Spacecraft attitude control method, control device and spacecraft

Abstract

The present application provides a spacecraft attitude control method, control device, and spacecraft. The spacecraft attitude control method includes the following steps: calculating the pitch attitude angular acceleration at the start of designing the pitch attitude angular velocity command using a parabolic attitude adjustment method; determining the pitch attitude angular velocity command under various operating conditions based on the relationship between the pitch attitude angular velocity target value at the time of satellite-rocket separation and 0, and its relationship with the pitch attitude angular velocity at the start of attitude adjustment using the pitch attitude angular velocity command; tracking the pitch attitude angular velocity command in the current control cycle, and controlling the angular velocities of the yaw attitude and roll attitude to 0° / s, thereby achieving real-time control of the launch vehicle's flight attitude. The present application can improve the reliability of the launch vehicle, while reducing the propellant consumption of the auxiliary power system and enhancing the carrying capacity of the launch vehicle.

Description

Technical Field

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

[0002] When launching a satellite onto a launch vehicle or other spacecraft for flight test missions, a satellite-rocket separation method must be selected based on the satellite development requirements. The rotary multi-satellite separation method is widely used because it allows for the orderly release of multiple satellites. This method requires the rocket's attitude angular velocity to reach a specific value before the satellite-rocket separation command is executed, ensuring safe separation.

[0003] Currently, conventional rocket body attitude angular velocity control methods often employ direct target value commands or a linear transition from the current state to the target value command. This control method is prone to step changes in the attitude angular velocity command, making it difficult to maintain attitude control accuracy. This reduced attitude control accuracy necessitates additional propellant consumption to correct the rocket's attitude, resulting in propellant waste and a reduction in the rocket's carrying capacity, impacting the economic and reliability of satellite launch missions. Summary of the Invention

[0004] In order to overcome the problems existing in the related art to at least a certain extent, the present application provides a posture control method, a control device and an electronic device.

[0005] According to a first aspect of the embodiments of the present application, the present application provides a spacecraft attitude control method, which includes the following steps:

[0006] Calculate the pitch attitude angular acceleration at the start time of designing the pitch attitude angular velocity instruction using the parabolic attitude adjustment method;

[0007] The pitch attitude angular velocity command under each working condition is determined based on the relationship between the pitch attitude angular velocity target value and 0 at the time of satellite-rocket separation and the relationship between the pitch attitude angular velocity at the time of starting attitude adjustment of the pitch attitude angular velocity command;

[0008] The pitch attitude angular velocity command of the current control cycle is tracked, and the angular velocities of the yaw attitude and roll attitude are controlled to be 0° / s to achieve real-time control of the launch vehicle's flight attitude.

[0009] According to the spacecraft attitude control method provided by this application, the pitch attitude angular acceleration at the starting moment for:

[0010] ,

[0011] Where, Indicates the pitch attitude angular velocity at the start of attitude adjustment with the pitch attitude angular velocity command. represents the pitch attitude angular velocity of the previous control cycle, Indicates the attitude control period.

[0012] According to the spacecraft attitude control method provided in this 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:

[0013] ,

[0014] Where, Indicates the total attitude adjustment time of the pitch attitude angular velocity command; Indicates the acceleration turning time of the pitch attitude angular velocity command; Indicates the time when the attitude adjustment starts with the pitch attitude angular velocity instruction as zero point; Indicates the pitch attitude angular velocity command, Indicates the maximum value of the pitch attitude angular velocity command; Indicates the jerk controlled by the pitch attitude angular velocity command.

[0015] Among them, the jerk magnitude controlled by the pitch attitude angular velocity command under this working condition is , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command They are:

[0016] .

[0017] According to the spacecraft attitude control method provided in this application, the jerk magnitude of the pitch attitude angular velocity instruction control under the working condition is , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command The calculation process is:

[0018] when When, according to The expression of the pitch attitude angular velocity command under the condition is:

[0019] ;

[0020] right Derivate the expression of the pitch attitude angular velocity command under the condition and let ,get:

[0021] ;

[0022] when When, right and The expression of the pitch attitude angular velocity command under the conditions is calculated and obtained:

[0023] ;

[0024] 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.

[0025] According to the spacecraft attitude control method provided in this 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:

[0026] .

[0027] According to the spacecraft attitude control method provided in this 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:

[0028] ,

[0029] The jerk controlled by the pitch attitude angular velocity command under this working condition , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command They are:

[0030] .

