In-orbit angular momentum adjusting method and device for limited frame angle CMG

Abstract

The invention relates to an in-orbit angular momentum adjusting method and device for a limited frame angle CMG. The method comprises the following steps: acquiring a spacecraft angular velocity, a CMG structure parameter and a control moment in a current control period; solving a magnitude mapping relation among the parameters according to a robust pseudo-inverse algorithm to obtain a frame angular velocity instruction; in the rapid maneuvering stage, under the constraint of the maximum frame angular velocity, an idle switch judgment result is obtained according to the analysis logic based on the frame angular deviation so as to correct a frame angular velocity instruction, and therefore the position and posture of the spacecraft are adjusted under the condition that the frame angular motion path is optimized; and if in the steady-state operation stage, a control magnetic moment instruction of the magnetic torquer is calculated according to the analysis logic based on the frame angular velocity deviation, and the frame angle is driven to reset by combining the control magnetic moment instruction and the frame angular velocity instruction. By the adoption of the method, it can be ensured that the spacecraft can keep high-precision attitude control in the rapid maneuvering stage and the stable operation stage.

Description

Technical Field

[0001] The present application relates to the technical field of spacecraft attitude control, and in particular to an on-orbit angular momentum adjustment method and device for a constrained frame angle CMG. Background Art

[0002] In the field of spacecraft attitude control technology, related CMG control methods, on the one hand, directly introduce a robust pseudo-inverse algorithm to achieve the inverse solution of the control torque. However, this method does not fully consider the problem of reduced output capacity due to the limited frame angle in actual operation. On the other hand, the angular momentum envelope optimization method is used to solve the angular momentum envelope optimization method. However, this method has high computational complexity and relies on accurate models and high computing performance, making it difficult to deploy in real time on resource-limited spacecraft platforms. On the other hand, the lack of an effective management mechanism for angular momentum during steady-state operation may cause long-term accumulation of angular momentum offsets, thereby causing control failure or attitude deviation drift. Summary of the Invention

[0003] Based on this, it is necessary to provide an on-orbit angular momentum adjustment method, device, computer equipment and computer-readable storage medium for a constrained frame angle CMG to address the above-mentioned technical problems, so as to ensure that the spacecraft can maintain high-precision attitude control in both the rapid maneuvering phase and the stable operation phase.

[0004] In a first aspect, the present application provides an on-orbit angular momentum adjustment method for a constrained frame angle CMG, comprising: Acquire the spacecraft angular velocity, CMG structural parameters of a CMG group in the spacecraft, and the control torque of a control unit in the spacecraft in a current control cycle; Solving the magnitude mapping relationship among the spacecraft angular velocity, the CMG structural parameters, and the control torque according to a preset robust pseudo-inverse algorithm to obtain a frame angular velocity instruction of the CMG group; If the spacecraft is in a rapid maneuvering phase, then under the constraint of the maximum frame angular velocity allowed by the CMG group, an idling switch determination result is obtained according to an analysis logic based on the frame angle deviation, the frame angular velocity instruction is corrected according to the idling switch determination result, and a first control result corresponding to the CMG group is generated to adjust the position and attitude of the spacecraft while optimizing the frame angular motion path of the CMG group; If the spacecraft is in a steady-state operation stage, the output of the magnetic torquer in the spacecraft is calculated according to the analysis logic based on the frame angular velocity deviation to obtain a control magnetic torque instruction corresponding to the magnetic torquer. Combined with the control magnetic torque instruction and the frame angular velocity instruction, a second control result corresponding to the CMG group is generated to drive the frame angle of the CMG group to gradually return to near the initial zero position.

[0005] In a second aspect, the present application further provides an on-orbit angular momentum adjustment device for a limited frame angle CMG, comprising: an acquisition module, configured to acquire the spacecraft angular velocity, CMG structural parameters of a CMG group in the spacecraft, and a control torque of a control unit in the spacecraft in a current control cycle; a solving module, configured to solve the magnitude mapping relationship among the spacecraft angular velocity, the CMG structural parameters, and the control torque according to a preset robust pseudo-inverse algorithm, to obtain a frame angular velocity instruction of the CMG group; a first analysis module configured to, if the spacecraft is in a rapid maneuvering phase, obtain an idle switch determination result based on an analysis logic based on a frame angle deviation under the constraint of a maximum frame angular velocity allowed by the CMG group, modify the frame angular velocity command based on the idle switch determination result, and generate a first control result corresponding to the CMG group to adjust the position and attitude of the spacecraft while optimizing the frame angular motion path of the CMG group; The second analysis module is used to calculate the output of the magnetic torquer in the spacecraft according to the analysis logic based on the frame angular velocity deviation if the spacecraft is in a steady-state operation stage, obtain the control magnetic torque instruction corresponding to the magnetic torquer, and combine the control magnetic torque instruction and the frame angular velocity instruction to generate a second control result corresponding to the CMG group to drive the frame angle of the CMG group to gradually return to near the initial zero position.

[0006] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the above steps when executing the computer program.

[0007] In a fourth aspect, the present application further provides a computer-readable storage medium on which a computer program is stored, and the computer program implements the above steps when executed by a processor.

[0008] The above-mentioned on-orbit angular momentum regulation method, device, computer equipment and computer-readable storage medium of the constrained frame angle CMG, first, based on the synchronous acquisition of the spacecraft angular velocity, CMG structural parameters and control torque, ensure that the subsequent angular momentum regulation calculation has a consistent input basis of dynamic state, structural configuration and control target; secondly, the value mapping relationship between each parameter is solved according to the robust pseudo-inverse algorithm, so as to achieve accurate output of the frame angular velocity instruction, so as to reasonably distribute the control torque to multiple CMGs; thirdly, the idling switch judgment result is obtained according to the analysis logic based on the frame angle deviation, so as to correct the frame angular velocity instruction to obtain the first control result, thereby optimizing the frame angle motion path of the CMG group under the constraint of the maximum frame angular velocity to improve the speed. The attitude control capability of the rapid maneuvering phase is improved, effectively avoiding the singularity problem caused by the limited frame angle; secondly, the control magnetic torque command is generated according to the analysis logic based on the angular velocity deviation, and is output in coordination with the frame angular velocity command as the second control result, so as to guide the CMG group to gradually return to the vicinity of the initial zero position in the steady-state operation phase under the premise of magnetic torque compensation control, prevent the angular momentum envelope from shrinking and improve the reliability of long-term operation; based on this, the output stability, limit avoidance and state recovery can be coordinated in the multi-condition attitude control process, ensuring that the spacecraft can maintain high-precision attitude control in both the rapid maneuvering phase and the stable operation phase, improving the long-term availability and angular momentum management capability of the CMG, and reducing the computational burden of real-time control to improve engineering applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 1 is a flow chart of an on-orbit angular momentum adjustment method for a CMG with a limited frame angle according to an embodiment; Figure 2 1 is a structural block diagram of an on-orbit angular momentum adjustment device for a limited frame angle CMG in one embodiment. DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0012] In one embodiment, Figure 1As shown, a method for adjusting on-orbit angular momentum of a constrained frame angle (CMG) is provided. This embodiment uses the method applied to a terminal as an example. It is understood that the method can also be applied to a server, or to a system including a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps S101 to S104.

