A fully autonomous dynamic pressure balance regulation method for a dual-branch cold gas propulsion system

Abstract

The application provides a full-autonomous pressure dynamic balance adjusting method of a double-branch cold gas propulsion system, and is suitable for a spacecraft provided with a pressure sensor cold gas propulsion system. At present, there is no system method for the validity of low-pressure pressure transmission data and the autonomous adjusting control of buffer gas container pressure in a traditional satellite cold gas propulsion system. In order to solve the above problems, the patent applicant designs a full-autonomous pressure dynamic balance adjusting algorithm of a double-branch cold gas propulsion system. The method comprises two modules: the validity of low-pressure pressure transmission data and the autonomous adjusting control of gas container pressure. The second module performs pressure adjusting calculation of double-branch buffer gas containers on the basis of the first module, and opens the pressure control electromagnetic valves of each branch to perform air supplementing operation when the gas container pressure decreases. The pressure following control strategy is adopted to realize the pressure dynamic balance control of the double-branch symmetrical discharge system, and the double-branch buffer gas container pressure autonomous adjusting and air supplementing problem of the satellite cold gas propulsion system is well solved by adopting the method.

Description

Technical Field

[0001] This invention belongs to the field of spacecraft attitude control technology and relates to a fully autonomous dynamic pressure balance adjustment algorithm for a dual-branch cold gas propulsion system. Background Technology

[0002] Currently, cold gas propulsion systems are widely used in attitude control missions of various low, medium, and high orbit satellites due to their high reliability, low cost, and use of gaseous working fluid. However, there is no systematic method for the effectiveness of low-pressure transmission data and the autonomous adjustment and control of buffer gas pressure in traditional satellite cold gas propulsion systems.

[0003] Therefore, it is necessary to propose a new method that enables the satellite to autonomously determine the validity of low-pressure transmission data and autonomously adjust and control the buffer gas pressure when there is a transmission failure in the cold gas propulsion system. Summary of the Invention

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

[0005] The technical solution of this invention is:

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

[0007] A fully autonomous dynamic pressure balance regulation method for a dual-branch cold gas propulsion system, comprising the following steps in each control cycle:

[0008] The effectiveness of low-pressure transmission on each branch is determined based on the measurement data of low-pressure transmission on both branches; the current pressure of the buffer gas capacity on each branch is determined based on the determination of the effectiveness of low-pressure transmission on both branches.

[0009] Calculate the jet mass of this branch based on the jet pulse width of each nozzle on the dual branches;

[0010] Based on the current pressure of the buffer gas capacity on each branch, the on / off status of the high-pressure self-locking valve on both branches, the effectiveness of the low-pressure transmission, and the jet quality, determine the on / off pulse width and on / off status of the pressure control solenoid valve on each branch.

[0011] Based on the switching pulse width and switching state of the dual-branch pressure control solenoid valve, the corresponding branch pressure control solenoid valve is controlled to perform air replenishment operation according to the switching pulse width, thereby completing the autonomous adjustment of the buffer gas capacity pressure.

[0012] Preferably, the effectiveness of low-pressure transmission on each branch is determined by whether pressure transmission is introduced, whether there are jumps or outliers.

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

[0014] Initialize the shift flag F_PMValid[i] = 1 for the two-branch thruster branches i, namely A and B, i = 0, 1, 2, 3; update the shift flag F_PMValid[i] based on the current step measurement value PMi and the historical value PMi_Lst of the dual-branch thrust transmission, the low-pressure transmission jump validity judgment coefficient m_pmvalid1, and the low-pressure transmission rejection validity judgment coefficient m_pmvalid2.

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

[0016] If both compression transmissions in branch A are valid, i.e., 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 to PM0. 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 compressions in branch B are valid, i.e., F_PMValid[1] = 1 and F_PMValid[3] = 1

[0022] If |PM1-0.17|<|PM3-0.17|, set PMAB[1]=PM1; otherwise, set P 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 gas containers on branches A and B, respectively.

