Rate damping control method and device under gyroscope saturation condition

Abstract

The embodiment of the invention relates to the technical field of spacecrafts, in particular to a rate damping control method and device under the condition of gyroscope saturation. The method comprises the following steps: establishing a gyroscope matrix according to the mounting coordinates of the three gyroscopes; establishing a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system according to the gyroscope matrix; establishing a second relationship between the moment and the angular velocity of the gyroscope according to the first relationship and a kinetic equation; establishing a Lyapunov function representing the speed according to the angular speed, the rotational inertia and the gyroscope matrix of the gyroscope, and deriving to obtain a speed derivative expression; establishing a speed damping control law among a damping matrix, a gyro angular speed measurement value and torque; according to the velocity derivative expression and the velocity damping control law, establishing a third relationship for expressing the velocity derivative by using the gyro angular velocity measurement value and the damping matrix; and determining a damping matrix according to a third relationship to make the velocity derivative be a non-positive number. According to the scheme, rate damping control can be carried out under the condition that the gyroscope is saturated.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of spacecrafts, and particularly to a rate damping control method and device in the case of gyro saturation. Background Art

[0002] The rate damping control of a spacecraft is a control process that only performs angular velocity control and controls the angular velocity to near zero.

[0003] After it is found that the angular velocity of the spacecraft is too large, the first thing to do is to damp the angular velocity of the spacecraft to near zero in order to re - establish the attitude towards the sun or the earth. However, due to the high rotational angular velocity of the spacecraft, the gyroscopes for measuring the angular velocity become saturated and generally can only output a saturated value with the correct polarity. If this value is directly used to calculate the three - axis angular velocity of the spacecraft body, the calculated angular velocity value is not the true three - axis angular velocity, and even the polarity may be incorrect. Using this untrue angular velocity to damp the angular velocity of the spacecraft will cause the angular velocity to be controlled to increase. Summary of the Invention

[0004] The embodiments of the present invention provide a rate damping control method, device, electronic device and storage medium in the case of gyro saturation, which can perform rate damping control in the case of gyro saturation.

[0005] In a first aspect, the present invention provides a rate damping control method in the case of gyro saturation, including:

[0006] Optionally select three gyroscopes in different directions, and establish a gyro matrix according to the installation coordinates of the three gyroscopes;

[0007] Establish a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system according to the gyro matrix;

[0008] Establish a second relationship between the torque and the gyro angular velocity according to the first relationship and the dynamic equation; wherein, the dynamic equation includes the torque and the angular velocity of the control coordinate system;

[0009] Establish a Lyapunov function representing the velocity according to the angular velocity of the gyroscope, the moment of inertia and the gyro matrix. After taking the derivative of the Lyapunov function, combine with the second relationship to obtain a velocity derivative expression;

[0010] Define a damping matrix, and establish a velocity damping control law between the damping matrix, the measured value of the gyro angular velocity and the torque;

[0011] Establish a third relationship expressing the velocity derivative using the measured value of the gyro angular velocity and the damping matrix according to the velocity derivative expression and the velocity damping control law;

[0012] Determine the damping matrix according to the third relationship so that the velocity derivative is non-positive.

[0013] In a possible design, it further includes:

[0014] Obtain an adjustment control law according to the differences in the three-axis inertia of the spacecraft.

[0015] In a possible design, it further includes:

[0016] Adjust the torque according to the maximum jet torque of the aircraft.

[0017] In a possible design, the first relationship is as follows:

[0018]

[0019] The second relationship is as follows:

[0020]

[0021] The third relationship is as follows:

[0022]

[0023] where ω B is the angular velocity of the control coordinate system, ω g is the angular velocity of the three gyroscopes, is obtained through the gyro matrix C g K Damp is the damping matrix, J B is the moment of inertia, H B = J B ω B .

[0024] In a possible design, the Lyapunov function is as follows:

[0025]

[0026] The expression of the velocity derivative is:

[0027]

[0028] where V is the velocity, J g = D T J B D, J B is the moment of inertia, T B is the torque.