[0013] Step S101 , obtaining the spacecraft angular velocity, CMG structural parameters of the CMG group in the spacecraft, and the control torque of the control unit in the spacecraft in the current control cycle.

[0014] Among them, spacecraft refers to man-made aircraft operating outside the Earth's atmosphere, used to complete scientific exploration, communication relay, navigation positioning, manned transportation and other tasks in space orbit, such as remote sensing satellites, manned spacecraft, space stations, deep space probes, etc.

[0015] Among them, the spacecraft angular velocity represents the velocity vector when the spacecraft body rotates around its own main axis direction, which is used to describe the rotational dynamic behavior of the spacecraft in the current state, such as the velocity vector obtained by rotating along the three main axes of roll, pitch and yaw.

[0016] The CMG structural parameters of the CMG group represent the static and dynamic configuration parameters of the CMG (Control Moment Gyroscope) at the geometric and dynamic levels. They describe how the CMG group is structurally connected to the spacecraft body and outputs angular momentum. Examples include the installation inclination angle of each CMG, the angular momentum at the initial zero position, the current frame angle, and the current frame angular velocity. The CMG group in this embodiment can be a 4-SGCMG (4-Single-Gimbal Control Moment Gyroscopes), i.e., a CMG group consisting of four single-frame CMGs. This maintains a pyramid-shaped configuration layout, which avoids most singularity issues.

[0017] The control torque of the control unit represents the desired attitude adjustment torque calculated by the control unit based on the current attitude deviation, which is used to guide the CMG group to output matching angular momentum. The control unit represents the core control system within the spacecraft for real-time calculation and command issuance.

[0018] Step S102 : Solve the value mapping relationship between the spacecraft angular velocity, CMG structural parameters, and control torque according to a preset robust pseudo-inverse algorithm to obtain the frame angular velocity command of the CMG group.

[0019] Among them, the robust pseudo-inverse algorithm represents a numerical calculation method for solving approximate solutions to underdetermined or overdetermined linear equations, that is, it is used to solve the control input that best suits the current state of the spacecraft based on the mapping relationship between the control torque and angular momentum.

[0020] Among them, the frame angular velocity instruction represents the control instruction corresponding to the target angular velocity value set used to drive each single-frame CMG to rotate, that is, it is used to instruct each CMG at what rate its frame axis should rotate during the current control cycle to output angular momentum that meets the control torque requirement.

[0021] For example, the CMG structural parameters are first converted into their Jacobian matrix in the spacecraft coordinate system. This Jacobian matrix reflects the contribution of each CMG to the change in spacecraft attitude angular momentum at a specific frame angle position. Subsequently, the control torque is used as the system's desired output, and the current spacecraft angular velocity is introduced as state feedback information. A linear mapping model between input and output is established using the Jacobian matrix. Furthermore, during the solution of this linear mapping model, considering that the matrix becomes irreversible when the frame angles of the actual CMGs approach saturation or exhibit non-ideal distribution, a robust pseudo-inverse algorithm is used to perform the inverse matrix operation to improve solution stability. This ensures that the solution maintains continuity and numerical stability even when the output of some CMGs is limited. Ultimately, this solution method obtains the frame angular velocity command corresponding to each CMG, representing the angular rotation rate it should complete within the current control cycle. This allows the control torque to be rationally distributed among multiple CMGs, ensuring closed-loop and responsive attitude control while maintaining structural redundancy.

[0022] Step S103: If the spacecraft is in the rapid maneuvering phase, then under the constraint of the maximum frame angular velocity allowed by the CMG group, the idling switch judgment result is obtained according to the analysis logic based on the frame angle deviation, and the frame angular velocity instruction is corrected according to the idling switch judgment result to generate the first control result corresponding to the CMG group to adjust the spacecraft's posture while optimizing the frame angular motion path of the CMG group.

[0023] Among them, the rapid maneuvering phase refers to the operating phase in which the spacecraft is in a state of rapid attitude change, that is, the dynamic process of correcting large-angle attitude deviations needs to be completed in a short time.

[0024] The analysis logic based on frame angle deviation represents a judgment and processing mechanism established during the attitude control process based on the angle deviation relationship between the current CMG frame angle position and its desired control path. It is used to analyze how to adjust the original control command to ensure that the CMG does not experience control torque degradation due to the angle approaching the limit value.

[0025] The idling switch determination result represents an analysis and judgment result for determining whether the CMG group should enter an idling state, so as to prevent the CMG from entering a saturation region or a singular region due to approaching a frame angle limit.

[0026] Among them, the first control result represents the control output result finally generated after the original frame angular velocity instruction is corrected and optimized according to the idling switch judgment result during the rapid maneuvering stage, so as to drive the CMG to actually perform the attitude adjustment operation under the constraint of the maximum frame angular velocity.

[0027] For example, if the spacecraft is in a rapid maneuvering phase, the target frame angle corresponding to the saturated angular momentum is obtained by querying the angular momentum envelope of the CMG group, subject to the constraints of a given control torque. Based on the frame angle deviation between this target frame angle and the CMG group's current frame angle, an idle switch determination is performed on the CMG group to determine whether it needs to enter an idle state to avoid entering the critical region. Specifically, if the idle switch determination result indicates that the CMG group needs to enter an idle state, the original frame angular velocity command is dynamically adjusted to minimize the impact of its movement on the overall angular momentum output. If the idle switch determination result indicates that the CMG group does not need to enter an idle state, the frame angular velocity command is retained, subject to the constraints of the CMG group's maximum allowable frame angular velocity, to maintain the continuity of the overall attitude adjustment. Finally, the first control result is obtained after consistency correction of the frame angular velocity command of the CMG group. This first control result takes into account the real-time requirements of rapid attitude response and combines the angular activity capability of the CMG body within the structural allowable range, ensuring that the overall control system maintains the angular momentum response capability while avoiding the CMG entering the saturation range and causing system degradation or attitude abnormality, thereby optimizing the overall frame angular motion path of the CMG group and realizing stable adjustment of the position and attitude of the spacecraft under rapid maneuvering state.