[0027] Preferably, the shift flag F_PMValid[i] is updated based on the current measured value PMi and the historical value PMi_Lst of the dual-branch voltage transmission, including the low-voltage transmission jump validity judgment coefficient m_pmvalid1 and the low-voltage transmission rejection validity judgment coefficient m_pmvalid2.

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

[0029] If F_PMInsys[i] = 1 and |PMi - PMi_Lst| > 0.05 * m_pmvalid1, then 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 dual branches is calculated based on the jet pulse width of each nozzle on the dual branches:

[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] Where, ΔM sum [0]、ΔM sum [1] represents the cumulative jet mass of branches A and B, respectively; ΔM[0] and ΔM[1] represent the jet mass of branches A and B in the current control cycle, respectively; T jm (m=1,...,12) represents the jet pulse width m of the attitude control nozzles of branches A and B in this cycle, and T jocn (n=1,2) represents the jet pulse width of the orbital control nozzle in this cycle, K MJET Jet mass conversion factor.

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

[0037] If the high-pressure self-locking valve is closed, the switching pulse width of the solenoid valve controlling the pressure of the branch where the high-pressure self-locking valve is closed is 0.

[0038] If the high-pressure self-locking valve is open and the low-pressure transmission of this branch is effective, then the switching pulse width of the pressure control solenoid valve of this branch is calculated based on the low-pressure transmission data of this branch.

[0039] If the high-pressure self-locking valve is open, and the low-pressure transmission in this branch is ineffective while the low-pressure transmission in another branch is effective, then the switching pulse width of the pressure control solenoid valve in this branch is calculated based on the low-pressure transmission data of the other branch.

[0040] If the high-pressure self-locking valve is open and both low-pressure transmissions in both branches are ineffective, then the switching pulse width of the pressure control solenoid valve in this branch is calculated based on the jet mass of this branch.

[0041] Preferably, if the high-pressure self-locking valve is open and the low-pressure transmission in this branch is effective, then the formula for calculating the switching pulse width of the pressure control solenoid valve in this branch based on the low-pressure transmission data is as follows:

[0042]

[0043] Where, k MP P is the gas volume mass-pressure coefficient; MRangeH [k] sets the upper limit for the normal operating pressure of the gas capacity in branch k; T GAS [k] represents the switching pulse width of the k-branch pressure control solenoid valve;

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

[0045] Among them, P MRangeL [k] sets the lower limit for the normal operating pressure of the gas capacity of the two thruster branches A and B;

[0046] F_GASPUMP[k] represents the on / off state of the pressure control solenoid valves for the two thruster branches, A and B.

[0047] Preferably, if the high-pressure self-locking valve is open, and the low-pressure transmission in this branch is ineffective while the low-pressure transmission in another branch is effective, then the switching pulse width of the pressure control solenoid valve in this branch is calculated based on the low-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 open and the low-pressure transmission of both branches is ineffective, the switching pulse width of the pressure control solenoid valve of this branch is calculated based on 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] Secondly, a fully autonomous pressure dynamic balance adjustment device for a dual-branch cold gas propulsion system includes:

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

[0057] The second module is used to determine the measured values ​​of the dual-branch low-pressure transmission.

[0058] The third module is used to calculate the jet mass based on the jet pulse width of each nozzle on the dual branches;

[0059] The fourth module is used to calculate the switching pulse width and switching status of the pressure control solenoid valve in this branch based on the opening status of the high-pressure self-locking valve on the dual-branch and the effectiveness flag of the low-pressure transmission.

[0060] The fifth module is used to perform air replenishment operations based on the on / off state and pulse width of the solenoid valve controlled by the pressure on the dual branches.

