Spacecraft attitude control method and device and spacecraft

Abstract

The invention provides a spacecraft attitude control method, a spacecraft attitude control device and a spacecraft, and the spacecraft attitude control method comprises the following steps: calculating a pitch attitude angular acceleration at a starting moment of designing a pitch attitude angular velocity instruction by adopting a parabola attitude adjustment mode; determining a pitch attitude angular velocity instruction under each working condition according to the relationship between a pitch attitude angular velocity target value at the satellite-rocket separation moment and 0 and the magnitude relationship between the pitch attitude angular velocity target value and the pitch attitude angular velocity at the attitude adjustment starting moment of the pitch attitude angular velocity instruction; and tracking the pitch attitude angular velocity instruction of the current control period, and controlling the angular velocity of the yaw attitude and the angular velocity of the rolling attitude to be 0 degree / s so as to realize real-time control of the flight attitude of the carrier rocket. The reliability of the carrier rocket can be improved, meanwhile, the propellant consumption of the auxiliary power system is reduced, and the carrying capacity of the carrier rocket is improved.

Description

Technical Field

[0001] This application belongs to the field of aerospace technology, and particularly relates to a spacecraft attitude control method, a control device, and a spacecraft. Background Art

[0002] When a spacecraft such as a launch vehicle carries a satellite to complete a flight test mission, it is necessary to select a satellite-rocket separation method according to the satellite development requirements. Among them, the rotary multi-satellite separation method is widely used because it can realize the orderly release of multiple satellites. This method requires the rocket attitude angular velocity to reach a specific value before executing the satellite-rocket separation command and ensure the separation safety. Currently, the traditional attitude angular velocity adjustment control method for the rocket body often uses the method of directly sending a target value command or transitioning linearly from the current state to the target value command. Under this control method, the attitude angular velocity command is prone to step changes, making it difficult to guarantee the attitude control accuracy. Due to the decrease in attitude control accuracy, the rocket needs to consume additional propellant to correct the attitude, resulting in waste of propellant, thereby reducing the rocket's carrying capacity and affecting the economy and reliability of the satellite launch mission. Summary of the Invention

[0003] To overcome at least to some extent the problems existing in the related art, this application provides an attitude control method, a control device, and an electronic device.

[0004] According to the first aspect of the embodiments of this application, this application provides a spacecraft attitude control method, which includes the following steps: Calculate the pitch attitude angular acceleration at the start time of designing the pitch attitude angular velocity command using the parabolic attitude adjustment method; Determine the pitch attitude angular velocity commands under various working conditions according to the relationship between the pitch attitude angular velocity target value at the satellite-rocket separation time and 0 and its magnitude relationship with the pitch attitude angular velocity at the start time of the pitch attitude angular velocity command attitude adjustment; Track the pitch attitude angular velocity command of the current control cycle, and control the angular velocities of the yaw attitude and the roll attitude to be 0° / s to achieve real-time control of the flight attitude of the launch vehicle.

[0005] According to the spacecraft attitude control method provided by this application, the pitch attitude angular acceleration at the start time is: , where represents the pitch attitude angular velocity at the start time of the pitch attitude angular velocity command attitude adjustment, represents the pitch attitude angular velocity of the previous control cycle, represents the attitude control cycle.

[0006] According to the spacecraft attitude control method provided by the present application, when determining the pitch attitude angular velocity command under each working condition, when the working condition is and the pitch attitude angular velocity command is: , wherein, represents the total time for adjusting the pitch attitude angular velocity command; represents the acceleration transition time of the pitch attitude angular velocity command; represents the time with the starting moment of adjusting the pitch attitude angular velocity command as the zero point; represents the pitch attitude angular velocity command, represents the maximum value of the pitch attitude angular velocity command; represents the magnitude of the jerk controlled by the pitch attitude angular velocity command.

[0007] Among them, the magnitude of the jerk controlled by the pitch attitude angular velocity command under this working condition, the acceleration transition time of the pitch attitude angular velocity command, and the maximum value of the pitch attitude angular velocity command are respectively: .

