1, the B thruster branch opens the pressure control solenoid valve according to the desired pulse width T GAS [1] Perform gas replenishment operation;

[0121] According to a second aspect of the present invention, there is also provided a fully autonomous pressure dynamic balance regulating device for a dual-branch cold air propulsion system, comprising:

[0122] The first module is used to determine the effectiveness of dual-branch low-pressure transmission;

[0123] The second module is used to determine the measured value of the double-branch low-pressure pressure transmission;

[0124] The third module is used to calculate the jet mass according to the jet pulse width of each nozzle on the double branch;

[0125] The fourth module is used to calculate the switch pulse width of the pressure control solenoid valve of the branch according to the opening state of the high-pressure self-locking valve on the double branch and the low-pressure pressure transmission validity mark;

[0126] The fifth module is used to perform air replenishment operations according to the switching state and pulse width of the pressure control solenoid valve on the double branches.

[0127] The implementation of related functions in the module can refer to the relevant introduction in the method.

[0128] According to a third aspect of the present invention, there is also provided a fully autonomous pressure dynamic balance regulating device for a dual-branch cold air propulsion system, comprising:

[0129] one or more processors;

[0130] a storage device for storing one or more programs,

[0131] When the one or more programs are executed by the one or more processors, the one or more processors implement a fully autonomous pressure dynamic balance adjustment algorithm for a dual-branch cold air propulsion system as described in the first aspect.

[0132] According to a fourth aspect of the present invention, there is also provided a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a fully autonomous pressure dynamic balance adjustment algorithm for a dual-branch cold air propulsion system as described in the first aspect.

[0133] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A fully autonomous pressure dynamic balance adjustment method for a dual-branch cold air propulsion system, characterized in that: The following steps are performed in each control cycle: The effectiveness of the low-pressure pressure transmission on each branch is determined based on the low-pressure pressure transmission measurement data on the double branches; the current pressure of the buffer gas volume on each branch is determined based on the effectiveness judgment of the low-pressure pressure transmission on the double branches; The jet mass of this branch is calculated according to the jet pulse width of each nozzle on the double branch; According to the current pressure of the buffer gas volume on each branch, the switch state of the high-pressure self-locking valve on the double branches, the effectiveness of the low-pressure pressure transmission, and the jet quality, the switch pulse width and switch state of the pressure control solenoid valve of each branch are determined; According to the switch pulse width and switch state of the double-branch pressure control solenoid valve, the corresponding branch pressure control solenoid valve is controlled to perform air replenishment operation according to the switch pulse width, thereby completing the autonomous adjustment of the buffer gas volume pressure.

2. The method according to claim 1, characterized in that: The effectiveness of low-pressure pressure transmission on each branch is judged including whether pressure transmission is introduced, whether there are jumps and wild values.

3. The method according to claim 1, characterized in that: The determining of the current pressure of the buffer gas volume on each branch based on the effectiveness judgment of the dual-branch low-pressure pressure transmission includes: Initialize the duty flag F_PMValid[i] of the dual-branch thruster branch pressure transmitter i = 1, i = 0, 1, 2, 3; update the duty flag F_PMValid[i] according to the current beat measurement value PMi and the historical value PMi_Lst of the dual-branch pressure transmitter, the low-pressure pressure transmitter jump effective judgment coefficient m_pmvalid1, and the low-pressure pressure transmitter elimination effective judgment coefficient m_pmvalid2; Assign the current measurement value PMi as the historical value PMi_Lst; If both pressure transmissions of branch A are valid, that is, F_PMValid[0]=1 and F_PMValid[2]=1; If |PM0-0.17|<|PM2-0.17|, set P MAB [0] = PM0; otherwise, set P MAB [0] = PM2; If F_PMValid[2]=0 and F_PMValid[0]=1, set P MAB [0] = PM0; If F_PMValid[0]=0 and F_PMValid[2]=1, set P MAB [0] = PM2; If F_PMValid[0]=0 and F_PMValid[2]=0, set P MAB [0] = 0.17; If both pressure transmissions of branch B are valid, that is, F_PMValid[1] = 1 and F_PMValid[3] = 1 If |PM1-0.17|<|PM3-0.17|, set PMAB[1]=PM1; otherwise, set PMAB[1]=PM1. MAB [1] = PM3; If F_PMValid[3]=0 and F_PMValid[1]=1, set P MAB [1] = PM1; If F_PMValid[1]=0 and F_PMValid[3]=1, set P MAB [1] = PM3; If F_PMValid[1]=0 and F_PMValid[3]=0, set P MAB [1] = 0.17; Among them, P MAB [0], P MAB [1] are the current pressures of the buffer tanks on branches A and B respectively.