[0061] Thirdly, a fully autonomous pressure dynamic balance adjustment device for a dual-branch cold gas propulsion system includes:

[0062] One or more processors;

[0063] 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 the fully autonomous dynamic pressure balance adjustment algorithm for a dual-branch cold gas propulsion system as described in the first aspect.

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

[0066] The advantages of this invention compared to the prior art are:

[0067] This method is highly versatile and can address the challenges of autonomously determining the validity of low-pressure transmission data and autonomously adjusting the buffer gas pressure in a class of cold gas propulsion systems equipped with pressure sensors. It fully leverages pressure sensor measurement information to enable autonomous determination of low-pressure transmission data validity even in the event of transmission failures in the cold gas propulsion system. Simultaneously, a pressure-following control strategy ensures autonomous adjustment of the buffer gas pressure, improving the safety, efficiency, and autonomy of the spacecraft's attitude control thruster operation. This method relies on mature components of the satellite control system, requiring no new measurement or execution components; the algorithm requires relatively little computation, eliminating the need for additional computing resources, thus demonstrating promising market prospects. Attached Figure Description

[0068] Figure 1 This is a flowchart of a fully autonomous dynamic pressure balance adjustment algorithm for a dual-branch cold gas propulsion system according to the present invention. Detailed Implementation

[0069] The features and advantages of the present invention will become clearer and more apparent from the following detailed description.

[0070] This invention provides a fully autonomous dynamic pressure balance adjustment method for a dual-branch cold gas propulsion system, such as... Figure 1 As shown, it includes:

[0071] (1) Determine the effectiveness of low-pressure transmission on each branch based on the low-pressure transmission measurement on the dual branches (including whether the transmission is introduced, whether there are jumps and outliers).

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

[0073] In this invention, the steps of determining the effectiveness of low-pressure transmission on each branch (including whether pressure transmission is introduced, whether there are jumps and outliers) and determining the current pressure of the buffer gas capacity on each branch based on the low-pressure transmission measurement on the dual branches include:

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

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

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

[0079] (6) If both compression transmissions in branch A are valid, i.e., 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 to PM0. 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 shift flag for the four compression transmissions in branches A and B;

[0085] F_PMValid[i] represents the validity flags of the four compression transmissions in branches A and B;

[0086] PMi and PMi_Lst are the current and historical values ​​of the four compression transmissions in branches A and B, respectively.

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

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

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

[0090] (7) If both compression transmissions in branch B are valid, i.e., 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 dual branches based on 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] Where, ΔM sum [0]、ΔM sum [1] represents the cumulative jet mass of branches A and B, respectively; ΔM[0] and ΔM[1] represent the jet mass of branches A and B in the current control cycle, respectively; T ji (i = 1, ..., 12) represents the jet pulse width of the attitude control nozzles A and B branches in this cycle, and T... joci (i = 1, 2) represents the jet pulse width of the orbital control nozzle in this cycle, K MJET The jet mass conversion factor has a default value of 0.017 g / s (nominal flow rate of a 10 mN thruster) and can be modified.

[0101] (4) Calculate the switching pulse width of the pressure control solenoid valve in this branch based on the opening status of the high-pressure self-locking valve on the dual-branch and the effectiveness flag of the low-pressure transmission.

[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 switching pulse width of the pressure control solenoid valve of this branch is 0.

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

[0104]

[0105] Where, k MP This is the gas volume mass-pressure coefficient, with a default value of 17.235 g / MPa (air volume 2.93 g, nominal pressure 0.17 MPa), which can be modified upon injection; P MRangeH [i] (i = 1, 2) sets the upper limit for the normal operating pressure of the gas cylinder; the default value is 0.19 MPa, which can be modified by injection; T GAS [i] (i = 1, 2) represents 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] sets the lower limit for the normal operating pressure of the gas capacities of the two thruster branches A and B;

[0109] F_GASPUMP[i] represents the on / off state of the pressure control solenoid valves for the two thruster branches A and B;

[0110] (4.3) For thruster branches A and B, if the high-pressure self-locking valve is open, and the low-pressure transmission in this branch is ineffective while the low-pressure transmission in the other branch is effective, then calculate the switching pulse width of the pressure control solenoid valve in this branch based on the low-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 transmission of both branches is ineffective, the switching pulse width of the pressure control solenoid valve of this branch is calculated based on 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, with a default value of 0.727g / s (nominal value of 1.7MPa upstream and 0.17MPa downstream), which can be modified by injection.

