Flywheel speed control method and device based on polynomial trajectory planning

Abstract

The application relates to a flywheel speed control method and device based on a polynomial trajectory planning, belongs to the flywheel speed control method and device based on the polynomial trajectory planning, and solves the problem of how to reduce the impact disturbance introduced when a flywheel tracks an expected speed instruction of attitude control and improve the attitude stability of a satellite. The method comprises the following steps: receiving an expected speed instruction sent by an attitude control system; for each attitude control period of the attitude control system, a speed response curve between two adjacent expected speed instructions is constructed by adopting an expected speed sequence based on the polynomial trajectory planning, so that the acceleration is smooth and the jerk is continuous. The flywheel speed control method and device based on the polynomial trajectory planning are suitable for flywheel speed control in satellite attitude control.

Description

Technical Field

[0001] This invention relates to the field of satellite attitude control technology, and in particular to flywheel speed control based on polynomial trajectory planning. Background Technology

[0002] As the main actuator for satellite attitude control, the flywheel is used to adjust its own speed (i.e., rotational speed) according to the instructions of the satellite attitude control system to output a reaction torque to the satellite. Its performance directly affects the satellite's attitude stability and pointing accuracy.

[0003] When traditional flywheels track attitude control system commands, they mainly focus on the steady-state reproducibility accuracy of the commands, while paying less attention to the smoothness of the speed tracking transition process. Although their average output torque meets the expectations of the attitude control system within a control cycle, their tracking process introduces large shock disturbances (acceleration abrupt changes), causing high-frequency jitter in the satellite attitude.

[0004] As satellite missions become more complex, the requirements for attitude control stability are increasing, especially in fields such as optical remote sensing, where attitude jitter can directly affect the geometric accuracy of remote sensing images.

[0005] Therefore, there is an urgent need for a flywheel speed control method to reduce the impact disturbances introduced when the flywheel tracks the desired speed (i.e., rotational speed) command for attitude control, and to improve the satellite attitude stability. Summary of the Invention

[0006] This invention proposes a flywheel speed control method and device based on polynomial trajectory planning, which solves the problem of how to reduce the impact disturbance introduced when the flywheel tracks the desired speed command for attitude control and improve the attitude stability of the satellite.

[0007] The method for obtaining the desired rotational speed sequence based on polynomial trajectory planning according to the present invention includes the following steps:

[0008] Step S1: Receive the desired rotational speed command sent by the attitude control system;

[0009] Step S2: For each attitude control cycle of the attitude control system, construct the speed response curve between two adjacent desired speed commands using the desired speed sequence based on polynomial trajectory planning, so as to make the acceleration smooth and the jerk continuous.

[0010] Step S2 includes the following steps:

[0011] Step S2.1: Let the attitude control period of the attitude control system be... One attitude control cycle The velocity increment within is :

[0012] (2)

[0013] Among them, attitude control cycle The time interval between two consecutive desired speed commands sent by the attitude control system is defined as the time when the previous desired speed command is sent. The time when it sends the next desired speed command is ;

[0014] The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ;

[0015] The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ;

[0016] Step S2.2: Construct the cubic polynomial velocity trajectory equation:

[0017] (1)

[0018] In the formula, 、 、 、 These are the parameters of the cubic polynomial velocity trajectory equation;

[0019] The boundary conditions satisfy:

[0020] (3)

[0021] (4)

[0022] (5)

[0023] (6)

[0024] Step S2.3: Calculate the parameters of the cubic polynomial velocity trajectory equation:

[0025] (7)

[0026] By substituting the boundary conditions, we obtain the specific expression for the cubic polynomial velocity trajectory equation.

[0027] Step S2.3: Based on the specific expression of the cubic polynomial velocity trajectory equation, generate the desired speed sequence according to the given interpolation density; the desired speed sequence is used by the flywheel dual closed-loop controller to execute current loop and speed loop control to achieve tracking of the desired speed sequence.

[0028] Furthermore, a preferred embodiment is provided, wherein the attitude control period is 100ms; and the given interpolation density is 50 interpolation points in each attitude control period.

[0029] This invention also proposes a device for obtaining the desired rotational speed sequence based on polynomial trajectory planning, the device comprising the following modules:

[0030] Module S1: Receives the desired rotational speed command sent by the attitude control system;

[0031] Module S2: For each attitude control cycle of the attitude control system, a speed response curve between two adjacent desired speed commands is constructed using a desired speed sequence based on polynomial trajectory planning, so as to make the acceleration smooth and the jerk continuous.

[0032] The module S2 includes the following sub-modules:

[0033] Submodule S2.1: Assume the attitude control period of the attitude control system is... One attitude control cycle The velocity increment within is :

[0034] (2)

[0035] Among them, attitude control cycle The time interval between two consecutive desired speed commands sent by the attitude control system is defined as the time when the previous desired speed command is sent. The time when it sends the next desired speed command is ;

[0036] The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ;

[0037] The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ;

[0038] Submodule S2.2: Constructing the cubic polynomial velocity trajectory equation:

[0039] (1)

[0040] In the formula, 、 、 、 These are the parameters of the cubic polynomial velocity trajectory equation;

[0041] The boundary conditions satisfy:

[0042] (3)

[0043] (4)

[0044] (5)

[0045] (6)

[0046] Submodule S2.3: Calculates the parameters of the cubic polynomial velocity trajectory equation:

[0047] (7)

[0048] By substituting the boundary conditions, we obtain the specific expression for the cubic polynomial velocity trajectory equation.

[0049] Submodule S2.3: Based on the specific expression of the cubic polynomial velocity trajectory equation, generate the desired speed sequence according to the given interpolation density; the desired speed sequence is used by the flywheel dual closed-loop controller to execute current loop and speed loop control to achieve tracking of the desired speed sequence.

[0050] This invention also proposes a flywheel speed control system based on polynomial trajectory planning. The system includes an attitude control system, a trajectory planning module, a flywheel dual closed-loop controller, a PWM modulator and power circuit, a flywheel motor, and a feedback signal acquisition unit.