[0008] According to the spacecraft attitude control method provided by the present application, the calculation process of the magnitude of the jerk controlled by the pitch attitude angular velocity command, the acceleration transition time of the pitch attitude angular velocity command, and the maximum value of the pitch attitude angular velocity command is as follows: When , according to the expression of the pitch attitude angular velocity command under the condition of , we get: ; Derive the expression of the pitch attitude angular velocity command under the condition of , and let , we get: ; When , calculate the expressions of the pitch attitude angular velocity command under the conditions of and , we get: ; Combine the above equations to get and under the working condition of , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command expression.

[0009] According to the spacecraft attitude control method provided in the present application, when determining the pitch attitude angular velocity command under each working condition, when the working condition is and When , the pitch attitude angular velocity command is: .

[0010] According to the spacecraft attitude control method provided in the present application, when determining the pitch attitude angular velocity command under each working condition, when the working condition is and When , the pitch attitude angular velocity command is: , The jerk magnitude controlled by the pitch attitude angular velocity command under this condition , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command They are: .

[0011] According to the spacecraft attitude control method provided in the present application, the calculation process of the acceleration magnitude controlled by the pitch attitude angular velocity instruction, the acceleration turning time of the pitch attitude angular velocity instruction and the maximum value of the pitch attitude angular velocity instruction under the working condition is: when When, according to The expression of the pitch attitude angular velocity command under the condition is obtained: ; right The expression of the pitch attitude angular velocity command under the condition is derived and let ,get: ; when When, yes and The expression of the pitch attitude angular velocity command under the condition is calculated and obtained: ; Combine various types to get and Under working conditions, the jerk size controlled by the pitch attitude angular velocity command , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command expression

[0012] According to the spacecraft attitude control method provided by the present application, when determining the pitch attitude angular velocity command under each working condition, when the working condition is and the pitch attitude angular velocity command is: .

[0013] The present application also provides a spacecraft attitude control device, which includes a calculation module, a determination module and a tracking module; Among them, the calculation module is used to calculate the pitch attitude angular acceleration at the start time of designing the pitch attitude angular velocity command by using the parabolic attitude adjustment method; The determination module is used to determine the pitch attitude angular velocity command under each working condition according to the relationship between the pitch attitude angular velocity target value at the satellite-rocket separation moment and 0 and its magnitude relationship with the pitch attitude angular velocity at the start time of the pitch attitude angular velocity command adjustment; The tracking module is used to track the pitch attitude angular velocity command of the current control cycle, and control the angular velocities of the yaw attitude and the roll attitude to be 0° / s, so as to realize the real-time control of the flight attitude of the launch vehicle.

[0014] The present application also provides a spacecraft, which includes the above-mentioned spacecraft attitude control device.

[0015] According to the above specific embodiments of the present application, it has at least the following beneficial effects: The present application comprehensively considers the angular velocity, angular acceleration at the start time of the attitude angular velocity adjustment, and the attitude angular velocity target value at the satellite-rocket separation moment, and adaptively generates an angular velocity control command according to the angular acceleration at the start time of the attitude adjustment, so as to realize the rotational separation of the satellite and the rocket. During the attitude angular velocity adjustment process, the peak value of the angular jerk is the smallest, which can create a good usage environment for the auxiliary power system, improve the reliability of the launch vehicle, reduce the consumption of the propellant of the auxiliary power system at the same time, and improve the carrying capacity of the launch vehicle.

[0016] It should be understood that the above general description and the following specific embodiments are only exemplary and explanatory, and cannot limit the scope claimed by the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following attached drawings are a part of the specification of the present application, which show the embodiments of the present application. The attached drawings and the description of the specification are used together to illustrate the principle of the present application.

[0018] Figure 1 It is a flowchart of the spacecraft attitude control method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0019] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer and more understandable, the spirit of the content disclosed in the present application will be clearly explained below with reference to the accompanying drawings and detailed descriptions. After any person skilled in the art understands the embodiments of the content of the present application, they can make changes and modifications to the technology taught by the content of the present application, which do not deviate from the spirit and scope of the content of the present application.