[0031] According to the spacecraft attitude control method provided in this 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 as follows:

[0032] when When, according to The expression of the pitch attitude angular velocity command under the condition is:

[0033] ;

[0034] right Derivate the expression of the pitch attitude angular velocity command under the condition and let ,get:

[0035] ;

[0036] when When, right and The expression of the pitch attitude angular velocity command under the conditions is calculated and obtained:

[0037] ;

[0038] 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.

[0039] According to the spacecraft attitude control method provided in this 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:

[0040] .

[0041] The present application also provides a spacecraft attitude control device, which includes a calculation module, a determination module and a tracking module;

[0042] The calculation module is used to calculate the pitch attitude angular acceleration at the start time of designing the pitch attitude angular velocity instruction using the parabolic attitude adjustment method;

[0043] a determination module, configured to determine the pitch attitude angular velocity command under various working conditions based on a relationship between the pitch attitude angular velocity target value at the moment of satellite-rocket separation and 0, and a relationship between the pitch attitude angular velocity target value and the pitch attitude angular velocity at the moment of starting attitude adjustment of the pitch attitude angular velocity command;

[0044] The tracking module is used to track the pitch attitude angular velocity command of the current control cycle and control the angular velocity of the yaw attitude and roll attitude to be 0° / s, so as to achieve real-time control of the flight attitude of the launch vehicle.

[0045] The present application also provides a spacecraft, which includes the above-mentioned spacecraft attitude control device.

[0046] According to the above-mentioned specific implementation methods of the present application, it can be seen that there are at least the following beneficial effects: the present application realizes the rotational separation of the satellite and the rocket by adaptively generating an angular velocity control instruction according to the angular acceleration at the start of the attitude angular velocity adjustment by comprehensively considering the angular velocity and angular acceleration at the start of the attitude angular velocity adjustment and the attitude angular velocity target value at the time of satellite-rocket separation, and during the attitude angular velocity adjustment process, the angular acceleration peak value is minimized, which can create a good use environment for the auxiliary power system, improve the reliability of the launch vehicle, and at the same time reduce the propellant consumption of the auxiliary power system and enhance the carrying capacity of the launch vehicle.

[0047] It should be understood that the above general description and the following detailed description are only exemplary and illustrative and do not limit the scope of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings below are part of the specification of the present application, which illustrate embodiments of the present application. The accompanying drawings, together with the description in the specification, are used to explain the principles of the present application.

[0049] Figure 1 A flowchart of a spacecraft attitude control method provided in one embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the embodiments of the present application more clearly understood, the spirit of the contents disclosed in the present application will be clearly illustrated with the accompanying drawings and detailed descriptions below. After understanding the embodiments of the contents of the present application, any technician in the relevant technical field can change and modify the contents of the present application based on the techniques taught by the contents of the present application without departing from the spirit and scope of the contents of the present application.

[0051] The exemplary embodiments and descriptions of the present application are used to explain the present application, but are not intended to limit the present application. In addition, elements / components with the same or similar reference numerals used in the drawings and embodiments are used to represent the same or similar parts.

[0052] The terms “first,” “second,” etc. used herein do not specifically refer to an order or sequence, nor are they intended to limit this application. They are merely used to distinguish elements or operations described with the same technical terms.

[0053] The directional terms used herein, such as up, down, left, right, front, or back, are only used to refer to the directions in the accompanying drawings. Therefore, the directional terms used are used to illustrate and not to limit the present invention.

[0054] The words “include,” “including,” “have,” “contain,” etc. used in this document are open-ended terms, meaning including but not limited to.

[0055] As used herein, "and / or" includes any and all combinations of the items mentioned.

[0056] Regarding "plurality" in this document, "plurality" includes "two" and "more than two"; regarding "plurality groups" in this document, "plurality groups" includes "two groups" and "more than two groups".

[0057] As used herein, the terms "substantially" and "approximately" are used to modify any quantity or error that may vary slightly, but such slight variations or errors do not alter the essence of the quantity. Generally speaking, the range of slight variations or errors modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other values. Those skilled in the art will appreciate that the aforementioned values ​​may be adjusted based on actual needs and are not intended to be limiting.

[0058] Certain terms used to describe the present application are discussed below, or elsewhere in this specification, to provide additional guidance to those skilled in the art regarding the description of the present application.