[0118] (5) Perform gas replenishment operation based on the on / off state and pulse width of the dual-branch pressure control solenoid valve.

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

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

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

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

[0123] The second module is used to determine the measured values ​​of the dual-branch low-pressure transmission.

[0124] The third module is used to calculate the jet mass based on the jet pulse width of each nozzle on the dual branches;

[0125] The fourth module is used to calculate the switching pulse width of the pressure control solenoid valve in this branch based on the opening status of the high-pressure self-locking valve on the dual-branch and the effectiveness flag of the low-pressure transmission.

[0126] The fifth module is used to perform air replenishment operations based on the on / off state and pulse width of the solenoid valve controlled by the pressure on the dual branches.

[0127] The implementation of related functions in the module can be found in the relevant descriptions in the methods.

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

[0129] One or more processors;

[0130] 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 the fully autonomous dynamic pressure balance adjustment algorithm for a dual-branch cold gas propulsion system as described in the first aspect.

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

[0133] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A fully autonomous pressure dynamic balancing adjustment method for a two-branch cold-gas propulsion system, characterized in that, The following steps are performed in each control cycle: According to the low pressure pressure transmitter measurement data on the two branches, the effectiveness of the low pressure pressure transmitter on each branch is determined; and based on the effectiveness of the low pressure pressure transmitter on the two branches, the current pressure of the buffer gas container on each branch is determined; According to the jet pulse width of each nozzle on the two branches, the jet mass of the branch is calculated; According to the determined current pressure of the buffer gas container on each branch, the opening and closing state of the high pressure self-locking valve on the two branches, the effectiveness of the low pressure pressure transmitter, and the jet mass, the opening and closing pulse width and state of the branch pressure control electromagnetic valve are determined; According to the opening and closing pulse width and state of the branch pressure control electromagnetic valve, the corresponding branch pressure control electromagnetic valve is controlled to operate according to the opening and closing pulse width to complete the self-regulation of the buffer gas container pressure.

2. The method of claim 1, wherein: The effectiveness of the low pressure pressure transmitter on each branch includes whether the pressure transmitter is introduced, whether there is a jump, and whether there is a wild value.

3. The method of claim 1, wherein: The determination of the current pressure of the buffer gas container on each branch based on the effectiveness of the low pressure pressure transmitter on the two branches includes: Initialize the effectiveness flag F_PMValid[i] of the two branch thrust chamber pressure transmitters i, i=0,1,2,3; update the effectiveness flag F_PMValid[i] according to the current measurement value PMi and the historical value PMi_Lst of the two branch pressure transmitters, the low pressure pressure transmitter jump effectiveness judgment coefficient m_pmvalid1, and the low pressure pressure transmitter wild value rejection effectiveness judgment coefficient m_pmvalid2; Assign the current measurement value PMi as the historical value PMi_Lst; If the two pressure transmitters of the A branch are both effective, i.e. 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 the two pressure transmitters of the B branch are both effective, i.e. F_PMValid[1]=1 and F_PMValid[3]=1 If |PM1-0.17|<|PM3-0.17|, set P MAB [1] = PM1; otherwise set P 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; where P MAB [0] and P MAB [1] are the current pressures of the buffer gas volumes on the two branches A and B, respectively.