4. The method according to claim 3, characterized in that: According to the current measurement value PMi and the historical value PMi_Lst of the dual-branch pressure transmission, the low-pressure pressure transmission jump valid judgment coefficient m_pmvalid1 and the low-pressure pressure transmission elimination valid judgment coefficient m_pmvalid2 update the on-duty flag F_PMValid[i] including: If F_PMInsys[i]=0, set F_PMValid[i]=0; If F_PMInsys[i]=1 and |PMi-PMi_Lst|>0.05*m_pmvalid1, set F_PMValid[i]=0; If F_PMInsys[i]=1 and |PMi-0.17|>0.04*m_pmvalid2, set F_PMValid[i]=0.

5. The method according to claim 3, characterized in that: The jet mass of the double branches is calculated based on the jet pulse width of each nozzle on the double branches: ΔM[0]=k MJET (T j1 +T j3 +T j5 +T j7 +T j9 +T j11 +4T joc1 ) Determine ΔM using the assignment formula sum [0] = ΔM sum [0]+ΔM[0] ΔM[1]=k MJET (T j2 +T j4 +T j6 +T j8 +T j10 +T j12 +4T joc2 ) ΔM sum [1]=ΔM sum [1]+ΔM[1] Among them, ΔM sum [0], ΔM sum [1] is the accumulated jet mass of branches A and B, ΔM[0] and ΔM[1] are the jet mass of branches A and B in the current control cycle, T jm (m=1,...,12) is the pulse width of the two branch attitude control nozzles m in this cycle, T jocn (n=1,2) is the jet pulse width of the orbit control nozzle in cycle n, K MJET Jet mass conversion factor.

6. The method according to claim 3, characterized in that: The switch pulse width of each branch pressure control solenoid valve is determined for the two thruster branches A and B: If the high-pressure self-locking valve is closed, the switch pulse width of the branch pressure control solenoid valve that closes the high-pressure self-locking valve is 0; If the high-pressure self-locking valve is opened and the low-pressure pressure transmission of this branch is valid, the switch pulse width of the pressure control solenoid valve of this branch is calculated according to the low-pressure pressure transmission data of this branch; If the high-pressure self-locking valve is opened, and the low-pressure pressure transmission of this branch is invalid, while the low-pressure pressure transmission of the other branch is valid, the switch pulse width of the pressure control solenoid valve of this branch is calculated according to the low-pressure pressure transmission data of the other branch; If the high-pressure self-locking valve is opened and the low-pressure pressure transmission of both branches is invalid, the switch pulse width of the pressure control solenoid valve of this branch is calculated according to the jet quality of this branch.

7. The method according to claim 6, characterized in that: If the high-pressure self-locking valve is opened and the low-pressure pressure transmission of this branch is valid, the calculation formula for the switch pulse width of the pressure control solenoid valve of this branch is calculated based on the low-pressure pressure transmission data of this branch: Among them, k MP is the gas volume mass-pressure coefficient; P MRangeH [k] is the upper limit of the normal working pressure of the k-branch gas container; T GAS [k] is the switch pulse width of the k-branch pressure control solenoid valve; If P MAB [k]≤P MRangeL [k], then F_GASPUMP[k]=1; otherwise F_GASPUMP[k]=0; Among them, P MRangeL [k] sets the lower limit of normal working pressure of the branch air containers of thrusters A and B; F_GASPUMP[k] is the switch status of the pressure control solenoid valves of the two thruster branches A and B.

8. The method according to claim 6, characterized in that: If the high-pressure self-locking valve is opened, and the low-pressure pressure transmission of this branch is invalid, while the low-pressure pressure transmission of the other branch is valid, the switch pulse width of the pressure control solenoid valve of this branch is calculated according to the low-pressure pressure transmission data of the other branch: If P MAB [0]≤P MRangeL [1], then F_GASPUMP[1]=1; If P MAB [1]≤P MRangeL [0], then F_GASPUMP[0]=1.

9. The method according to claim 6, characterized in that: If the high-pressure self-locking valve is opened and the low-pressure pressure transmission of both branches is invalid, the switch pulse width of the pressure control solenoid valve of this branch is calculated according to the jet quality of this branch; T GAS [0]=ΔM sum [0] / dM AB [0] T GAS [1]=ΔM sum [1] / dM AB [1] Among them, dM AB [k](k=0,1) is the flow coefficient of the solenoid valve.

10. A fully autonomous pressure dynamic balance regulating device for a dual-branch cold air propulsion system, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement a fully autonomous pressure dynamic balance adjustment method for a dual-branch cold air propulsion system as described in one of claims 1 to 9.

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