[0028] In step S104, if the spacecraft is in a steady-state operation phase, the output of the magnetic torquer in the spacecraft is calculated according to the analysis logic based on the frame angular velocity deviation to obtain the control magnetic torque instruction corresponding to the magnetic torquer. The control magnetic torque instruction and the frame angular velocity instruction are combined to generate the second control result corresponding to the CMG group to drive the frame angle of the CMG group to gradually return to near the initial zero position.

[0029] Among them, the steady-state operation stage refers to the operation stage of the spacecraft in the attitude maintenance or attitude slow change state, that is, the state maintenance process of low angular velocity and low attitude disturbance.

[0030] The analysis logic based on the frame angular velocity deviation represents a judgment and processing mechanism established during the attitude control process based on the angular velocity deviation relationship between the CMG's current frame angle and its expected return path. It is used to analyze how to adjust the original control instructions so as to gradually adjust the CMG's working state without actively causing attitude deviation.

[0031] The control magnetic torque command corresponding to the magnetic torquer represents the control command used to drive the magnetic torquer to generate spatial magnetic torque, thereby applying a small attitude perturbation to the spacecraft. During the gimbal angle correction process, the magnetic torquer is introduced to achieve compensation control of the gimbal angle, thus implementing magnetic torque-based gimbal angle correction (MTGAC).

[0032] Among them, the second control result represents the comprehensive control output result generated by combining the frame angular velocity instruction with the control magnetic torque instruction of the magnetic torquer in the steady-state operation stage, so as to guide the CMG to complete the reset process while meeting the current attitude stability requirements.

[0033] For example, if the spacecraft is in a steady-state operation phase, the expected frame angle and compensation time for the CMG group's desired return during this steady-state operation phase are obtained. The frame angular velocity deviation is then combined with the current frame angle, expected frame angle, and compensation time of the CMG group to determine whether the CMG group needs to return, as well as the corresponding return direction and intensity. If a return is required, the magnetic torquer is further used as an auxiliary control output carrier. Through interaction with the external magnetic field, it provides a small perturbation torque to the CMG group, indirectly affecting the CMG's operating state without significantly changing its heading attitude. Furthermore, the control magnetic torque command generated by the magnetic torquer output is fused with the frame angular velocity command under the constraint of the CMG group's maximum allowable frame angular velocity to generate a second control result. This second control result not only includes the angular momentum adjustment input required to maintain the current attitude, but also comprehensively considers the guidance requirements for the CMG group's return, allowing the CMG group to gradually return to its initial zero position while maintaining its attitude.

[0034] In the above-mentioned on-orbit angular momentum adjustment method of the constrained frame angle CMG, first, based on the synchronous acquisition of the spacecraft angular velocity, CMG structural parameters and control torque, it is ensured that the subsequent angular momentum adjustment calculation has a consistent input basis of dynamic state, structural configuration and control target; secondly, the value mapping relationship between each parameter is solved according to the robust pseudo-inverse algorithm, so as to achieve accurate output of the frame angular velocity instruction, so as to reasonably distribute the control torque to multiple CMGs; thirdly, the idling switch judgment result is obtained according to the analysis logic based on the frame angle deviation, so as to correct the frame angular velocity instruction to obtain the first control result, so as to optimize the frame angle motion path of the CMG group under the constraint of the maximum frame angular velocity to improve the attitude control in the rapid maneuvering phase. control capability, effectively avoiding the singularity problem caused by the limited frame angle; secondly, a control magnetic torque instruction is generated according to the analysis logic based on the angular velocity deviation, and is output in coordination with the frame angular velocity instruction as the second control result, thereby guiding the CMG group to gradually return to the vicinity of the initial zero position during the steady-state operation phase under the premise of magnetic torque compensation control, preventing the angular momentum envelope from shrinking and improving the reliability of long-term operation; based on this, the output stability, limit avoidance and state recovery can be coordinated in the multi-condition attitude control process, ensuring that the spacecraft can maintain high-precision attitude control in both the rapid maneuvering phase and the stable operation phase, improving the long-term availability and angular momentum management capability of the CMG, and reducing the computational burden of real-time control to improve engineering applicability.

[0035] In an exemplary embodiment, the value mapping relationship between the spacecraft angular velocity, CMG structural parameters and control torque is solved according to a preset robust pseudo-inverse algorithm to obtain the frame angular velocity instruction of the CMG group, including steps S201 to S203.

[0036] Step S201: In the CMG structural parameters, the angular momentum of each CMG in the CMG group at the initial zero position is mapped to the preset spacecraft coordinate system according to the corresponding current frame angle and the corresponding installation inclination angle to obtain the total angular momentum of the CMG group in the spacecraft coordinate system.

[0037] Step S202: performing partial derivative processing on the total angular momentum to obtain the Jacobian matrix corresponding to the current frame angle of the CMG group.

[0038] Step S203: Solve the mapping relationship between the total angular momentum, Jacobian matrix, spacecraft angular velocity, and control torque according to the robust pseudo-inverse algorithm to obtain the frame angular velocity command of the CMG group.

[0039] For example, the spacecraft angular velocity in the current control cycle is obtained , the control torque calculated by the control unit , 4-SGCMG feedback current frame angle (the transpose of the row vector) and the current frame angular velocity ;in, 、 、 、 They represent the current frame angles corresponding to different CMGs respectively.

[0040] Determine the angular momentum of each CMG at its initial zero frame angle , Installation inclination of each CMG , so the total angular momentum of the CMG group in the spacecraft coordinate system at the current frame angle state is Please refer to the following formula: (1) In equation (1), the angular momentum of each CMG at the initial zero frame angle in its local coordinate system is By the corresponding installation inclination angle β and the corresponding current frame angle 、 、 、 After coordinate transformation and vector superposition, the total angular momentum of the CMG group in the spacecraft coordinate system is obtained as .