[0029] In a possible design, the damping control law is as follows:

[0030] T B = -(D T ) -1 K Damp ω gm

[0031] K Damp = k Damp J BD

[0032] J BD is the diagonal matrix composed of the principal inertia elements of J, that is B and namely

[0033]

[0034] wherein, K Damp is the damping matrix.

[0035] In a possible design, the adjustment control law is as follows:

[0036]

[0037] T B = [T1 T2 T3] T

[0038]

[0039] α Tmax = max(α T1 , α T2 , α T3 )

[0040]

[0041] wherein, T 1max , T 2max , T 3max are respectively the maximum jet torques.

[0042] In a second aspect, the present invention further provides a rate damping control device in the case of gyro saturation, which is used to implement any one of the above methods. The device includes:

[0043] The first unit is used to optionally select three gyroscopes in different directions and establish a gyro matrix according to the installation coordinates of the three gyroscopes;

[0044] The second unit is used to establish a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system according to the gyro matrix;

[0045] A third unit, configured to establish a second relationship between the torque and the gyro angular velocity according to the first relationship and the dynamic equation; wherein, the dynamic equation includes the torque and the angular velocity of the control coordinate system;

[0046] A fourth unit, configured to establish a Lyapunov function representing the velocity according to the angular velocity, the moment of inertia of the gyro, and the gyro matrix of the gyro, and after taking the derivative of the Lyapunov function, obtain a velocity derivative expression in combination with the second relationship;

[0047] A fifth unit, configured to define a damping matrix and establish a velocity damping control law between the damping matrix, the measured value of the gyro angular velocity, and the torque;

[0048] A sixth unit, configured to establish a third relationship expressing the velocity derivative using the measured value of the gyro angular velocity and the damping matrix according to the velocity derivative expression and the velocity damping control law;

[0049] A seventh unit, configured to determine, according to the third relationship, the damping matrix such that the velocity derivative is a non-positive number.

[0050] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where a computer program is stored in the memory, and when the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0051] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed on a computer, the computer is made to execute the method described in any embodiment of this specification.

[0052] An embodiment of the present invention provides a rate damping control method, device, electronic device, and storage medium in the case of gyro saturation. In order to solve the problem that after the gyro angular velocity is saturated, the control angular velocity calculated according to the saturation value has the opposite polarity to the actual situation, resulting in an increasing deviation with adjustment, this application proposes a solution. Specifically, by replacing the control angular velocity with the form represented by the gyro angular velocity and performing angular rate damping regulation based on the angular velocity of the gyro as the data basis, it is possible to utilize the correct polarity of the gyro angular velocity to roughly adjust the spacecraft in the correct direction by controlling the torque to reduce its angular velocity. When the gyro angular velocity drops below the damping, fine adjustment of the direction and magnitude can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0054] Figure 1 It is a schematic diagram of the installation orientation of a gyro saturation provided by an embodiment of the present invention;

[0055] Figure 2 It is a block diagram of a pseudo rate modulator provided by an embodiment of the present invention;

[0056] Figure 3 It is the true angular velocity of three axes of a spacecraft provided by an embodiment of the present invention;

[0057] Figure 4 It is the true angular rate of the measurement axis of a gyro provided by an embodiment of the present invention;

[0058] Figure 5 It is the measured output value of a gyro provided by an embodiment of the present invention;

[0059] Figure 6 It is the pulse width of three-axis jet provided by an embodiment of the present invention. Specific implementation manners

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the protection scope of the present invention.

[0061] The following describes the specific implementation manners of the above concepts.

[0062] The embodiment of the present invention provides a rate damping control method in the case of gyro saturation. The method includes:

[0063] Step 100, arbitrarily select three gyroscopes in different directions, and establish a gyro matrix according to the installation coordinates of the three gyroscopes;

[0064] Step 102, establish a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system according to the gyro matrix;

[0065] Step 104: Establish a second relationship between the torque and the gyro angular velocity according to the first relationship and the kinetic equation; wherein, the kinetic equation includes the torque and the angular velocity of the control coordinate system.