[0020] The schematic embodiments of the present application and their descriptions are used to explain the present application, but do not limit the present application. Additionally, elements / components with the same or similar reference numerals in the accompanying drawings and embodiments are used to represent the same or similar parts.

[0021] Regarding the use of "first", "second",... etc. in this article, it does not particularly refer to the meaning of order or sequence, nor is it used to limit the present application. It is only used to distinguish elements or operations described with the same technical terms.

[0022] Regarding the directional terms used in this article, such as: up, down, left, right, front or back, etc., they are only references to the directions in the accompanying drawings. Therefore, the directional terms used are for explanation and not for limiting the creation.

[0023] Regarding the use of "comprising", "including", "having", "containing", etc. in this article, they are all open-ended terms, that is, they mean including but not limited to.

[0024] Regarding the use of "and / or" in this article, it includes any one or all combinations of the described things.

[0025] Regarding "multiple" in this article, it includes "two" and "more than two"; regarding "multiple groups" in this article, it includes "two groups" and "more than two groups".

[0026] Regarding the terms "substantially", "about", etc. used in this article, they are used to modify any quantity or error that can vary slightly, but these slight variations or errors will not change their essence. Generally, the range of such slight variations or errors modified by such terms can be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments or other values in some embodiments. Those skilled in the art should understand that the aforementioned values can be adjusted according to actual needs and are not limited thereto.

[0027] Certain terms used to describe the present application will be discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in the description of the present application.

[0028] The spacecraft attitude control method provided by this application calculates the pitch attitude angular acceleration at the start time of attitude adjustment, accurately captures the initial dynamic characteristics of attitude adjustment, avoids lag and overshoot, and provides accurate initial conditions for command calculation; according to the relationship between the pitch attitude angular velocity target value at the time of rocket-satellite separation and 0 and its magnitude relationship with the current angular velocity, different working conditions are divided to generate commands, ensuring the consistency of direction adjustment, optimizing amplitude matching, and enhancing the adaptability to complex scenarios; while tracking the pitch attitude angular velocity command, the yaw and roll attitude angular velocities are locked at 0° / s, eliminating the cross-axis coupling interference, simplifying the control model, and improving the attitude pointing accuracy; combined with the real-time tracking and closed-loop feedback mechanism, it can timely correct the dynamic error, suppress the disturbance, ensure the control smoothness and fault tolerance ability, and finally realize the real-time control of the flight attitude of the launch vehicle with high precision, fast response, low energy consumption and strong robustness.

[0029] The following combines Figure 1 to describe the spacecraft attitude control method provided by this application.

[0030] As Figure 1 shown, the spacecraft attitude control method provided by this application includes the following steps: S1. Calculate the pitch attitude angular acceleration at the start time of designing the pitch attitude angular velocity command by using the parabolic attitude adjustment method.

[0031] Specifically, based on the parabolic trajectory, the change curve of the pitch attitude angular velocity is planned to achieve smooth attitude adjustment; after determining the start time of this angular velocity command (i.e., the start time of attitude adjustment), through the mathematical modeling of the parabolic trajectory, the first derivative of the angular velocity curve at this time is solved, so as to obtain the corresponding pitch attitude angular acceleration value, and use this to evaluate the dynamic characteristics of the initial stage of attitude adjustment and optimize the control parameters.

[0032] Among them, the pitch attitude angular acceleration at the start time is: , In the formula, represents the pitch attitude angular velocity at the start time of the pitch attitude angular velocity command for attitude adjustment, represents the pitch attitude angular velocity of the previous control cycle, represents the attitude control cycle.

[0033] S2. According to the relationship between the pitch attitude angular velocity target value at the time of rocket-satellite separation and 0 and its magnitude relationship with the pitch attitude angular velocity at the start time of the pitch attitude angular velocity command for attitude adjustment, determine the pitch attitude angular velocity commands under various working conditions.