[0051] The flywheel dual closed-loop controller includes a speed loop controller and a current loop controller;

[0052] Attitude control system: Sends the desired rotational speed command to the trajectory planning module at the attitude control cycle. The desired rotational speed command is a step command.

[0053] Trajectory planning module: After receiving the desired rotational speed command, it generates the desired rotational speed sequence using any of the methods described above for obtaining the desired rotational speed sequence based on polynomial trajectory planning;

[0054] Speed ​​loop controller: Receives the desired speed sequence as input command, and also receives the actual speed feedback signal from the flywheel motor. It generates a current command signal through a proportional-integral control algorithm and sends the current command signal to the current loop controller.

[0055] Current loop controller: Receives current command signal and real-time current feedback signal from flywheel motor, generates continuous voltage control signal through proportional-integral control algorithm, and transmits the continuous voltage control signal to PWM modulator;

[0056] PWM modulator and power circuit: The PWM modulator converts the continuous voltage control signal into a pulse width modulation waveform, and controls the switching state of the power circuit by adjusting the pulse duty cycle, thereby generating a drive voltage of corresponding amplitude;

[0057] Flywheel motor: The driving voltage is applied to the windings of the flywheel motor, which generates electromagnetic torque through electromagnetic induction effect, driving the flywheel rotor to perform the target motion;

[0058] Feedback signal acquisition unit: Acquires the actual speed feedback signal of the flywheel motor and feeds it back to the speed loop controller; acquires the real-time current feedback signal of the flywheel motor and feeds it back to the current loop controller.

[0059] This invention also proposes a flywheel speed control method based on polynomial trajectory programming, the method comprising the following steps:

[0060] Step ST1: Generate the desired rotational speed sequence using the method for obtaining the desired rotational speed sequence based on polynomial trajectory planning described above;

[0061] Step ST2: Receive the desired speed sequence and the actual speed feedback signal from the flywheel motor, and generate a current command signal through a proportional-integral control algorithm;

[0062] Step ST3: Receive the current command signal and the real-time current feedback signal from the flywheel motor, and generate a continuous voltage control signal through the proportional-integral control algorithm;

[0063] The continuous voltage control signal is used to generate a drive voltage through a PWM modulator and a power circuit. The drive voltage drives the flywheel motor to drive the flywheel rotor to perform the target motion.

[0064] Furthermore, a preferred embodiment is provided, wherein the attitude control cycle is 100ms; the given interpolation density is 50 interpolation points in each attitude control cycle; and the execution cycle of step ST2 is 2ms.

[0065] This invention also proposes a flywheel speed control device based on polynomial trajectory planning, the device comprising the following modules:

[0066] Module ST1: Generates the desired rotational speed sequence using the desired rotational speed sequence acquisition method based on polynomial trajectory planning described above;

[0067] Module ST2: Receives the desired speed sequence and the actual speed feedback signal from the flywheel motor, generates a current command signal through the proportional-integral control algorithm, and sends the current command signal to the current loop controller;

[0068] Module ST3: Receives current command signals and real-time current feedback signals from the flywheel motor, and generates continuous voltage control signals through a proportional-integral control algorithm;

[0069] The continuous voltage control signal is used to generate a drive voltage through a PWM modulator and a power circuit. The drive voltage drives the flywheel motor to drive the flywheel rotor to perform the target motion.

[0070] The present invention also proposes a computer device comprising: a processor and a memory, the memory being used to store executable instructions of the processor, the processor being configured to execute the flywheel speed control method based on polynomial trajectory planning described above by executing the executable instructions.

[0071] The present invention also proposes a computer storage medium storing a computer program, wherein when the computer program is executed, the flywheel speed control method based on polynomial trajectory planning described above is performed.

[0072] The present invention also proposes a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the flywheel speed control method based on polynomial trajectory planning described above.

[0073] The present invention has the following beneficial effects:

[0074] The flywheel speed control method based on polynomial trajectory planning described in this invention optimizes the flywheel speed response curve by constructing a smooth transition curve between adjacent commands, reducing the amplitude of the disturbance torque introduced during the flywheel speed tracking process (i.e., reducing torque fluctuations), and decreasing the jitter of the celestial body's attitude angular velocity, thereby improving the stability of the celestial body's attitude control (i.e., improving attitude control performance). Specifically:

[0075] 1) Torque fluctuation suppression: Compared with step response, polynomial trajectory planning reduces the amplitude of flywheel torque fluctuation by more than 30%.

[0076] 2) Improved celestial attitude stability: The angular velocity jitter of the celestial body relative to the orbital coordinate system is reduced to 15% compared with the traditional method, which improves the stability of attitude control.

[0077] 3) Engineering adaptability: No additional hardware is required; only the trajectory planning algorithm needs to be embedded in the flywheel control software, which reduces the implementation cost.

[0078] The flywheel speed control method and device based on polynomial trajectory planning described in this invention are applicable to flywheel speed control in satellite attitude control. Attached Figure Description

[0079] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0080] Figure 1 In one embodiment of the present invention, a theoretical comparison curve diagram of the flywheel before and after the addition of the trajectory planning module is shown when the flywheel is tracking the desired speed command of the attitude control system.

[0081] Figure 2 This is a comparison diagram of the control principles before and after the addition of a trajectory planning module to the flywheel in one embodiment of the present invention;

[0082] Figure 3 This is a simulation result of the flywheel's response to speed commands before and after the addition of a trajectory planning module, as described in one embodiment of the present invention.

[0083] Figure 4 In one embodiment of the present invention, the simulation results of the output torque of the flywheel when responding to speed commands before and after using the trajectory planning module are presented.

[0084] Figure 5 This is a flowchart of the flywheel program following the trajectory planning function in one embodiment of the present invention;

[0085] Figure 6 As one embodiment of the present invention, velocity tracking test diagrams are shown before and after the addition of the trajectory planning module and at different interpolation point densities;

[0086] Figure 7 In one embodiment of the present invention, the test results of the theoretical speed and actual speed of the flywheel with the addition of a trajectory planning module are shown.