[0066] Step 106: Establish a Lyapunov function representing the velocity according to the angular velocity, moment of inertia of the gyro, and the gyro matrix. After taking the derivative of the Lyapunov function and combining with the second relationship, obtain the velocity derivative expression.

[0067] Step 108: Define a damping matrix and establish a velocity damping control law between the damping matrix, the measured value of the gyro angular velocity, and the torque.

[0068] Step 110: Establish a third relationship expressing the velocity derivative using the measured value of the gyro angular velocity and the damping matrix according to the velocity derivative expression and the velocity damping control law.

[0069] Step 112: Determine the damping matrix according to the third relationship such that the velocity derivative is non-positive.

[0070] To solve the problem that after the gyro angular velocity saturates, the control angular velocity calculated according to the saturation value has the opposite polarity to the actual situation, resulting in an increasing deviation with more adjustment, the present application proposes a solution. Specifically, by replacing the control angular velocity with the form represented by the gyro angular velocity and performing angular rate damping regulation based on the angular velocity of the gyro as the data basis, it is possible to utilize the correct polarity characteristic of the gyro angular velocity to roughly adjust the spacecraft in the correct direction by controlling the torque to reduce its angular velocity. When the gyro angular velocity drops below the damping, fine adjustment of the direction and magnitude can be achieved.

[0071] The execution methods of each step are described below.

[0072] First, for step 100, specifically, first define the control coordinate system of the spacecraft, as Figure 1 shown. Assume that there are n gyros installed on the spacecraft to measure the angular velocity of the body. Let the installation matrix of the measurement axis of gyro i be c i , and within the control coordinate system, the installation matrix of the gyro is a 3×n matrix.

[0073] C = [c1 c2 … c n-1 c n (1)

[0074] Use the gyro output value to calculate the angular velocity. When calculating the angular velocity of the spacecraft, 3 of the gyros will be selected, and C g is a 3×3 gyro matrix reconstituted from the installation coordinates of the selected gyros.

[0075] For step 102, without loss of generality, let the angular rates on the measurement axes of the three selected gyroscopes be ω g1 , ω g2 , ω g3 . There is the following first relationship:

[0076]

[0077] The above equation can also be written as:

[0078]

[0079] Where,

[0080] Note that since the installation axes of the three selected gyroscopes are not necessarily orthogonal, so is not necessarily an identity matrix. Only when the installation axes of the three selected gyroscopes are orthogonal, is an identity matrix.

[0081] For step 104, specifically, the dynamic equation of the spacecraft can be written as:

[0082]

[0083] Substituting equation (4) gives:

[0084]

[0085] Left-multiplying the above equation by D T gives the second relationship

[0086]

[0087] Where, ω B is the angular velocity of the control coordinate system, ω g is the angular velocity of the three said gyroscopes, is obtained through the gyro matrix C g , K Damp is the damping matrix, J B is the moment of inertia, H B = J B ω B H B .

[0088] For step 106, take the Lyapunov function in the following form:

[0089]

[0090] J g = D T J B D (8)

[0091] Since

[0092]

[0093] For C g is invertible, for any ω g , there is always a corresponding ω B , and since J B is positive definite, that is, for any non-zero ω g , V is always greater than zero, so J g is also positive definite.

[0094] Taking the derivative of the above Lyapunov function gives the velocity derivative expression

[0095]

[0096] For step 108, let the maximum measurement range of the gyro be the positive value ω gmax , and establish the velocity damping control law:

[0097] D T T B =-K Damp ω gm (12)

[0098] where

[0099]

[0100] ω gm =[ω gm1 ω gm2 ω gm3 T (14)

[0101]

[0102] For step 110, when adopting the above controller form, establish the third relationship

[0103]

[0104] Only when ω g =[0 0 0] T at this time, According to the LaSalle invariant set principle, it can be known that ω g →[0 0 0] T .