[0041] Furthermore, the total angular momentum The corresponding Jacobian matrix Please refer to the following formula: (2) In formula (2), the total angular momentum of the CMG group at the current frame angle state is The Jacobian matrix is ​​obtained by solving the partial derivatives relative to the current frame angle of each CMG. , which is used to describe how much angular momentum changes will be generated in the three main axis directions by adjusting the frame angular velocity of a CMG.

[0042] Furthermore, the frame angular velocity instruction of CMG is obtained according to the robust pseudo-inverse algorithm , which can refer to the following formula: (3) In formula (3), represents the Jacobian matrix , represents the Jacobian matrix The transposed matrix of represents the robust regularization factor used to adjust the tolerance of the robust pseudo-inverse algorithm to singular values ​​or degenerate solutions, represents the dynamic disturbance covariance matrix for enhancing robustness, represents the spacecraft angular velocity, represents the total angular momentum, represents the control torque; represents the inertial change term of the current angular momentum, represents the expected rate of change of angular momentum of the system; represents the regularization term, The robust pseudo-inverse matrix is ​​represented to maintain solvability even in singularities or degenerate states. Based on this, the control torque is inversely mapped to the frame angular velocity input through the robust form, thereby generating the frame angular velocity command corresponding to the CMG.

[0043] In addition, the robust regularization factor Dynamic calculation method and dynamic perturbation covariance matrix The presentation methods can refer to the following formulas: (4) (5) (6) In formula (4), Indicates the degree of non-degeneracy of the current Jacobian matrix; in formula (5), 、 、 represents a small offset that changes with time, and equation (6) corresponds to the value of each small offset that changes with time.

[0044] In this embodiment, first, the angular momentum of each CMG at the initial zero position is transformed through the current frame angle and the installation inclination angle to obtain the total angular momentum in the spacecraft coordinate system, ensuring that subsequent control calculations have a consistent reference frame basis; secondly, the partial derivatives of the total angular momentum with respect to the frame angle are solved to construct an expression of the sensitivity of the CMG angular momentum change to the input angle change under the current attitude structure, that is, the Jacobian matrix; thirdly, the parameters are robustly pseudo-inverse solved to stably solve the frame angular velocity command under multivariable constraints to improve the accuracy and robustness of attitude control.

[0045] In an exemplary embodiment, if the spacecraft is in a rapid maneuvering phase, then under the constraint of the maximum frame angular velocity allowed by the CMG group, an idling switch determination result is obtained according to an analysis logic based on the frame angle deviation, and the frame angular velocity instruction is corrected according to the idling switch determination result to generate a first control result corresponding to the CMG group, including steps S301 to S303.

[0046] Step S301: If the spacecraft is in the rapid maneuvering phase, the idling direction of the CMG group is determined under the constraint of the maximum frame angular velocity allowed by the CMG group.

[0047] Step S302: Under the constraint condition of the control torque, determine the target frame angle corresponding to the saturation angular momentum of the CMG group.

[0048] Step S303: Based on the frame angle deviation between the target frame angle and the current frame angle of the CMG group, the working state of the preset idling switch is determined as the idling switch determination result. The frame angular velocity command is corrected in combination with the idling amount and the working state of the idling switch to generate a first control result corresponding to the CMG group.

[0049] For example, the idle direction of the CMG group The calculation method can refer to the following formula: (7) In formula (7), Indicates the maximum frame angular velocity allowed by CMG, represents the original idling direction vector, Represents the original idling direction vector The absolute value of the maximum component of is used as the normalization factor. Based on this, the idle direction vector It is a method of scaling the maximum component by the absolute value so that the maximum component becomes The angular velocity vector obtained thereby represents the angular velocity direction of the CMG frame that does not cause any control torque output under the current control state.

[0050] In addition, the original idling direction vector The calculation method can refer to the following formula: (8) In formula (8), represents the 4×4 identity matrix, represents the Jacobian matrix , represents the Jacobian matrix The transposed matrix of , λ represents the robust regularization factor, and E represents the dynamic disturbance covariance matrix; Represents a unit input vector that sets the angular velocity of all CMG frames to 1; Represents the orthogonal projection operator, which is used to project an arbitrary angular velocity vector into the CMG angular velocity space and extract and retain its components in the direction that does not produce attitude control output.

[0051] Furthermore, for a given control torque , by querying the angular momentum envelope of the CMG group, the target frame angle corresponding to the saturated angular momentum is obtained , whereby the target frame angle With the current frame angle Frame angle deviation between for: (9) For example, by analyzing the magnitude and direction of the deviation represented by the frame angle deviation, the operating state of the idle switch is set in real time to serve as the idle switch determination result for the CMG group. The idle switch represents a logical state variable that controls whether the CMG group participates in the current idle control. Furthermore, based on the direction and magnitude of each component of the idle vector and the operating state of the idle switch, the original frame angular velocity command is modified. Specifically, when the idle switch is on, the CMG group is in an idle state, and its frame angular velocity command is adjusted to the direction and magnitude corresponding to the idle vector. When the idle switch is off, the CMG group is in a non-idling state, and its frame angular velocity command is modified within the constraints of the CMG group's maximum allowable frame angular velocity. Finally, by synergistically integrating the idle control determination and command correction mechanisms, an updated frame angular velocity command is generated and output as the first control result. This allows the CMG group to reconstruct the frame angular motion path based on the frame angle deviation during rapid maneuvers, thereby optimizing the angular momentum path and reducing the risk of structural saturation.

[0052] In this embodiment, first, under the constraint condition of the control torque, the target frame angle corresponding to the saturated angular momentum of the CMG group is determined, and the working state of the idling switch is determined as the idling switch judgment result based on the frame angle deviation between the target frame angle and the current frame angle of the CMG group. The frame angular velocity command is corrected in combination with the idling vector, thereby realizing dynamic avoidance and distribution optimization of the angular momentum path. Based on this, the structurally constrained perception and avoidance adjustment of the CMG group can be integrated in the rapid maneuvering phase, thereby improving the adaptability and feasibility of attitude control.

[0053] In an exemplary embodiment, on the one hand, the frame angular velocity instruction is corrected in combination with the idling amount and the working state of the idling switch to generate a first control result corresponding to the CMG group, including steps S401 to S403.