[0087] Figure 8 In one embodiment of the present invention, the test results of the theoretical acceleration and actual acceleration of the flywheel are incorporated into a trajectory planning module;

[0088] Figure 9 In one embodiment of the present invention, the test results of the theoretical jerk and actual jerk of the flywheel with the addition of a trajectory planning module are shown.

[0089] Figure 10 In one embodiment of the present invention, a comparison curve of the actual flywheel output torque before and after the addition of the trajectory planning module is shown.

[0090] Figure 11 A flywheel vibration test site diagram is shown in one embodiment of the present invention;

[0091] Figure 12 In one embodiment of the present invention, a time-domain comparison curve of the actual flywheel vibration disturbance torque before and after the addition of the trajectory planning module is shown.

[0092] Figure 13 In one embodiment of the present invention, a frequency domain comparison curve of the actual flywheel vibration disturbance torque before and after the addition of the trajectory planning module is shown.

[0093] Figure 14 In one embodiment of the present invention, a simplified comparison control block diagram is shown before and after the addition of the flywheel servo module to the overall satellite attitude control;

[0094] Figure 15 This is a simulation result of the output torque before and after X-axis flywheel trajectory planning compared to the theoretical value, as described in one embodiment of the present invention.

[0095] Figure 16 This is a simulation result of the output torque before and after Y-axis flywheel trajectory planning compared to the theoretical value, as described in one embodiment of the present invention.

[0096] Figure 17 This is a simulation result of the output torque before and after Z-axis flywheel trajectory planning compared to the theoretical value, as described in one embodiment of the present invention.

[0097] Figure 18 In one embodiment of the present invention, simulation results of the angular velocity of the celestial body relative to the orbital coordinate system before and after flywheel trajectory planning, compared with theoretical values;

[0098] Figure 19 In one embodiment of the present invention, simulation results of the angular velocity of the celestial body relative to the orbital coordinate system relative to the theoretical value before and after flywheel trajectory planning;

[0099] Figure 20 In one embodiment of the present invention, simulation results of the angular velocity of the celestial body relative to the orbital coordinate system relative to the theoretical value before and after flywheel trajectory planning. Detailed Implementation

[0100] To make the technical solutions and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail and completely below with reference to the accompanying drawings. The various embodiments described below are only some preferred embodiments of the present invention, and not all of them; the various embodiments described below are intended to explain the present invention and should not be construed as limiting the present invention; reasonable combinations of the technical features defined in the various embodiments of the present invention, as well as all other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort, are all within the scope of protection of the present invention.

[0101] Implementation Method 1: A method for obtaining the desired rotational speed sequence based on polynomial trajectory planning, the method comprising the following steps:

[0102] Step S1: Receive the desired rotational speed command sent by the attitude control system;

[0103] Step S2: For each attitude control cycle of the attitude control system, construct the speed response curve between two adjacent desired speed commands using the desired speed sequence based on polynomial trajectory planning, so as to make the acceleration smooth and the jerk continuous.

[0104] Step S2 includes the following steps:

[0105] Step S2.1: Let the attitude control period of the attitude control system be... One attitude control cycle The velocity increment within is :

[0106] (2)

[0107] Among them, attitude control cycle The time interval between two consecutive desired speed commands sent by the attitude control system is defined as the time when the previous desired speed command is sent. The time when it sends the next desired speed command is ;

[0108] The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ;

[0109] The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ;

[0110] Step S2.2: Construct the cubic polynomial velocity trajectory equation:

[0111] (1)

[0112] In the formula, 、 、 、 These are the parameters of the cubic polynomial velocity trajectory equation;

[0113] The boundary conditions satisfy:

[0114] (3)

[0115] (4)

[0116] (5)

[0117] (6)

[0118] Step S2.3: Calculate the parameters of the cubic polynomial velocity trajectory equation:

[0119] (7)

[0120] By substituting the boundary conditions, we obtain the specific expression for the cubic polynomial velocity trajectory equation.

[0121] Step S2.3: Based on the specific expression of the cubic polynomial velocity trajectory equation, generate the desired speed sequence according to the given interpolation density; the desired speed sequence is used by the flywheel dual closed-loop controller to execute current loop and speed loop control to achieve tracking of the desired speed sequence.

[0122] It should be noted that in existing satellite attitude control systems, the flywheel tracks the speed command (i.e., the desired rotational speed command) with a step response after receiving it from the attitude control system. The drawback of this approach is that:

[0123] The flywheel output torque fluctuates violently. After receiving the speed command from the attitude control system, the flywheel will adjust its speed with maximum acceleration to match the command. This sudden speed change will cause the flywheel acceleration to change abruptly. The discontinuous acceleration will cause the output torque to jitter (high-frequency vibration transmission), which will cause the star's attitude angular velocity to jitter.

[0124] In this embodiment, by constructing a smooth transition curve (i.e., a sequence of desired speeds refined into a polynomial trajectory) between adjacent commands (desired speed commands), the speed response curve of the flywheel is optimized to meet the requirements of smooth acceleration and continuous jerk, reduce the amplitude of the disturbance torque introduced during the flywheel speed tracking process (i.e., reduce torque fluctuation), reduce the jitter of the celestial body's attitude angular velocity, thereby improving the stability of the celestial body's attitude control (i.e., improving attitude control performance).

[0125] It should be noted that existing methods generally employ the following techniques to address the problem of high-frequency vibration transmission between the flywheel and the satellite platform:

[0126] (1) Passive vibration isolation technology:

[0127] Install nonlinear damping materials or mechanisms (such as rubber vibration isolators or metal springs) between the flywheel and the satellite platform to physically block the transmission of high-frequency vibrations.

[0128] (2) Active control compensation:

[0129] Adaptive algorithms (such as improved LMS): Combine piezoelectric deflection system to adjust control step size in real time and compensate for phase delay.