[0059] The spacecraft attitude control method provided in the present application calculates the pitch attitude angular acceleration at the beginning of attitude adjustment, accurately captures the initial dynamic characteristics of attitude adjustment, avoids lag and overshoot, and provides accurate initial conditions for instruction calculation; based on the relationship between the pitch attitude angular velocity target value and 0 at the moment of satellite-rocket separation and the relationship with the current angular velocity, different working conditions are divided to generate instructions to ensure the consistency of direction adjustment, optimize amplitude matching, and enhance adaptability to complex scenarios; while tracking the pitch attitude angular velocity instruction, the yaw and roll attitude angular velocities are locked to 0° / s to eliminate inter-axis coupling interference, simplify the control model and improve attitude pointing accuracy; combined with real-time tracking and closed-loop feedback mechanism, it can timely correct dynamic errors, suppress disturbances, ensure control smoothness and fault tolerance, and ultimately achieve high-precision, fast response, low energy consumption and strong robustness real-time control of the launch vehicle flight attitude.

[0060] The following combination Figure 1 The present invention describes a spacecraft attitude control method.

[0061] like Figure 1 As shown, the spacecraft attitude control method provided by this application includes the following steps:

[0062] S1. Calculate the pitch attitude angular acceleration at the start time of designing the pitch attitude angular velocity instruction using the parabolic attitude adjustment method.

[0063] Specifically, the pitch attitude angular velocity variation curve is planned based on the parabolic trajectory to achieve smooth attitude adjustment. After determining the starting time of the angular velocity command (i.e., the start time of attitude adjustment), the parabolic trajectory is mathematically modeled to solve the first-order derivative of the angular velocity curve at that moment, thereby obtaining the corresponding pitch attitude angular acceleration value, thereby evaluating the dynamic characteristics of the initial stage of attitude adjustment and optimizing the control parameters.

[0064] Among them, the pitch attitude angular acceleration at the start time is for:

[0065] ,

[0066] Where, Indicates the pitch attitude angular velocity at the start of attitude adjustment with the pitch attitude angular velocity command. represents the pitch attitude angular velocity of the previous control cycle, Indicates the attitude control period.

[0067] S2. Target value of pitch attitude angular velocity at the moment of satellite-rocket separation The relationship between 0 and the pitch attitude angular velocity at the beginning of attitude adjustment The size relationship of is used to determine the pitch attitude angular velocity command under each working condition.

[0068] By distinguishing the positive and negative signs of the target pitch attitude angular velocity value at the moment of separation between the rocket and the satellite, and the pitch attitude angular velocity at the start of attitude adjustment with the pitch attitude angular velocity command, a targeted command curve can be designed to avoid control lag or over-adjustment in the traditional one-size-fits-all mode, ensuring that attitude angular velocity changes more closely match the actual rotation direction and rate requirements. This avoids sudden command changes caused by directly sending the target value or using a linear transition. Instead, a smooth command transition path is designed based on different operating conditions (e.g., a positive target value greater than the current value, a negative target value less than the current value, etc.), reducing the impact load on the attitude control system and improving the stability of the control process.

[0069] By dynamically matching the difference between the target value and the current value, attitude adjustment time can be shortened and overshoot can be reduced, allowing the rocket to more accurately reach the target attitude angular velocity at the moment of separation, avoiding separation attitude deviations caused by control errors, thereby reducing the propellant consumption required for subsequent corrections. In addition, this control method reduces unnecessary attitude adjustment actions through refined command design, avoiding the oscillations and correction cycles caused by step commands in traditional methods, directly reducing propellant consumption and improving the rocket's carrying capacity and mission economy.

[0070] S3. Track the pitch attitude angular velocity command of the current control cycle, and control the angular velocity of the yaw attitude and the roll attitude to be 0° / s, so as to achieve real-time control of the flight attitude of the launch vehicle.

[0071] In the above step S2, when the working condition is and When , the pitch attitude angular velocity command is:

[0072] ,

[0073] Where, Indicates the total attitude adjustment time of the pitch attitude angular velocity command; Indicates the acceleration turning time of the pitch attitude angular velocity command; Indicates the time when the attitude adjustment starts with the pitch attitude angular velocity instruction as zero point; Indicates the pitch attitude angular velocity command, Indicates the maximum value of the pitch attitude angular velocity command; Indicates the magnitude of the jerk controlled by the pitch attitude angular velocity command, which is the result of twice derivation of the attitude angular velocity.