[0054] Step S401 : determining a target frame angle deviation component corresponding to a maximum element amplitude among the element amplitudes of the frame angle deviation.

[0055] Step S402: If the target frame angle deviation component is less than the maximum frame angle allowed by the CMG group, or the target frame angle deviation component is in a decreasing trend, the idle switch is in a closed state.

[0056] Step S403: When the idle switch is in the off state, under the constraint of the maximum frame angular velocity allowed by the CMG group, a saturation correction is performed on the frame angular velocity instruction to obtain a corrected frame angular velocity instruction. The corrected frame angular velocity instruction is used as the first control result corresponding to the CMG group to indicate that the CMG group does not need to be idled, and the CMG group is controlled according to the corrected frame angular velocity instruction.

[0057] In this embodiment, correspondingly, another aspect is: the frame angular velocity instruction is corrected in combination with the idling amount and the working state of the idling switch to generate a first control result corresponding to the CMG group, including steps S501 to S503.

[0058] Step S501: If the target frame angle deviation component is greater than the maximum frame angle allowed by the CMG group, or the target frame angle deviation component is not in a decreasing trend, the idle switch is in an on state.

[0059] Step S502 , when the idling switch is in the on state, determining the idling direction based on the idling direction component corresponding to the target frame angle deviation component, and combining the target frame angle deviation component and the idling direction component to determine the idling direction.

[0060] Step S503 : Using the fusion data between the idling direction and the idling momentum as the first control result corresponding to the CMG group, to indicate that the CMG group is idling according to the idling direction and the idling momentum.

[0061] For example, the frame angle deviation The components of are sorted according to the element amplitude, and the frame angle deviation components are obtained in descending order. 、 、 、 ; According to the above frame angle deviation The four components of the current frame angular velocity The corresponding frame angular velocity components 、 、 、 , and determine the amount of idle steering The corresponding idling vector components 、 、 、 , and determine the frame angular velocity command The corresponding frame angular velocity command components 、 、 、 .

[0062] On the one hand, the frame angle deviation component corresponding to the maximum element amplitude As the target frame angle deviation component, determine the maximum allowable frame angle of CMG ;like , it means that the CMG group does not need to perform idling operation, and set the idling switch ;like , it means that the CMG group needs to perform idling operation and set the idling switch .

[0063] On the other hand, if the robust pseudo-inverse solution indicates that the frame angle deviation amplitude is on a decreasing trend, that is, , it means that the CMG group does not need to perform idling operation, and set the idling switch ; If the robust pseudo-inverse solution indicates that the frame angle deviation amplitude is not in a decreasing trend, that is , it means that the CMG group needs to perform idling operation and set the idling switch .

[0064] When the CMG group needs to perform idling operation, the calculation method of idling direction can refer to the following formula: (10) In formula (10), Represents a sign function. If the variable is greater than 0, the function output is 1; if the variable is less than 0, the function output is -1; if the variable is 0, the function output is 0.

[0065] Based on this, formula (10) is used to determine whether the idling direction is conducive to reducing the frame angle deviation. Specifically: and The signs of are opposite, that is, the product is -1, which means that the target frame angle deviation component and its corresponding idling vector component are in opposite directions. The idling direction is conducive to reducing the current most serious frame angle deviation. Therefore, it is reasonable and convergent to perform the idling operation. and The signs of are the same, that is, the product is 1, which means that the target frame angle deviation component and its corresponding idling vector component have the same direction. The idling direction will further expand the frame angle deviation, which is not suitable for the current control target. At this time, idling should be avoided. The value of actually characterizes the coordination of the idling motion direction with respect to the frame angle deviation direction.

[0066] Further, in determining the idle switch After the working state and idling direction, the corrected frame angular velocity instruction is obtained , that is, the first control result, which can be calculated by referring to the following formula: (11) In formula (11), if the idling switch , which means no idling is required, then Indicates the maximum frame angular velocity Under the constraint of Perform saturation correction to ensure that the frame angular velocity of the CMG group does not exceed the set maximum value, thereby obtaining the corrected frame angular velocity command ; If the idling switch , which means that idling is required, and if the idling direction is conducive to reducing the frame angle deviation, then Indicates the combination of idle direction With idle switch The corresponding idling direction is used to obtain the corrected frame angular velocity instruction that drives the CMG group to move according to the corresponding idling size and direction .

[0067] Furthermore, the frame angular velocity instruction The saturation correction processing can refer to the following formula: (12) In formula (12), if , that is, the variable Any component is less than or equal to the maximum frame angular velocity , then the variable is returned It can be directly used as the parameter for subsequent saturation correction processing; if , that is, the variable At least one component is greater than the maximum frame angular velocity , then the variable Scale it proportionally according to its maximum value so that its maximum component becomes , thus the processed variables As a parameter for subsequent saturation correction processing.

[0068] In addition, in this embodiment, another aspect is: the frame angular velocity instruction is corrected in combination with the idling amount and the working state of the idling switch to generate a first control result corresponding to the CMG group, including step S601.

[0069] Step S601, when the output corresponding to the magnetic torquer in the spacecraft is set to zero, the frame angular velocity instruction is corrected in combination with the idling vector and the working state of the idling switch to generate a first control result corresponding to the CMG group.

[0070] Based on this, the output of the magnetic torquer used to assist attitude adjustment in the spacecraft is set to zero, that is, the direct intervention of the magnetic torquer on the spacecraft attitude is not considered during this control cycle. In this way, it is ensured that the CMG can independently complete the control task without being interfered by other torques during the rapid maneuvering phase, thereby avoiding the torque superposition problem caused by the mixed output, which leads to unpredictable attitude changes.

[0071] In this embodiment, first, the frame angle deviation between the current frame angle and the target frame angle is quantified and the maximum deviation component is extracted as the target frame angle deviation component, so that the control judgment is concentrated on the most critical structural offset direction, thereby enhancing the pertinence and sensitivity of the idling judgment; secondly, based on the numerical size relationship between the target frame angle deviation component and the maximum frame angle allowed by the CMG group and the adjustment direction trend of the target frame angle deviation component, the working state of the idling switch is accurately determined, thereby improving the dynamic adaptability of the idling judgment; thirdly, based on the working state of the idling switch, the idling control strategy is adaptively determined to obtain the first control result corresponding to the CMG group. Based on this, the three aspects of structural boundary perception, dynamic trend judgment and multi-rule idling control can be coordinated to adaptively optimize the frame angle motion path of the CMG group and improve the adaptability of the angular momentum configuration.