[0105] In an embodiment of the present invention, according to the differences in the three-axis inertia of the spacecraft, an adjustment control law is obtained. Specifically, thus from equation (12), it can be obtained

[0106] T​B = -(D T ) -1 K Damp ω gm (17)

[0107] Considering the differences in the three-axis inertia of the spacecraft, K Damp can be set as

[0108] K Damp = k Damp J BD

[0109] J BD is a diagonal matrix composed of the principal inertia elements of J B , that is

[0110]

[0111] The final adjustment control law is obtained as

[0112] T B = -k Damp (D T ) -1 J BD ω gm (19)

[0113] Since the control law (19) can be applied to the damping control of the spacecraft at any angular velocity, but this control command may exceed the control ability of the engine, the feedback gain k Damp is designed below to adapt to the control ability of the engine.

[0114] In some embodiments of the present invention, the torque is adjusted according to the maximum jet torque of the aircraft. Specifically, let the maximum jet torques be T 1max , T 2max , T 3max . Let the T B in equation (19) be written as

[0115] T B = [T1 T2 T3] T (21)

[0116] Define

[0117]

[0118] where α Tmax = max(α T1 , α T2 , α T3 )

[0119]

[0120] Take

[0121]

[0122] Then it can be ensured that the amplitude of T B never exceeds the jet control ability of the engine. At the same time, since the gain coefficient is always positive, the stability of the original control law is ensured. Equation (24) is the deformation of Equation (19) considering the maximum control ability of the engine. Since the two are in the same form, the control law in Equation (24) can also ensure the stability of rate damping.

[0123] The continuous control command given by Equation (24) needs to be modulated into discrete pulse widths by using the fixed thrusters of the engine to achieve rate damping control. There are various command modulation methods. The present invention uses the common pseudo-rate modulation method for pulse width modulation. Its block diagram is as Figure 2 shown. The three-axis control commands T1, T2, and T3 are input into the pseudo-rate controller. h A , h E , K M , T M are the design parameters of the pseudo-rate controller, and T b is the maximum control torque that the engine of this axis can provide. Through the adjustment of the pseudo-rate controller, the continuous command can be modulated into discrete pulse widths and is approximately equivalent in terms of the system attitude control performance.

[0124] To more clearly illustrate the solution of the present application, the following simulation examples are provided in the present application.

[0125] Example

[0126] Assume that a certain spacecraft has a fault in orbit, with a very large rotational angular velocity and the gyroscopes reaching saturation. The system parameters are shown in Table 1.

[0127] Table 1 System simulation parameters

[0128]

[0129] Six gyroscopes are installed, and the spatial distribution of the gyroscope installation axes is on the side surface of a cone with a semi-vertical angle of 54°44′08″( Figure 1 ), Gi (i = 1 to 6) represents the heads of the six gyroscopes. The projection of G1 in the YOZ plane coincides with the Z axis, and the projections of the six gyroscope installation axes in the YOZ plane are evenly distributed at intervals of 60°. Therefore, the gyroscope installation matrix is

[0130]

[0131] During the simulation process, only 3 gyroscopes are needed. Let's take the first 3 gyroscopes as the measurement gyroscopes, and finally obtain the true angular velocity changes of the three axes of the spacecraft (refer to Figure 3 ), the true angular rate changes of the gyro measurement axes (refer to Figure 4 ), and the changes in the gyro measurement output values (refer to Figure 5 ). According to the simulation, the method of the present application is used to determine the torque, and the jet pulse widths of the three axes are adjusted according to the value of the torque (refer to Figure 6 ), and the angular rate is reduced to zero. In Table 2, the first column is the initial angular velocity of the spacecraft, the second column is the true angular rate on the gyro measurement axis, the third column is the output value of the gyro under the condition of saturation limiter, and the fourth column is the angular velocities of the three axes of the spacecraft inversely solved using the third column according to the solution provided by the present application. Although the inversely solved angular velocities are different from the actual angular velocities in value, their polarities are the same. Under the correct polarity adjustment, after reducing each angular velocity below the saturation velocity, precise damping adjustment can be achieved, and finally the angular velocity is adjusted to zero.