[0130] (3) Model-based perturbation feedforward compensation

[0131] Extended disturbance modeling: Based on the traditional dynamic imbalance model (frequency and harmonics), higher harmonics, control frequency and bearing flexibility parameters are added to improve the model's realism.

[0132] Existing methods, whether passive vibration isolation or active control compensation, all address the issue from the perspective of the "transmission path" of high-frequency vibrations, employing physical isolation or model compensation to reduce their impact. However, no matter how ingenious the design, these methods, while partially effective, suffer from multiple limitations in engineering applications due to vibration characteristics and environmental interference.

[0133] (1) Insufficient frequency domain coverage:

[0134] Passive vibration isolation is almost ineffective against low-frequency disturbances (<10Hz), which can easily induce resonance in the entire satellite structure.

[0135] Active control algorithms (such as LMS) rely on prior spectral characteristics and are unable to cope with time-varying spectral characteristics caused by changes in flywheel speed.

[0136] (2) Model dependency and parameter mismatch:

[0137] Disturbance models (such as extended harmonic models) require ground-based calibration, but the on-orbit environment (temperature, vacuum, bearing wear) causes model parameters to drift.

[0138] Feedforward compensation requires precise knowledge of the disturbance phase, but sensor noise and transmission delay cause the actual phase to lag, reducing the cancellation efficiency.

[0139] (3) Active systems introduce new disturbances.

[0140] Active vibration isolation devices themselves are secondary disturbance sources, increasing system complexity.

[0141] In this embodiment, the root cause of "high-frequency vibration transmission," namely the step response in the desired rotational speed command, is directly addressed. The desired rotational speed command for adjacent cycles given by the attitude control system is refined into a sequence of desired rotational speeds with a polynomial trajectory. This improves the flywheel's ability to smoothly output torque and effectively reduces the fluctuation amplitude of the flywheel's output torque compared to the traditional flywheel response mode, thereby reducing the impact on the stability of the celestial body's attitude control. The method overcomes the technical biases of those skilled in the art when solving the problem of "high-frequency vibration transmission," and adopts a completely different technical concept from existing methods. It overcomes the problems of insufficient frequency domain coverage, model dependence and parameter mismatch, and the introduction of new disturbances by the active system that exist in existing methods.

[0142] In this embodiment, a cubic polynomial velocity trajectory equation is used to construct the desired rotational speed sequence, and the desired rotational speed sequence is tracked, which satisfies the requirements of smooth acceleration and continuous jerk of the flywheel during the speed tracking process.

[0143] In this embodiment, the establishment of the boundary conditions ensures the continuity of acceleration of the velocity response curve at the start and end points, and avoids torque fluctuations caused by sudden acceleration changes.

[0144] In this embodiment, the specific expression of the cubic polynomial velocity trajectory equation is chosen based on its ability to satisfy the boundary conditions and its sufficient flexibility to fit the velocity response curve.

[0145] It should be noted that the attitude control system will continuously transmit multiple attitude control cycles of desired rotational speed commands within a certain time period. For example, it may continuously transmit multiple attitude control cycles of desired rotational speed commands (such as 100ms, corresponding to a frequency of 10Hz) within a 10s time period. At this time, it obtains the specific expressions of multiple consecutive cubic polynomial velocity trajectory equations, which constitute a piecewise function:

[0146]

[0147] Implementation Method 2: In the method for obtaining the desired rotational speed sequence based on polynomial trajectory planning:

[0148] The attitude control period is 100ms; the given interpolation density is 50 interpolation points per attitude control period.

[0149] In this embodiment, the attitude control period is 100ms, with 50 interpolations, meaning one interpolation occurs every 2ms. The interpolation point time is substituted into the specific expression of the cubic polynomial velocity trajectory equation to obtain the interpolation point velocity, such as... , … , .

[0150] In this embodiment, the given interpolation density can also be 5, 10, 20, etc., for each attitude control cycle.

[0151] In this embodiment, the given interpolation density must strike a balance between smoothness and system response speed.

[0152] Implementation Method 3: A device for obtaining the desired rotational speed sequence based on polynomial trajectory planning, the device comprising the following modules:

[0153] Module S1: Receives the desired rotational speed command sent by the attitude control system;

[0154] Module S2: For each attitude control cycle of the attitude control system, a speed response curve between two adjacent desired speed commands is constructed using a desired speed sequence based on polynomial trajectory planning, so as to make the acceleration smooth and the jerk continuous.

[0155] The module S2 includes the following sub-modules:

[0156] Submodule S2.1: Assume the attitude control period of the attitude control system is... One attitude control cycle The velocity increment within is :

[0157] (2)

[0158] Among them, attitude control cycle The time interval between two consecutive desired speed commands sent by the attitude control system is defined as the time when the previous desired speed command is sent. The time when it sends the next desired speed command is ;

[0159] The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ;

[0160] The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ;

[0161] Submodule S2.2: Constructing the cubic polynomial velocity trajectory equation:

[0162] (1)

[0163] In the formula, 、 、 、 These are the parameters of the cubic polynomial velocity trajectory equation;

[0164] The boundary conditions satisfy:

[0165] (3)

[0166] (4)

[0167] (5)

[0168] (6)

[0169] Submodule S2.3: Calculates the parameters of the cubic polynomial velocity trajectory equation:

[0170] (7)

[0171] By substituting the boundary conditions, we obtain the specific expression for the cubic polynomial velocity trajectory equation.

[0172] Submodule S2.3: Based on the specific expression of the cubic polynomial velocity trajectory equation, generate the desired speed sequence according to the given interpolation density; the desired speed sequence is used by the flywheel dual closed-loop controller to execute current loop and speed loop control to achieve tracking of the desired speed sequence.

[0173] Implementation Method 4: A flywheel speed control system based on polynomial trajectory planning, the system comprising an attitude control system, a trajectory planning module, a flywheel dual closed-loop controller, a PWM modulator and power circuit, a flywheel motor, and a feedback signal acquisition unit.