[0072] In an exemplary embodiment, if the spacecraft is in a steady-state operation phase, the output of the magnetic torquer in the spacecraft is calculated according to the analysis logic based on the frame angular velocity deviation to obtain a control magnetic torque instruction corresponding to the magnetic torquer. The control magnetic torque instruction and the frame angular velocity instruction are combined to generate a second control result corresponding to the CMG group, including steps S701 to S705.

[0073] Step S701: If the spacecraft is in the steady-state operation stage, the expected frame angle and expected compensation time of the CMG group in the steady-state operation stage are determined, and the expected magnetic compensation torque corresponding to the magnetic torquer is obtained based on the frame angular velocity deviation determined by the current frame angle, the expected frame angle and the expected compensation time.

[0074] Step S702: Obtain the magnetic field value of the spacecraft's environment, combine the expected magnetic compensation torque with the magnetic field value, and generate a control magnetic torque instruction corresponding to the magnetic torquer.

[0075] Step S703 : Under the constraint condition of the maximum output magnetic torque allowed by the magnetic torquer, the control magnetic torque instruction is corrected to obtain a corrected control magnetic torque instruction.

[0076] Step S704 : Under the constraint condition of the maximum frame angular velocity allowed by the CMG group, perform saturation correction processing on the frame angular velocity instruction to obtain a corrected frame angular velocity instruction.

[0077] Step S705 , combining the corrected control magnetic torque command and the corrected frame angular velocity command to generate a second control result corresponding to the CMG group.

[0078] For example, the expected frame angle of the CMG group during steady-state operation is determined and expected compensation time ; where the expected frame angle It represents the frame angle that the CMG group is expected to maintain during the steady-state operation phase, and its value can be , that is, a zero vector of 4 rows and 1 column; among them, the expected compensation time It represents the expected frame angle compensation convergence time, which can be one control cycle.

[0079] Based on this, the frame angular velocity error The calculation method can refer to the following formula: (13) In equation (13), the frame angular velocity error Indicates the expected compensation time of the CMG group The current frame angle Return to expected frame angle The angular velocity required.

[0080] Furthermore, according to the frame angular velocity error Calculate the expected magnetic compensation torque , its calculation method can refer to the following formula: (14) In formula (14), represents the Jacobian matrix ; Based on this, the expected magnetic compensation torque It is expressed as the angular velocity error that makes the CMG group Towards the expected frame angle In the case of repositioning, a reverse control torque is required to be generated by the magnetic torquer to reset the frame angle without changing the spacecraft attitude.

[0081] Furthermore, obtain the magnetic field value of the current control cycle , combined with the magnetic field value and expected magnetic compensation torque , get the control magnetic moment instruction , its calculation method can refer to the following formula: (15) In formula (15), at a given magnetic field value In the case of To ensure that the magnetic torquer controls the magnetic torque command The interaction with the magnetic field generates the desired magnetic compensation torque .

[0082] Furthermore, at the maximum output torque of a given magnetic torquer In the case of the control magnetic torque instruction Make corrections to obtain the corrected control magnetic moment instruction , its calculation method can refer to the following formula: (16) In formula (16), according to the maximum output magnetic moment , to control the magnetic moment instruction Perform saturation correction to make the corrected control torque command Does not exceed the maximum output magnetic moment , thereby ensuring stability and safety during the magnetic torque control process.

[0083] In addition, at a given maximum frame angular velocity In the case of frame angular velocity instruction Perform saturation correction to obtain the corrected frame angular velocity command , its calculation method can refer to the following formula: (17) In formula (17), according to the maximum frame angular velocity , for the frame angular velocity instruction Perform saturation correction so that the corrected frame angular velocity command Do not exceed the maximum frame angular velocity , thereby ensuring the stability and safety of the CMG control process.

[0084] Finally, combined with the corrected frame angular velocity command With the corrected frame angular velocity command , the second control result corresponding to the CMG group is described, so as to jointly drive the frame angle of the CMG group to gradually return to the vicinity of the initial zero position without affecting the spacecraft posture.

[0085] In this embodiment, first, the adjustment targets of the current frame angle and the expected frame angle within the set compensation time are quantified, thereby clarifying the adjustment direction and timing distribution of the expected magnetic compensation torque; secondly, the control magnetic torque instruction of the magnetic torquer is calculated in combination with the environmental magnetic field information and the expected magnetic compensation torque, so that during the frame angle correction process, the magnetic torquer is introduced to realize compensation control of the frame angle; thirdly, the control magnetic torque instruction is corrected according to the output upper limit of the magnetic torquer to obtain a corrected control magnetic torque instruction, and the frame angular velocity instruction is saturated corrected to obtain a corrected frame angular velocity instruction, thereby avoiding saturation failure of each control channel; thirdly, the dual control channels based on the corrected control magnetic torque instruction and the corrected frame angular velocity instruction are fused to generate a second control result, thereby improving the angular momentum return capability and the control output accuracy balance capability during the steady-state attitude correction process through the joint control mechanism of the magnetic torquer and the CMG group.

[0086] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0087] Based on the same inventive concept, embodiments of the present application further provide an on-orbit angular momentum adjustment device for a constrained frame angle CMG, for implementing the above-mentioned on-orbit angular momentum adjustment method for a constrained frame angle CMG. The solution provided by this device is similar to the solution described in the above-mentioned method. Therefore, the specific limitations of the embodiments of one or more on-orbit angular momentum adjustment devices for a constrained frame angle CMG provided below can be found in the above-mentioned limitations of the on-orbit angular momentum adjustment method for a constrained frame angle CMG, and will not be repeated here.