[0074] Among them, the jerk magnitude controlled by the pitch attitude angular velocity command under this working condition is , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command They are:

[0075] ,

[0076] Among them, the jerk magnitude controlled by the pitch attitude angular velocity command under this working condition is , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command The calculation process is:

[0077] when When, according to The expression of the pitch attitude angular velocity command under the condition can be obtained:

[0078] (1)

[0079] right Derivate the expression of the pitch attitude angular velocity command under the condition and let You can get:

[0080] (2)

[0081] when When, right and The expression of the pitch attitude angular velocity command under the following conditions can be calculated:

[0082] (3)

[0083] Combining equations (1) to (3) we can 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.

[0084] In the above step S2, when the working condition is and When , the pitch attitude angular velocity command is:

[0085] .

[0086] In the above step S2, when the working condition is and When , the pitch attitude angular velocity command is:

[0087] ,

[0088] The jerk controlled by the pitch attitude angular velocity command under this working condition , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command They are:

[0089] ,

[0090] Among them, the jerk magnitude controlled by the pitch attitude angular velocity command under this working condition is , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command The calculation process is:

[0091] when When, according to The expression of the pitch attitude angular velocity command under the condition can be obtained:

[0092] (4)

[0093] right Derivate the expression of the pitch attitude angular velocity command under the condition and let You can get:

[0094] (5)

[0095] when When, right and The expression of the pitch attitude angular velocity command under the following conditions can be calculated:

[0096] (6)

[0097] Combining equations (4) to (6) we can 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.

[0098] In the above step S2, when the working condition is and When , the pitch attitude angular velocity command is:

[0099] .

[0100] It should be noted that the spacecraft attitude control method provided in this application can be modified to yaw attitude angular velocity command control and roll attitude angular velocity command control to achieve the same effect.

[0101] Based on the spacecraft attitude control method provided in the present application, the present application also provides a spacecraft attitude control device, which includes a calculation module, a determination module and a tracking module.

[0102] The calculation module is used to calculate the pitch attitude angular acceleration at the start moment of designing the pitch attitude angular velocity instruction using a parabolic attitude adjustment method.

[0103] The determination module is used to determine the pitch attitude angular velocity command under each working condition based on the relationship between the pitch attitude angular velocity target value at the time of satellite-rocket separation and 0 and the relationship between the pitch attitude angular velocity and the pitch attitude angular velocity at the start time of attitude adjustment of the pitch attitude angular velocity command.

[0104] The tracking module is used to track the pitch attitude angular velocity command of the current control cycle and control the angular velocity of the yaw attitude and roll attitude to be 0° / s, so as to achieve real-time control of the flight attitude of the launch vehicle.

[0105] It should be noted that the spacecraft attitude control device and the spacecraft attitude control method provided in the above embodiments belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0106] The present application also provides a spacecraft, which includes the spacecraft attitude control device in any one of the embodiments of the present application.

[0107] The present application also provides an electronic device, which includes a memory and a processor coupled to the memory, and the processor is configured to execute the spacecraft attitude control method in any embodiment of the present application based on instructions stored in the memory.

[0108] The memory may be a system memory or a fixed non-volatile storage medium, etc. The system memory may store an operating system, application programs, a boot loader, a database, and other programs, etc.

[0109] On the other hand, the present 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 perform the spacecraft attitude control method provided by the above methods, which includes:

[0110] Calculate the pitch attitude angular acceleration at the start moment of designing the pitch attitude angular velocity instruction using the parabolic attitude adjustment method.

[0111] According to the relationship between the pitch attitude angular velocity target value and 0 at the moment of satellite-rocket separation and its relationship with the pitch attitude angular velocity at the moment when the pitch attitude angular velocity command adjustment starts, the pitch attitude angular velocity command under each working condition is determined.

[0112] The pitch attitude angular velocity command of the current control cycle is tracked, and the angular velocities of the yaw attitude and roll attitude are controlled to be 0° / s to achieve real-time control of the flight attitude of the launch vehicle.

[0113] In another aspect, the present application further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for controlling the spacecraft attitude provided by the above methods is implemented. The method includes:

[0114] Calculate the pitch attitude angular acceleration at the start moment of designing the pitch attitude angular velocity instruction using the parabolic attitude adjustment method.