[0174] The flywheel dual closed-loop controller includes a speed loop controller and a current loop controller;

[0175] Attitude control system: Sends the desired rotational speed command to the trajectory planning module at the attitude control cycle. The desired rotational speed command is a step command.

[0176] Trajectory planning module: After receiving the desired rotational speed command, it generates the desired rotational speed sequence using the desired rotational speed sequence acquisition method based on polynomial trajectory planning described in the above implementation.

[0177] Speed ​​loop controller: Receives the desired speed sequence as input command, and also receives the actual speed feedback signal from the flywheel motor. It generates a current command signal through a proportional-integral control algorithm and sends the current command signal to the current loop controller.

[0178] Current loop controller: Receives current command signal and real-time current feedback signal from flywheel motor, generates continuous voltage control signal through proportional-integral control algorithm, and transmits the continuous voltage control signal to PWM modulator;

[0179] PWM modulator and power circuit: The PWM modulator converts the continuous voltage control signal into a pulse width modulation waveform, and controls the switching state of the power circuit by adjusting the pulse duty cycle, thereby generating a drive voltage of corresponding amplitude;

[0180] Flywheel motor: The driving voltage is applied to the windings of the flywheel motor, which generates electromagnetic torque through electromagnetic induction effect, driving the flywheel rotor to perform the target motion;

[0181] Feedback signal acquisition unit: Acquires the actual speed feedback signal of the flywheel motor and feeds it back to the speed loop controller; acquires the real-time current feedback signal of the flywheel motor and feeds it back to the current loop controller.

[0182] In this embodiment, the execution cycle (or flywheel execution cycle) of the speed loop controller is 2ms, that is, the desired speed sequence is tracked once every 2ms.

[0183] In another embodiment, the feedback signal acquisition device includes a speed sensor, an AD acquisition module integrated into the DSP chip, a speed filter, and a current filter.

[0184] The speed sensor is used to acquire the speed output of the flywheel motor; the speed filter is used to filter the speed output of the flywheel motor to obtain the actual speed feedback signal.

[0185] The current sensor is used to collect the current output of the flywheel motor; the current filter is used to filter the current output of the flywheel motor to obtain a real-time current feedback signal.

[0186] In another embodiment, the speed sensor is a photoelectric encoder.

[0187] Feedback signal closed-loop control

[0188] The motor feeds back the real-time speed signal to the speed loop controller via a speed sensor (such as a photoelectric encoder).

[0189] The motor feeds back the real-time current signal to the current loop controller via the AD acquisition module built into the DSP chip.

[0190] Implementation Method 5: A flywheel speed control method based on polynomial trajectory planning, the method comprising the following steps:

[0191] Step ST1: Generate the desired rotational speed sequence using the desired rotational speed sequence acquisition method based on polynomial trajectory planning described in Implementation 1;

[0192] Step ST2: Receive the desired speed sequence and the actual speed feedback signal from the flywheel motor, generate a current command signal through the proportional-integral control algorithm, and send the current command signal to the current loop controller;

[0193] Step ST3: Receive the current command signal and the real-time current feedback signal from the flywheel motor, and generate a continuous voltage control signal through the proportional-integral control algorithm;

[0194] The continuous voltage control signal is used to generate a drive voltage through a PWM modulator and a power circuit. The drive voltage drives the flywheel motor to drive the flywheel rotor to perform the target motion.

[0195] Implementation Method 6: In the flywheel speed control method based on polynomial trajectory programming:

[0196] The attitude control cycle is 100ms; the given interpolation density is 50 interpolation points in each attitude control cycle; the execution cycle of step ST2 is 2ms.

[0197] In this embodiment, the given interpolation density can also be 5, 10, 20, etc., for each attitude control cycle.

[0198] In this embodiment, the given interpolation density must strike a balance between smoothness and system response speed.

[0199] In this embodiment, the execution cycle of step ST2 is the execution cycle of the speed loop controller (or the flywheel execution cycle). The execution cycle of step ST2 is 2ms, which means that the desired speed sequence is tracked once every 2ms.

[0200] Implementation Method 7: A flywheel speed control device based on polynomial trajectory planning, the device comprising the following modules:

[0201] Module ST1: Generates the desired rotational speed sequence using the desired rotational speed sequence acquisition method based on polynomial trajectory planning described in Implementation 1;

[0202] Module ST2: Receives the desired speed sequence and the actual speed feedback signal from the flywheel motor, generates a current command signal through the proportional-integral control algorithm, and sends the current command signal to the current loop controller;

[0203] Module ST3: Receives current command signals and real-time current feedback signals from the flywheel motor, and generates continuous voltage control signals through a proportional-integral control algorithm;

[0204] The continuous voltage control signal is used to generate a drive voltage through a PWM modulator and a power circuit. The drive voltage drives the flywheel motor to drive the flywheel rotor to perform the target motion.

[0205] Implementation Method 8: A computer device comprising: a processor and a memory, the memory for storing executable instructions of the processor, the processor being configured to execute the flywheel speed control method based on polynomial trajectory planning described above by executing the executable instructions.

[0206] Implementation Method 9: A computer storage medium storing a computer program, wherein when the computer program is executed, the flywheel speed control method based on polynomial trajectory planning described in any one of the above embodiments is performed.

[0207] Implementation Method 10: A computer program product, comprising a computer program / instructions, which, when executed by a processor, implement the steps of the flywheel speed control method based on polynomial trajectory planning described above.

[0208] Implementation Method 11: A specific embodiment is provided to verify the effect of the trajectory planning strategy (trajectory planning module) in the flywheel on the overall satellite attitude control through three stages:

[0209] Part 1: Simulation of the flywheel electromechanical system. A dual closed-loop model of the flywheel is built using Simulink to verify the impact of trajectory planning strategy on flywheel speed tracking and output torque jitter.

[0210] Step 2: Based on the simulation, conduct a comparative experiment between the flywheel trajectory planning strategy and conventional control, and actually measure the flywheel speed tracking and torque output.