[0088] In an exemplary embodiment, Figure 2 As shown, an on-orbit angular momentum adjustment device for a limited frame angle CMG is provided, comprising: an acquisition module 201, a solution module 202, a first analysis module 203 and a second analysis module 204, wherein: An acquisition module 201 is configured to acquire the spacecraft angular velocity, CMG structural parameters of the CMG group in the spacecraft, and the control torque of the control unit in the spacecraft in the current control cycle; A solution module 202 is configured to solve the mapping relationship between the spacecraft angular velocity, CMG structural parameters, and control torque using a preset robust pseudo-inverse algorithm to obtain a frame angular velocity command of the CMG group; The first analysis module 203 is configured to, if the spacecraft is in a rapid maneuvering phase, obtain an idle switch determination result based on an analysis logic based on frame angle deviations, subject to the constraint of the maximum frame angular velocity allowed by the CMG group, modify the frame angular velocity command based on the idle switch determination result, and generate a first control result corresponding to the CMG group to adjust the spacecraft's posture while optimizing the frame angular motion path of the CMG group. The second analysis module 204 is used to calculate the output of the magnetic torquer in the spacecraft according to the analysis logic based on the frame angular velocity deviation if the spacecraft is in the steady-state operation stage, obtain the control magnetic torque instruction corresponding to the magnetic torquer, and combine the control magnetic torque instruction and the frame angular velocity instruction to generate the second control result corresponding to the CMG group to drive the frame angle of the CMG group to gradually return to near the initial zero position.

[0089] In an exemplary embodiment, the solution module 202 is further used to: in the CMG structural parameters, map the angular momentum of each CMG in the CMG group when it is in the initial zero position to a preset spacecraft coordinate system according to the corresponding current frame angle and the corresponding installation inclination angle, and obtain the total angular momentum of the CMG group in the spacecraft coordinate system; solve the partial derivatives of the total angular momentum to obtain the Jacobian matrix corresponding to the current frame angle of the CMG group; according to the robust pseudo-inverse algorithm, solve the value mapping relationship between the total angular momentum, the Jacobian matrix, the spacecraft angular velocity, and the control torque to obtain the frame angular velocity instruction of the CMG group.

[0090] In an exemplary embodiment, the first analysis module 203 is further used to: if the spacecraft is in a rapid maneuvering phase, determine the idling vector of the CMG group under the constraint of the maximum frame angular velocity allowed by the CMG group; determine the target frame angle corresponding to the saturated angular momentum of the CMG group under the constraint of the control torque; determine the working state of a preset idling switch as an idling switch judgment result based on the frame angle deviation between the target frame angle and the current frame angle of the CMG group, and correct the frame angular velocity instruction in combination with the idling vector and the working state of the idling switch to generate a first control result corresponding to the CMG group.

[0091] In an exemplary embodiment, the first analysis module 203 is further used to: determine the target frame angle deviation component corresponding to the maximum element amplitude among the various element amplitudes of the frame angle deviation; if the target frame angle deviation component is less than the maximum frame angle allowed by the CMG group, or the target frame angle deviation component is in a decreasing trend, the idling switch is in a closed state; when the idling switch is in a closed state, under the constraint condition of the maximum frame angular velocity allowed by the CMG group, saturation correction is performed on the frame angular velocity instruction to obtain a corrected frame angular velocity instruction, and the corrected frame angular velocity instruction is used as the first control result corresponding to the CMG group to indicate that there is no need to perform idling operation on the CMG group, and the CMG group is controlled according to the corrected frame angular velocity instruction.

[0092] In an exemplary embodiment, the first analysis module 203 is further used to: if the target frame angle deviation component is greater than the maximum frame angle allowed by the CMG group, or the target frame angle deviation component is not in a decreasing trend, the idling switch is in an on state; when the idling switch is in an on state, the idling vector component corresponding to the target frame angle deviation component is determined, and the idling direction is determined in combination with the target frame angle deviation component and the idling vector component; the fusion data between the idling direction and the idling vector is used as the first control result corresponding to the CMG group to indicate that the CMG group is idling according to the idling direction and the idling vector.

[0093] In an exemplary embodiment, the first analysis module 203 is also used to: when the output corresponding to the magnetic torquer in the spacecraft is set to zero, correct the frame angular velocity instruction in combination with the idling vector and the working state of the idling switch to generate a first control result corresponding to the CMG group.

[0094] In an exemplary embodiment, the second analysis module 204 is also used to: if the spacecraft is in a steady-state operation phase, determine the expected frame angle and expected compensation time of the CMG group in the steady-state operation phase, and obtain the expected magnetic compensation torque corresponding to the magnetic torquer based on the frame angular velocity deviation determined by the current frame angle, the expected frame angle and the expected compensation time; obtain the magnetic field value of the spacecraft environment, and generate a control magnetic torque instruction corresponding to the magnetic torquer by combining the expected magnetic compensation torque and the magnetic field value; correct the control magnetic torque instruction under the constraint of the maximum output magnetic torque allowed by the magnetic torquer to obtain a corrected control magnetic torque instruction; perform saturation correction processing on the frame angular velocity instruction under the constraint of the maximum frame angular velocity allowed by the CMG group to obtain a corrected frame angular velocity instruction; and generate a second control result corresponding to the CMG group by combining the corrected control magnetic torque instruction and the corrected frame angular velocity instruction.

[0095] Each module in the above-mentioned on-track angular momentum control device for a constrained frame angle (CMG) can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0096] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in any of the above embodiments when executing the computer program.

[0097] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in any of the above embodiments are implemented.

[0098] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0099] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for adjusting the on-orbit angular momentum of a CMG with a limited frame angle, characterized in that: The method comprises: Acquire the spacecraft angular velocity, CMG structural parameters of a CMG group in the spacecraft, and the control torque of a control unit in the spacecraft in a current control cycle; Solving the magnitude mapping relationship among the spacecraft angular velocity, the CMG structural parameters, and the control torque according to a preset robust pseudo-inverse algorithm to obtain a frame angular velocity instruction of the CMG group; If the spacecraft is in a rapid maneuvering phase, then under the constraint of the maximum frame angular velocity allowed by the CMG group, an idling switch determination result is obtained according to an analysis logic based on the frame angle deviation, the frame angular velocity instruction is corrected according to the idling switch determination result, and a first control result corresponding to the CMG group is generated to adjust the position and attitude of the spacecraft while optimizing the frame angular motion path of the CMG group; If the spacecraft is in a steady-state operation stage, the output of the magnetic torquer in the spacecraft is calculated according to the analysis logic based on the frame angular velocity deviation to obtain a control magnetic torque instruction corresponding to the magnetic torquer. Combined with the control magnetic torque instruction and the frame angular velocity instruction, a second control result corresponding to the CMG group is generated to drive the frame angle of the CMG group to gradually return to near the initial zero position.