[0034] By distinguishing the positive and negative signs of the target value of the pitch attitude angular velocity at the moment of satellite-rocket separation and the pitch attitude angular velocity at the start moment of attitude adjustment with the pitch attitude angular velocity command, the command curve can be designed specifically to avoid control lag or over-adjustment in the traditional one-size-fits-all mode, making the change of attitude angular velocity more in line with the actual rotation direction and speed requirements. Avoid command mutations caused by directly sending the target value or linear transition. Design a smooth command transition path according to different working conditions (such as the target value is positive and greater than the current value, the target value is negative and less than the current value, etc.), reduce the impact load on the attitude control system, and improve the stability of the control process.

[0035] By dynamically matching the difference between the target value and the current value, the attitude adjustment time can be shortened and the overshoot can be reduced, enabling the rocket body to more accurately reach the target attitude angular velocity at the moment of satellite-rocket separation, avoiding separation attitude deviation caused by control errors, and thus reducing the propellant consumption required for subsequent corrections. In addition, this control method reduces unnecessary attitude adjustment actions through refined command design, avoids oscillations and correction cycles caused by step commands in traditional methods, directly reduces propellant consumption, and improves the rocket's carrying capacity and mission economy.

[0036] S3. Track the pitch attitude angular velocity command of the current control cycle, and control the angular velocities of the yaw attitude and roll attitude to be 0° / s to achieve real-time control of the flight attitude of the launch vehicle.

[0037] In the above step S2, when the working condition is and , the pitch attitude angular velocity command is: ,

[0038] where, represents the total attitude adjustment time of the pitch attitude angular velocity command; represents the acceleration transition time of the pitch attitude angular velocity command; represents the time with the start moment of attitude adjustment of the pitch attitude angular velocity command as the zero point; represents the pitch attitude angular velocity command, represents the maximum value of the pitch attitude angular velocity command; represents the magnitude of the jerk controlled by the pitch attitude angular velocity command, which is the result of taking the second derivative of the attitude angular velocity.

[0039] Among them, the magnitude of the jerk , the acceleration transition time of the pitch attitude angular velocity command, and the maximum value of the pitch attitude angular velocity command are respectively: ,

[0040] Among them, the magnitude of the jerk of the pitch attitude angular velocity command control under this working condition , the acceleration transition time of the pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command are calculated as follows: When , according to the expression of the pitch attitude angular velocity command under the condition, it can be obtained that: (1) Derive the expression of the pitch attitude angular velocity command under the condition, and let it can be obtained that: (2) When , calculate the expressions of the pitch attitude angular velocity command under and the condition, it can be obtained that: (3) By combining equations (1) to (3), it can be obtained that and Under the working condition, the magnitude of the jerk of the pitch attitude angular velocity command control , the acceleration transition time of the pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command expression.

[0041] In the above step S2, when the working condition is and , the pitch attitude angular velocity command is: .

[0042] In the above step S2, when the working condition is and , the pitch attitude angular velocity command is: ,

[0043] The magnitude of the jerk of the pitch attitude angular velocity command control under this working condition , the acceleration transition time of the pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command are respectively: ,

[0044] Among them, the magnitude of the jerk of the pitch attitude angular velocity command control under this working condition , the acceleration transition time of the pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command The calculation process is as follows: When According to The expression of the pitch attitude angular velocity command under the condition, it can be obtained: (4) Derive the expression of the pitch attitude angular velocity command under the condition, and let It can be obtained: (5) When Calculate the expressions of the pitch attitude angular velocity commands under and the conditions, it can be obtained: (6) By combining equations (4) to (6), it can be obtained and Under the working condition, the magnitude of the jerk of the pitch attitude angular velocity command control the acceleration transition time of the pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command

[0045] In the above step S2, when the working condition is and the pitch attitude angular velocity command is: .

[0046] It should be noted that modifying the spacecraft attitude control method provided in this application to yaw attitude angular velocity command control and roll attitude angular velocity command control can achieve the same effect. Among them, the spacecraft can be a launch vehicle or other spacecraft that needs to perform rotational separation.