[0211] Step 3: Build a whole-satellite attitude control model using Simulink. Add the flywheel simulation module from Step 1 to the whole-satellite attitude control model. Use the angular velocity of the satellite relative to the orbital coordinate system as the evaluation index to verify the effect of the flywheel trajectory planning strategy on the satellite's attitude control.

[0212] It should be noted that the "speed" mentioned in this article refers to the rotational speed, such as the current speed being the current rotational speed and the desired speed being the desired rotational speed.

[0213] When the flywheel tracks the desired velocity command from the attitude control system, the theoretical comparison curves before and after incorporating the trajectory planning strategy are as follows: Figure 1 As shown, the process of tracking the desired speed from the current speed before the input exhibits the characteristics of a step response, at which point the flywheel acceleration... A sudden increase inevitably leads to a higher peak output torque of the flywheel. After this addition, based on the trajectory planning strategy, the desired command is ultimately tracked from the current speed using a cubic polynomial curve. This sacrifices response time to achieve a smaller fluctuation in output torque. Theoretically, the acceleration curve operates within each 100ms cycle. The area of ​​the closed figure formed by the inner and outer axes is equal to the difference between the two speed commands. According to the derivative of a cubic polynomial, this is true within the period... Inside, the acceleration follows a parabolic shape, and its specific mathematical expression is: The maximum value of the parabola It must be less than the peak value of the flywheel acceleration before trajectory planning. This means that the flywheel acceleration amplitude is reduced, thus effectively suppressing the fluctuation of the output torque.

[0214] I. To verify the correctness of the theory, we first conduct a simulation of step one. The specific steps are as follows:

[0215] Step 1: First, build a simulation model using Simulink. The flywheel adopts a dual closed-loop control strategy with current loop and speed loop, and both the inner and outer loops use PI controllers.

[0216] Step 2: Build models of the flywheel before and after applying the trajectory planning strategy, such as... Figure 2 As shown

[0217] Step 3: Given the same speed command for both models, analyze the flywheel tracking characteristics. Specific implementation examples:

[0219] The speed loop PI parameters of the flywheel control system are 0.20272 and 0.002, and the current loop PI parameters are 0.625 and 0.0016. The resistance and inductance are respectively... , The moment of inertia of the wheel is The attitude control system continuously sends step commands to the flywheel within 10 seconds at a period of 100ms and an amplitude of 1.4rpm.

[0220] When the flywheel uses conventional servo control (i.e., conventional tracking without trajectory planning) and trajectory planning (strategy), the flywheel speed tracking results are as follows: Figure 3 As shown, the former flywheel tracks the desired command with maximum acceleration, resulting in overshoot and significant torque fluctuation; the latter flywheel tracks a smoother trajectory. To quantify the impact of torque fluctuation, torque fluctuation curves of the flywheel under the two control methods are plotted, as shown below. Figure 4 As shown, the peak value of the flywheel torque fluctuation is from Downgraded to Torque fluctuations are reduced by about 47%.

[0221] The simulation in Section 1 initially demonstrated that when the flywheel adopts a trajectory planning strategy, the speed tracking trajectory is smoother and the fluctuation of the output torque is significantly reduced.

[0222] II. Based on the above theory and simulation, the trajectory planning strategy is deployed into the flywheel control software. The flywheel control software runs on the TMS320F28335 flywheel controller, and its main functions are to realize dual closed-loop control of the flywheel motor and to interact with the attitude control system. The specific steps of step two are as follows:

[0223] Step 1: Deployment of flywheel dual closed-loop control software and implementation of trajectory planning algorithm.

[0224] Step 2: Given a speed command, verify the flywheel speed tracking performance under both strategies.

[0225] Step 3: Measure the output torque of the flywheel under both strategies.

[0226] Step 4: Measure the vibration of the flywheel on the air-bearing platform.

[0227] Specific implementation:

[0228] The initial design uses a speed loop control frequency of 500Hz and a current loop control frequency of 10kHz, triggered by an internal system timer. The flywheel program flowcharts following the trajectory planning function are shown below. Figure 5 As shown, when the desired velocity command arrives in a new round from the attitude control system, the trajectory planning strategy generates the desired velocity command sequence for the next attitude control system control cycle, such as... Figure 5 As shown in the green box.

[0229] After the software program was deployed, the tracking effects of different interpolation point densities were tested. Starting with an initial speed... Expected speed For example, based on the measured curve... Figure 6 It can be seen that the higher the interpolation point density, the better the speed tracking effect. Therefore, the subsequent simulation and experimental stages all adopted the method of interpolation point every 2ms.

[0230] At this point, the tracking curves comparing the flywheel speed, acceleration, and jerk with the theoretical values ​​are as follows: Figure 7 , 8 As shown in Figure 9, it can be seen that cubic polynomial trajectory planning can meet the expected design of smooth acceleration and continuous jerk. At this time, the flywheel output torque is compared with the output torque before trajectory planning. Figure 10 As shown.

[0231] Next, we tested the actual effect of the vibration disturbance torque output by the flywheel on the air-bearing platform before and after trajectory planning. The actual test results were as follows: Figure 11As shown, taking the operating condition of starting at -860rpm and increasing by 0.02rpm every 100ms as an example, the actual output vibration of the flywheel was tested on an air-bearing platform. Based on the measured curve... Figure 12 It can be seen that the peak value of the actual disturbance torque fluctuation generated by the flywheel decreased from 0.005 Nm to 0.003 Nm, and the disturbance generated by the flywheel decreased by 40%. Figure 13 The frequency domain comparison curves of the flywheel disturbance torque show that the flywheel exhibits torque fluctuations at each attitude control cycle of 100ms (10Hz) and flywheel execution cycle of 2ms (500Hz). Trajectory planning can effectively reduce the disturbances caused by the flywheel output torque. Note: The 2ms flywheel execution cycle is unrelated to "using 2ms interpolation points"; even if "using 10ms interpolation points", the flywheel execution cycle remains 2ms.