2. The method according to claim 1, characterized in that Solving the magnitude mapping relationship among the spacecraft angular velocity, the CMG structural parameters, and the control torque according to a preset robust pseudo-inverse algorithm to obtain the frame angular velocity instruction of the CMG group includes: In the CMG structural parameters, the angular momentum of each CMG in the CMG group at the initial zero position is mapped to a preset spacecraft coordinate system according to the corresponding current frame angle and the corresponding installation inclination angle to obtain the total angular momentum of the CMG group in the spacecraft coordinate system; performing partial derivative processing on the total angular momentum to obtain a Jacobian matrix corresponding to the current frame angle of the CMG group; According to the robust pseudo-inverse algorithm, the magnitude mapping relationship among the total angular momentum, the Jacobian matrix, the spacecraft angular velocity, and the control torque is solved to obtain the frame angular velocity instruction of the CMG group.

3. The method according to claim 1, characterized in that If the spacecraft is in a rapid maneuvering phase, obtaining an idling switch determination result according to an analysis logic based on a frame angle deviation under the constraint condition of a maximum frame angular velocity allowed by the CMG group, and correcting the frame angular velocity instruction according to the idling switch determination result to generate a first control result corresponding to the CMG group, including: If the spacecraft is in a rapid maneuvering phase, determining the idling direction of the CMG group under the constraint of the maximum frame angular velocity allowed by the CMG group; Under the constraint condition of the control torque, determining the target frame angle corresponding to the saturation angular momentum of the CMG group; Based on a frame angle deviation between the target frame angle and the current frame angle of the CMG group, an operating state of a preset idling switch is determined as an idling switch determination result. The frame angular velocity command is corrected in combination with the idling amount and the operating state of the idling switch to generate a first control result corresponding to the CMG group.

4. The method according to claim 3, characterized in that The correcting the frame angular velocity instruction in combination with the idling direction and the working state of the idling switch to generate a first control result corresponding to the CMG group includes: Determine the target frame angle deviation component corresponding to the maximum element amplitude among the element amplitudes of the frame angle deviation; If the target frame angle deviation component is less than the maximum frame angle allowed by the CMG group, or the target frame angle deviation component is in a decreasing trend, the idling switch is in a closed state; When the idling switch is in the off state, under the constraint condition of the maximum frame angular velocity allowed by the CMG group, the frame angular velocity instruction is saturated corrected to obtain a corrected frame angular velocity instruction, and the corrected frame angular velocity instruction is used as the first control result corresponding to the CMG group to indicate that there is no need to perform an idling operation on the CMG group, and the CMG group is controlled according to the corrected frame angular velocity instruction.

5. The method according to claim 3, characterized in that The correcting the frame angular velocity instruction in combination with the idling direction and the working state of the idling switch to generate a first control result corresponding to the CMG group includes: If the target frame angle deviation component is greater than the maximum frame angle allowed by the CMG group, or the target frame angle deviation component is not in a decreasing trend, the idle switch is in an on state; When the idling switch is in an on state, determining the idling direction is based on an idling direction component corresponding to the target frame angle deviation component, and determining an idling direction by combining the target frame angle deviation component and the idling direction component; The fusion data between the idling direction and the idling momentum is used as the first control result corresponding to the CMG group, so as to indicate that the CMG group is idling according to the idling direction and the idling momentum.

6. The method according to claim 3, characterized in that The correcting the frame angular velocity instruction in combination with the idling direction and the working state of the idling switch to generate a first control result corresponding to the CMG group includes: When the output corresponding to the magnetic torquer in the spacecraft is set to zero, the frame angular velocity instruction is corrected in combination with the idling vector and the working state of the idling switch to generate a first control result corresponding to the CMG group.

7. The method according to claim 1, characterized in that If the spacecraft is in a steady-state operation phase, the output of the magnetic torquer in the spacecraft is calculated according to the analysis logic based on the frame angular velocity deviation to obtain a control magnetic torque instruction corresponding to the magnetic torquer, and the second control result corresponding to the CMG group is generated by combining the control magnetic torque instruction and the frame angular velocity instruction, including: If the spacecraft is in a steady-state operation phase, determining an expected frame angle and an expected compensation time of the CMG group in the steady-state operation phase, and obtaining an expected magnetic compensation torque corresponding to the magnetic torquer according to a frame angular velocity deviation determined by a current frame angle, the expected frame angle, and the expected compensation time; Obtaining a magnetic field value of the spacecraft's environment, and generating a control magnetic torque instruction corresponding to the magnetic torquer by combining the expected magnetic compensation torque with the magnetic field value; Under the constraint condition of the maximum output magnetic torque allowed by the magnetic torquer, the control magnetic torque instruction is corrected to obtain a corrected control magnetic torque instruction; Under the constraint condition of the maximum frame angular velocity allowed by the CMG group, performing saturation correction processing on the frame angular velocity instruction to obtain a corrected frame angular velocity instruction; The corrected control magnetic moment instruction and the corrected frame angular velocity instruction are combined to generate a second control result corresponding to the CMG group.

8. An on-orbit angular momentum adjustment device for a limited frame angle CMG, characterized in that: The device comprises: an acquisition module, configured to acquire the spacecraft angular velocity, CMG structural parameters of a CMG group in the spacecraft, and a control torque of a control unit in the spacecraft in a current control cycle; a solving module, configured to solve the magnitude mapping relationship among the spacecraft angular velocity, the CMG structural parameters, and the control torque according to a preset robust pseudo-inverse algorithm, to obtain a frame angular velocity instruction of the CMG group; a first analysis module configured to, if the spacecraft is in a rapid maneuvering phase, obtain an idle switch determination result based on an analysis logic based on a frame angle deviation under the constraint of a maximum frame angular velocity allowed by the CMG group, modify the frame angular velocity command based on the idle switch determination result, and generate a first control result corresponding to the CMG group to adjust the position and attitude of the spacecraft while optimizing the frame angular motion path of the CMG group; The second analysis module is used to calculate the output of the magnetic torquer in the spacecraft according to the analysis logic based on the frame angular velocity deviation if the spacecraft is in a steady-state operation stage, obtain the control magnetic torque instruction corresponding to the magnetic torquer, and combine the control magnetic torque instruction and the frame angular velocity instruction to generate a second control result corresponding to the CMG group to drive the frame angle of the CMG group to gradually return to near the initial zero position.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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