[0115] According to the relationship between the pitch attitude angular velocity target value and 0 at the moment of satellite-rocket separation and its relationship with the pitch attitude angular velocity at the moment when the pitch attitude angular velocity command adjustment starts, the pitch attitude angular velocity command under each working condition is determined.

[0116] The pitch attitude angular velocity command of the current control cycle is tracked, and the angular velocities of the yaw attitude and roll attitude are controlled to be 0° / s to achieve real-time control of the flight attitude of the launch vehicle.

[0117] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0118] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A spacecraft attitude control method, characterized in that: The following steps are involved: Calculate the pitch attitude angular acceleration at the start time of designing the pitch attitude angular velocity instruction using the parabolic attitude adjustment method; The pitch attitude angular velocity command under each working condition is determined based on the relationship between the pitch attitude angular velocity target value and 0 at the time of separation of the satellite and the rocket, and the relationship between the pitch attitude angular velocity at the time of starting attitude adjustment of the pitch attitude angular velocity command; The pitch attitude angular velocity command of the current control cycle is tracked, and the angular velocities of the yaw attitude and roll attitude are controlled to be 0° / s to achieve real-time control of the launch vehicle's flight attitude.

2. The spacecraft attitude control method according to claim 1, characterized in that: Pitch attitude angular acceleration at the starting moment for: ， Where, Indicates the pitch attitude angular velocity at the start of attitude adjustment with the pitch attitude angular velocity command. represents the pitch attitude angular velocity of the previous control cycle, Indicates the attitude control period.

3. 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 When , the pitch attitude angular velocity command is: ， Where, Indicates the target value of the pitch attitude angular velocity at the moment of satellite-rocket separation. Indicates the total attitude adjustment time of the pitch attitude angular velocity command; Indicates the acceleration turning time of the pitch attitude angular velocity command; Indicates the time when the attitude adjustment starts with the pitch attitude angular velocity instruction as zero point; Indicates the pitch attitude angular velocity command, Indicates the maximum value of the pitch attitude angular velocity command; Indicates the jerk magnitude controlled by the pitch attitude angular velocity command; Among them, the jerk magnitude controlled by the pitch attitude angular velocity command under this working condition is , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command They are: 。 4. The spacecraft attitude control method according to claim 3, characterized in that: The jerk magnitude controlled by the pitch attitude angular velocity command under the working conditions , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command The calculation process is: when When, according to The expression of the pitch attitude angular velocity command under the condition is: ； right Derivate the expression of the pitch attitude angular velocity command under the condition and let ,get: ； when When, right and The expression of the pitch attitude angular velocity command under the conditions 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.

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 When , the pitch attitude angular velocity command is: 。 6. 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 When , the pitch attitude angular velocity command is: ， The jerk controlled by the pitch attitude angular velocity command under this working condition , acceleration transition time of pitch attitude angular velocity command and the maximum value of the pitch attitude angular velocity command They are: 。 7. The spacecraft attitude control method according to claim 6, characterized in that: The calculation process of the jerk size, acceleration turning time and maximum value of the pitch attitude angular velocity command controlled by the pitch attitude angular velocity command under the working condition is as follows: when When, according to The expression of the pitch attitude angular velocity command under the condition is: ； right Derivate the expression of the pitch attitude angular velocity command under the condition and let ,get: ； when When, right and The expression of the pitch attitude angular velocity command under the conditions 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.

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 When , 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, comprising a calculation module, a determination module and a tracking module; in, A calculation module, used to calculate the pitch attitude angular acceleration at the start moment of designing the pitch attitude angular velocity instruction using a parabolic attitude adjustment method; a determination module, configured to determine the pitch attitude angular velocity command under various working conditions based on a relationship between the pitch attitude angular velocity target value at the moment of satellite-rocket separation and 0, and a relationship between the pitch attitude angular velocity target value and the pitch attitude angular velocity at the moment of starting attitude adjustment of the pitch attitude angular velocity command; The tracking module is used to track the pitch attitude angular velocity command of the current control cycle and control the angular velocity of the yaw attitude and roll attitude to be 0° / s, so as to achieve real-time control of the flight attitude of the launch vehicle.

10. A spacecraft, characterized in that: Comprising the spacecraft attitude control device as described in claim 9.

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