[0232] III. When the flywheel is connected to the overall satellite attitude control system, the flywheel's disturbance will affect the satellite's attitude control. Based on the actual output characteristics of the aforementioned flywheel unit, the impact of the trajectory planning algorithm on the overall satellite's attitude control is further verified. The specific steps of step three are as follows:

[0233] Step 1: Analyze the satellite attitude kinematics.

[0234] Step 2: Analyze the dynamic coupling relationship between the flywheel and the satellite body when the satellite is in orbit.

[0235] Step 3: Design a PD controller for attitude control.

[0236] Step 4: Build a Simulink simulation model for satellite attitude control.

[0237] Step 5: Add the flywheel simulation module from Step 1 to the satellite attitude control simulation model.

[0238] Step 6: Given the same initial conditions for satellite attitude, compare the differences in angular velocity of the celestial body under different flywheel strategies. Specific Implementation

[0240] Step 1: Analyze satellite kinematics

[0241] angular velocity of satellite attitude In the satellite body coordinate system, it is represented as According to Euler's theorem, this can be viewed as the synthesis of three Euler rotations. Define the axis of rotation vector. , , Considering the 3-1-2 rotation sequence of Euler angles, we have:

[0242]

[0243] When rotating about the X-axis, the rotation matrix is ​​expressed as: , , This indicates that the rotation is first centered on the Z-axis, and then... Rotate at angular velocity, then rotate around X as the axis of rotation. Rotate at a rotational angular velocity, and finally around the Y-axis at... It is obtained by rotating to obtain the rotational angular velocity, i.e.

[0244]

[0245] For a three-axis stabilized Earth-oriented satellite, the satellite attitude angle is a small value, and the satellite body coordinate system... With orbital coordinate system The transformation matrix between them is:

[0246]

[0247]

[0248]

[0249] , , All are local minima, therefore , , , , , ,therefore

[0250] (12)

[0251] The angular velocity of the satellite body relative to the orbital coordinate system is expressed as: The rotational speed of the orbital coordinate system in space is The satellite's rotational speed in space In the satellite body coordinate system, it is represented as

[0252]

[0253] Step 2: Analyze satellite dynamics.

[0254] Euler's equations describe the rotational motion of a rigid body with its center of mass at the origin about a fixed axis. The general form of the satellite attitude dynamics equations driving the actuator is:

[0255]

[0256] In the formula, The rotational inertia matrix of the satellite as a whole, including the flywheel. Indicates the absolute velocity of the satellite. express slant matrix The second term on the left side of the equation represents the gyroscopic effect caused by the rotating component, and the right side... The control torque is represented by the torque output from the flywheel. We will temporarily ignore factors such as solar pressure torque, gravitational gradient torque, geomagnetic torque, and aerodynamic torque.

[0257] Step 3: PD Controller Design

[0258] To control satellite attitude, a PD controller is typically used. This invention considers the general case of a rigid spacecraft rotating under a fixed torque device. The control algorithm mainly consists of linear feedback of error quaternions and body angular velocity. Maneuvering is achieved by appropriately selecting the feedback gain matrix of the quaternion feedback regulator. Furthermore, quaternion feedback stability analysis is performed based on the Lyapunov method.

[0259] Euler's rotation theorem states that a rigid body can change from any given posture to another by rotating about an axis called the Euler axis or characteristic axis. Quaternions define the rigid body posture as a rotation about the Euler axis. The vector part of the quaternion (the first three components) represents the direction of the Euler axis, and the scalar part (the fourth component) is related to the rotation angle about the Euler axis.

[0260] The four elements of a quaternion are defined as follows:

[0261] (14)

[0262] (15)

[0263] in, The rotation angle of the Euler axis. Let be the direction cosine of the Euler axis relative to the reference frame.

[0264] The kinematic differential equation for quaternions is:

[0265]

[0266] in, Initial quaternion The initial attitude of the spacecraft was defined, and the command quaternion was used. The desired pose is defined as the error quaternion representing the pose error between the current pose and the desired pose, given by the following formula:

[0267] (18)

[0268] This equation is the result of continuous quaternion rotations using quaternion multiplication and inversion rules.

[0269] The proposed characteristic axis rotation feedback controller consists of linear error quaternion feedback and a linear body rate feedback term. Control torque vector. Generally expressed as:

[0270] (19)

[0271] in, , and The given value is a 3×3 constant gain matrix that needs to be reasonably determined. Consider choosing the gain... and The closed-loop equation of motion becomes:

[0272]

[0273] The discussion has general and Stability of a closed-loop system of matrices:

[0274] Assumption Existence and Positive definite, define the following Lyapunov function:

[0275] (twenty one)

[0276] Symmetric, positive definite, and unbounded. The time derivative is:

[0277]

[0278] Assumption ,have:

[0279]

[0280] From formula (20), and assuming If it exists, then:

[0281]

[0282] Therefore, equation (23) can be rearranged as follows:

[0283]

[0284] And because Therefore, equation (25) can be further simplified to

[0285]

[0286] like Then global stability is guaranteed. The natural choice to guarantee this is: ,in, It is a positive scalar. To achieve characteristic axis rotation, a quaternion feedback gain matrix is ​​used. Should meet and ,in and It is a positive scalar. When the fixed axis of the body coincides with the principal axis of inertia, the inertia matrix is: .

[0287] Step 4: Build a Simulink simulation model for satellite attitude control.

[0288] To verify the technical effects of this invention, Simulink was used to simulate the above-mentioned technical content. The simulation environment was set as follows:

[0289] Satellite parameters: A certain type of optical remote sensing satellite, mass 230kg; moment of inertia. Control cycle: 100ms; PD controller gain matrix , The Simulink model consists of satellite attitude kinematics (9) to (18), PD controller (19), and attitude dynamics (20) to (26).

[0290] Step 5: Add the flywheel simulation module from Step 1 to the satellite attitude control simulation model.