[0132] Table 2 Initial angular velocity of simulation

[0133]

[0134] The computational amount involved in the present invention is not large, and all the required parameters can be obtained. The controller form is compact and can be implemented on orbit.

[0135] The embodiment of the present invention provides a rate damping control device in the case of gyro saturation. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. In terms of the hardware level, it is a hardware architecture diagram of an electronic device where the rate damping control device in the case of gyro saturation provided by the embodiment of the present invention is located. In addition to the processor, memory, network interface, and non-volatile memory, the electronic device where the device is located in the embodiment usually may also include other hardware, such as a forwarding chip responsible for processing packets, etc. Taking software implementation as an example, as a device in a logical sense, it is formed by the CPU of its electronic device reading the corresponding computer program in the non-volatile memory into the memory and running. The rate damping control device in the case of gyro saturation provided by the present embodiment includes:

[0136] A first unit, configured to arbitrarily select three gyroscopes in different directions and establish a gyro matrix according to the installation coordinates of the three gyroscopes;

[0137] A second unit, configured to establish a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system according to the gyro matrix;

[0138] A third unit, configured to establish a second relationship between the torque and the gyro angular velocity according to the first relationship and the dynamic equation; wherein, the dynamic equation includes the torque and the angular velocity of the control coordinate system;

[0139] A fourth unit, configured to establish a Lyapunov function representing the velocity according to the angular velocity, the moment of inertia of the gyro, and the gyro matrix of the gyro. After taking the derivative of the Lyapunov function, a velocity derivative expression is obtained in combination with the second relationship;

[0140] A fifth unit, configured to define a damping matrix and establish a velocity damping control law between the damping matrix, the measured value of the gyro angular velocity, and the torque;

[0141] A sixth unit, configured to establish a third relationship expressing the velocity derivative using the measured value of the gyro angular velocity and the damping matrix according to the velocity derivative expression and the velocity damping control law;

[0142] A seventh unit, configured to determine the damping matrix according to the third relationship such that the velocity derivative is non-positive.

[0143] It can be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on a rate damping control device in the case of gyro saturation. In other embodiments of the present invention, a rate damping control device in the case of gyro saturation may include more or fewer components than those shown in the figure, or combine certain components, or split certain components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0144] Regarding the information interaction, execution process, etc. between the various modules in the above device, since they are based on the same concept as the method embodiments of the present invention, the specific content can be referred to the description in the method embodiments of the present invention and will not be elaborated here.

[0145] The embodiments of the present invention further provide an electronic device, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, a rate damping control method in the case of gyro saturation in any embodiment of the present invention is implemented.

[0146] The embodiments of the present invention further provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the processor is enabled to execute a rate damping control method in the case of gyro saturation in any embodiment of the present invention.

[0147] Specifically, a system or device equipped with a storage medium can be provided, on which software program codes for implementing the functions of any one of the above embodiments are stored, and the computer (or CPU or MPU) of the system or device is caused to read and execute the program codes stored in the storage medium.

[0148] In this case, the program codes read from the storage medium itself can implement the functions of any one of the above embodiments, so the program codes and the storage medium storing the program codes constitute a part of the present invention.

[0149] Examples of the storage medium for providing the program codes include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program codes can be downloaded from a server computer via a communication network.

[0150] In addition, it should be clear that not only can the functions of any one of the above embodiments be realized by executing the program codes read by the computer, but also by causing an operating system or the like operating on the computer based on the instructions of the program codes to complete part or all of the actual operations.

[0151] In addition, it can be understood that the program codes read from the storage medium are written into the memory provided in the expansion board inserted into the computer or the memory provided in the expansion module connected to the computer, and then based on the instructions of the program codes, the CPU or the like installed on the expansion board or the expansion module is caused to execute part or all of the actual operations, so as to realize the functions of any one of the above embodiments.