4. The method of claim 3, wherein: Update the effectiveness flag F_PMValid[i] according to the current measurement value PMi and the historical value PMi_Lst of the two branch pressure transmitters, the low pressure pressure transmitter jump effectiveness judgment coefficient m_pmvalid1, and the low pressure pressure transmitter wild value rejection effectiveness judgment coefficient m_pmvalid2 includes: If the on-duty flag F_PMInsys[i] of the two thrust chamber pressure transmitters i is 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 of claim 3, wherein: According to the jet pulse width of each nozzle on the two branches, the jet mass of the branch is calculated; AM[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] AM[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] where ΔM sum [0] and ΔM sum [1] are the cumulative mass of the A and B branches, respectively, and ΔM[0], ΔM[1] are the current control period mass of the A and B branches, respectively, and T jm (m = 1,..., 12) are the A and B branch attitude control nozzle m period pulse width, T jocn (n = 1, 2) are the orbit control nozzle n period pulse width, K MJET mass conversion factor.

6. The method of claim 3, characterized in that: The determination of the opening and closing pulse width of the branch pressure control electromagnetic valve, for the two thrust chamber branches A and B: If the high pressure self-locking valve is closed, the opening and closing pulse width of the branch pressure control electromagnetic valve of the closed high pressure self-locking valve is 0; If the high pressure self-locking valve is opened and the low pressure pressure transmitter of the branch is effective, the opening and closing pulse width of the branch pressure control electromagnetic valve is calculated according to the low pressure pressure transmitter data of the branch. If the high pressure self-locking valve is opened, and the low pressure pressure transmission of the other branch is valid, the switching pulse width of the pressure control electromagnetic valve of the 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 the other branch is valid, the switching pulse width of the pressure control electromagnetic valve of the branch is calculated according to the low pressure pressure transmission data of the other branch.

7. The method of claim 6, wherein: If the high pressure self-locking valve is opened, and the low pressure pressure transmission of the other branch is valid, the switching pulse width of the pressure control electromagnetic valve of the branch is calculated according to the low pressure pressure transmission data of the other branch. Wherein, k MP is the gas capacity mass-pressure coefficient; P MRangeH [k] is the upper limit value of the k branch gas capacity normal working pressure setting; T GAS [k] is the on-off pulse width of the k branch pressure control electromagnetic valve; If P MAB [k]≤P MRangeL [k], then F_GASPUMP[k] = 1; otherwise F_GASPUMP[k] = 0; wherein P MRangeL [k] is the lower limit of the normal working pressure of the gas volume of the two thrust units A and B F_GASPUMP[k] is the switching state of the pressure control electromagnetic valve of the A and B two thruster branches.

8. The method of claim 6, wherein: If the high pressure self-locking valve is opened, and the low pressure pressure transmission of the other branch is valid, the switching pulse width of the pressure control electromagnetic valve of the branch is calculated according to the low pressure pressure transmission data of the other branch. If P MAB [0]≤P MRangeL [1] then F_GAS PUMP[1] = 1; If P MAB [1]≤P MRangeL [0], then F_GASPUMP[0] = 1.

9. The method of claim 6, wherein: If the high pressure self-locking valve is opened, and the low pressure pressure transmission of the other branch is valid, the switching pulse width of the pressure control electromagnetic valve of the branch is calculated according to the low pressure pressure transmission data of the other branch. T GAS [0] = ΔM sum [0] / dM AB [0] T GAS [1] = ΔM sum [1] / dM AB [1] wherein dM AB [k] (k = 0, 1) is the solenoid flow coefficient.

10. A fully autonomous pressure dynamic balancing adjustment device for a two-branch cold-gas propulsion system, characterized by Comprise: One or more processors; 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 the full autonomous pressure dynamic balance adjustment method of the double-branch cold gas propulsion system of any one of claims 1 to 9. If the high pressure self-locking valve is opened, and the low pressure pressure transmission of the other branch is valid, the switching pulse width of the pressure control electromagnetic valve of the branch is calculated according to the low pressure pressure transmission data of the other branch.

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