[0047] Based on the spacecraft attitude control method provided in this application, this application also provides a spacecraft attitude control device, which includes a calculation module, a determination module, and a tracking module.

[0048] Among them, the calculation module is used to calculate the pitch attitude angular acceleration at the start time of designing the pitch attitude angular velocity command in the parabolic attitude adjustment mode.

[0049] A determination module, configured to determine the pitch attitude angular velocity commands in various working conditions according to the relationship between the pitch attitude angular velocity target value at the satellite-rocket separation moment and 0 and the magnitude relationship between the pitch attitude angular velocity at the start moment of the pitch attitude angular velocity command for attitude adjustment.

[0050] A tracking module, configured to track the pitch attitude angular velocity command in the current control cycle, and control the angular velocities of the yaw attitude and the roll attitude to be both 0° / s, so as to achieve real-time control of the flight attitude of the launch vehicle.

[0051] It should be noted that the spacecraft attitude control device provided in the above embodiments and the embodiments of the spacecraft attitude control method belong to the same concept. The specific implementation process can be found in the method embodiments and will not be elaborated here.

[0052] This application also provides a spacecraft, which includes the spacecraft attitude control device in any one of the embodiments of this application.

[0053] This application also provides an electronic device, which includes a memory and a processor coupled to the memory. The processor is configured to execute the spacecraft attitude control method in any one of the embodiments of this application based on the instructions stored in the memory.

[0054] Wherein, the memory can be a system memory or a fixed non-volatile storage medium, etc. The system memory can store an operating system, application programs, a boot loader, a database, and other programs.

[0055] On the other hand, this application also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the spacecraft attitude control method provided by the above-mentioned various methods. The method includes: Calculate the pitch attitude angular acceleration at the start moment of designing the pitch attitude angular velocity command by using the parabolic attitude adjustment method.

[0056] Determine the pitch attitude angular velocity commands in various working conditions according to the relationship between the pitch attitude angular velocity target value at the satellite-rocket separation moment and 0 and the magnitude relationship between the pitch attitude angular velocity at the start moment of the pitch attitude angular velocity command for attitude adjustment.

[0057] Track the pitch attitude angular velocity command in the current control cycle, and control the angular velocities of the yaw attitude and the roll attitude to be both 0° / s, so as to achieve real-time control of the flight attitude of the launch vehicle.

[0058] In another aspect, the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the spacecraft attitude control method provided by the above-mentioned various methods. The method includes: Calculate the pitch attitude angular acceleration at the start time of designing the pitch attitude angular velocity command in the parabolic attitude adjustment mode.

[0059] Determine the pitch attitude angular velocity commands under various conditions according to the relationship between the pitch attitude angular velocity target value at the satellite-rocket separation moment and 0 and its magnitude relationship with the pitch attitude angular velocity at the start time of the pitch attitude angular velocity command adjustment.

[0060] Track the pitch attitude angular velocity command of the current control cycle, and control the angular velocities of the yaw attitude and the roll attitude to be 0° / s to achieve real-time control of the flight attitude of the launch vehicle.

[0061] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0062] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A spacecraft attitude control method, characterized in that, It includes the following steps: Calculate the pitch attitude angular acceleration at the start time of designing the pitch attitude angular velocity command in the parabolic attitude adjustment mode; Determine the pitch attitude angular velocity commands under various working conditions according to the relationship between the pitch attitude angular velocity target value at the satellite-rocket separation moment and 0 and its magnitude relationship with the pitch attitude angular velocity at the start time of the pitch attitude angular velocity command attitude adjustment; Track the pitch attitude angular velocity command of the current control cycle, and control the angular velocities of the yaw attitude and the roll attitude to be both 0° / s to achieve real-time control of the flight attitude of the launch vehicle.

2. The spacecraft attitude control method according to claim 1, wherein The pitch attitude angular acceleration at the start time is as follows: ， wherein, represents the pitch attitude angular velocity at the start time of the pitch attitude angular velocity command for attitude adjustment, represents the pitch attitude angular velocity of the previous control cycle, represents the attitude control period.