[0152] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of another identical element in the process, method, article or device comprising the element.

[0153] Those of ordinary skill in the art will understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments; and the aforementioned storage medium includes various media such as ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention 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 equivalently replace some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rate damping control method in the case of gyro saturation, characterized in that, Comprising: Optionally, three gyroscopes in different directions, and establishing a gyro matrix according to the installation coordinates of the three gyroscopes; Establishing a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system according to the gyro matrix; Establishing a second relationship between the torque and the gyro angular velocity according to the first relationship and the dynamic equation; wherein, the dynamic equation includes the torque and the angular velocity of the control coordinate system; Establishing a Lyapunov function representing velocity according to the angular velocity, moment of inertia of the gyroscope and the gyro matrix, differentiating the Lyapunov function, and combining the second relationship to obtain a velocity derivative expression; Defining a damping matrix, and establishing a velocity damping control law between the damping matrix, the measured value of the gyro angular velocity and the torque; Establishing a third relationship expressing the velocity derivative using the measured value of the gyro angular velocity and the damping matrix according to the velocity derivative expression and the velocity damping control law; Determining the damping matrix according to the third relationship so that the velocity derivative is non-positive.

2. The method according to claim 1, wherein Further comprising: Obtaining an adjustment control law according to the difference of the three-axis inertia of the spacecraft.

3. The method according to claim 1, wherein Further comprising: Adjusting the torque according to the maximum jet torque of the aircraft.

4. The method according to claim 1, wherein The first relationship is as follows: The second relationship is as follows: The third relationship is as follows: where ω B is the angular velocity of the control coordinate system, ω g is the angular velocity of the three gyros, obtained through the gyro matrix C g K Damp is the damping matrix, J B is the moment of inertia, H B = J B ω B .

5. The method according to claim 4, wherein The Lyapunov function is as follows: The velocity derivative expression is: Wherein, V is the speed, J g = D T J B D, J B is the moment of inertia, and T B is the torque.

6. The method according to claim 5, wherein The damping control law is as follows: T B = -(D T ) -1 K Damp ω gm K Damp = k Damp J BD J BD Thus, J B is a diagonal matrix composed of the principal inertia elements of J, that is where K Damp is the damping matrix.

7. The method according to claim 2, characterized in that, The adjustment control law is as follows: α Tmax = max(α T1 , α T2 , α T3 ) Among them, T 1max , T 2max , T 3max are the maximum jet torques respectively.

8. A rate damping control device in the case of gyro saturation, characterized in that For implementing the method according to any one of claims 1-7, the device comprises: A first unit, configured to optionally select three gyroscopes in different directions, and establish a gyro matrix according to the installation coordinates of the three gyroscopes; A second unit, configured to establish a first relationship between the angular velocities of the three gyroscopes and the angular velocity of the control coordinate system according to the gyro matrix; A third unit, configured to establish a second relationship between the torque and the gyro angular velocity according to the first relationship and the dynamic equation; wherein, the dynamic equation includes the torque and the angular velocity of the control coordinate system; A fourth unit, configured to establish a Lyapunov function representing velocity according to the angular velocity, moment of inertia of the gyroscope and the gyro matrix, differentiate the Lyapunov function, and combine the second relationship to obtain a velocity derivative expression; A fifth unit, configured to define a damping matrix, and establish a velocity damping control law between the damping matrix, the measured value of the gyro angular velocity and the torque; A sixth unit, configured to establish a third relationship expressing the velocity derivative using the measured value of the gyro angular velocity and the damping matrix according to the velocity derivative expression and the velocity damping control law; A seventh unit, configured to determine the damping matrix according to the third relationship so that the velocity derivative is non-positive.

9. An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method according to any one of claims 1-7 is implemented.

10. A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed in a computer, the computer is made to execute the method according to any one of claims 1-7.

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