3. The spacecraft attitude control method according to claim 2, wherein When determining the pitch attitude angular velocity command under each working condition, when the working condition is and the pitch attitude angular velocity command is: ， In the formula, represents the target value of the pitch attitude angular velocity at the moment of separation between the satellite and the launch vehicle, represents the total time for attitude adjustment by the pitch attitude angular velocity command; represents the acceleration transition time of the pitch attitude angular velocity command; represents the time with the start moment of attitude adjustment by the pitch attitude angular velocity command as the zero point; represents the pitch attitude angular velocity command, represents the maximum value of the pitch attitude angular velocity command; represents the magnitude of the jerk controlled by the pitch attitude angular velocity command; Among them, the magnitude of the jerk of the pitch attitude angular velocity command control under this working condition , the acceleration transition time of the pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command are respectively: 。 4. The spacecraft attitude control method according to claim 3, wherein The magnitude of the jerk of the pitch attitude angular velocity command under the said working conditions , the acceleration transition time of the pitch attitude angular velocity command and the maximum and minimum values of the pitch attitude angular velocity command The calculation process is as follows: When , according to the expression of the pitch attitude angular velocity command under condition, we get: ； Derive the expression of the pitch attitude angular velocity command under the condition, and let , then we get: ； When , calculate the expression of the pitch attitude angular velocity command under the conditions of and , and obtain: ； Combine various types to get and Under working conditions, the jerk size controlled by the pitch attitude angular velocity command , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command expression.

5. The spacecraft attitude control method according to claim 2, characterized in that, When determining the pitch attitude angular velocity command under each working condition, when the working condition is and the pitch attitude angular velocity command is: 。 6. The spacecraft attitude control method according to claim 2, wherein When determining the pitch attitude angular velocity command under each working condition, when the working condition is and the pitch attitude angular velocity command is: ， The magnitude of the jerk of the pitch attitude angular velocity command control under this working condition , the acceleration transition time of the pitch attitude angular velocity command and the maximum and minimum values of the pitch attitude angular velocity command are respectively: 。 7. The spacecraft attitude control method according to claim 6, characterized in that, The calculation processes of the jerk magnitude, the acceleration transition time of the pitch attitude angular velocity command, and the maximum value of the pitch attitude angular velocity command under the said working conditions are as follows: When According to the expression of the pitch attitude angular velocity command under the condition of , we get: ； Derive the expression of the pitch attitude angular velocity command under the condition, and let , then we get: ； When , calculate the expression of the pitch attitude angular velocity command under the conditions of and , and obtain: ； By combining the various equations, we obtain and Under the working conditions, the magnitude of the jerk of the pitch attitude angular velocity command control , the acceleration transition time of the pitch attitude angular velocity command and the maximum and minimum values of the pitch attitude angular velocity command The expressions of.

8. The spacecraft attitude control method according to claim 2, characterized in that When determining the pitch attitude angular velocity command under each working condition, when the working condition is and the pitch attitude angular velocity command is: 。 9. A spacecraft attitude control device using the method according to any one of claims 1 to 8, which includes a calculation module, a determination module, and a tracking module; Among them, The calculation module is used to calculate the pitch attitude angular acceleration at the start time of designing the pitch attitude angular velocity command in the parabolic attitude adjustment mode; The determination module is used to determine the pitch attitude angular velocity commands under various working conditions according to the relationship between the pitch attitude angular velocity target value at the satellite-rocket separation moment and 0 and its magnitude relationship with the pitch attitude angular velocity at the start time of the pitch attitude angular velocity command attitude adjustment; The tracking module is used to track the pitch attitude angular velocity command of the current control cycle, and control the angular velocities of the yaw attitude and the roll attitude to be both 0° / s to achieve real-time control of the flight attitude of the launch vehicle.

10. A spacecraft, characterized in that, It includes the spacecraft attitude control device according to claim 9.

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