[0291] When considering the flywheel servo circuit, a flywheel servo module is added between the PD controller and the celestial attitude dynamics modules, such as... Figure 14 As shown, this includes two control methods: conventional flywheel control and control using a trajectory planning strategy.

[0292] Step 6: Given the same initial conditions for satellite attitude, compare the differences in angular velocity of the celestial body under different flywheel strategies.

[0293] Initial Euler angles Initial Euler angular velocity Simulation time: 300 seconds.

[0294] Figure 15 , 16 Figures 1 and 17 show comparison curves of the theoretically generated torque of the PD controller on the X, Y, and Z axes of the celestial body, and the output torque of the flywheel before and after adopting the trajectory planning strategy. According to... In principle, the X-axis flywheel output torque The values ​​before and after the planning were 2.8716 and 2.4458 respectively; the output torque of the Y-axis flywheel... The values ​​before and after the planning were 336.2480 and 285.7369 respectively; the output torque of the Z-axis flywheel was... The values ​​before and after the planning are 23.1075 and 19.6466, respectively. The simulation results show that the flywheel output torque fluctuation amplitude decreases by at least 14.83% before and after the trajectory planning.

[0295] At this moment, the theoretical values ​​of the angular velocities of the celestial body relative to the orbital coordinate system along the X, Y, and Z axes, and the actual angular velocities before and after trajectory planning are as follows: Figure 18 , 19 As shown in Figure 20. According to In principle, the angular velocity of the X-axis The values ​​before and after planning are 0.0045 and 0.0039 respectively; the Y-axis angular velocity is... The values ​​before and after planning are 0.6497 and 0.7647 respectively; the Z-axis angular velocity is... The values ​​before and after the planning are respectively , The fluctuation amplitude will be reduced by at least 13.3%.

[0296] The simulation and measurement results of velocity and torque fluctuation of the flywheel using a trajectory planning strategy, as well as the simulation results of the impact on the attitude angular velocity jitter of the satellite, show that the reaction flywheel using the trajectory planning strategy smooths the velocity tracking curve and effectively reduces the jitter of its own output torque. This reduces the impact of the flywheel on the Euler angular velocity jitter of the satellite, systematically solving the attitude stability problem under high-frequency control commands and providing an engineering solution for high-precision attitude control of satellites. Moreover, this method requires no additional hardware support; it only requires embedding the trajectory planning algorithm in the flywheel control software, thus improving the flywheel control performance.

[0297] This embodiment provides a computer device or system. The hardware device in this part is a general model and is not shown in the figure. The system includes a processor and a memory, wherein the processor and the memory can be connected by a bus or other means. The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, as well as corresponding program instructions / modules. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions and modules stored in the memory, so as to realize the data quality enhancement method for data space entity parsing in the above method embodiment.

[0298] The memory may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, mobile communication networks, and combinations thereof.

[0299] One or more modules are stored in the memory. When the processor executes, it performs the method steps in the embodiments. In this way, the invention objective can be achieved through the method, apparatus and process of the present invention. The specific details of the computer device described above can be understood by referring to the relevant descriptions and effects in the embodiments, and will not be repeated here.

[0300] Those skilled in the art will understand that implementing all or part of the processes in the above embodiments can be accomplished by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0301] The above description of several specific embodiments further details the technical solution provided by the present invention in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the above-described specific embodiments are not intended to limit the present invention. Any reasonable modifications and improvements to the present invention, reasonable combinations of embodiments, and equivalent substitutions based on the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for obtaining the desired rotational speed sequence based on polynomial trajectory planning, characterized in that, The method includes the following steps: Step S1: Receive the desired rotational speed command sent by the attitude control system; Step S2: For each attitude control cycle of the attitude control system, construct the speed response curve between two adjacent desired speed commands using the desired speed sequence based on polynomial trajectory planning, so as to make the acceleration smooth and the jerk continuous. Step S2 includes the following steps: Step S2.1: Let the attitude control period of the attitude control system be... One attitude control cycle The velocity increment within is : （2） Among them, attitude control cycle The time interval between two consecutive desired speed commands sent by the attitude control system is defined as the time when the previous desired speed command is sent. The time when it sends the next desired speed command is ; The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ; The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ; Step S2.2: Construct the cubic polynomial velocity trajectory equation: （1） In the formula, 、 、 、 These are the parameters of the cubic polynomial velocity trajectory equation; The boundary conditions satisfy: （3） （4） （5） （6） Step S2.3: Calculate the parameters of the cubic polynomial velocity trajectory equation: （7） By substituting the boundary conditions, we obtain the specific expression for the cubic polynomial velocity trajectory equation. Step S2.4: Based on the specific expression of the cubic polynomial velocity trajectory equation, generate the desired speed sequence according to the given interpolation density; the desired speed sequence is used by the flywheel dual closed-loop controller to execute current loop and speed loop control to achieve tracking of the desired speed sequence.

2. The method for obtaining the desired rotational speed sequence based on polynomial trajectory planning according to claim 1, characterized in that, The attitude control period is 100ms; the given interpolation density is 50 interpolation points per attitude control period.

3. A device for obtaining a desired rotational speed sequence based on polynomial trajectory planning, characterized in that, The device includes the following modules: Module S1: Receives the desired rotational speed command sent by the attitude control system; Module S2: For each attitude control cycle of the attitude control system, a speed response curve between two adjacent desired speed commands is constructed using a desired speed sequence based on polynomial trajectory planning, so as to make the acceleration smooth and the jerk continuous. The module S2 includes the following sub-modules: Submodule S2.1: Assume the attitude control period of the attitude control system is... One attitude control cycle The velocity increment within is : （2） Among them, attitude control cycle The time interval between two consecutive desired speed commands sent by the attitude control system is defined as the time when the previous desired speed command is sent. The time when it sends the next desired speed command is ; The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ; The speed corresponding to the desired speed command sent at any time is The corresponding given acceleration is ; Submodule S2.2: Constructing the cubic polynomial velocity trajectory equation: （1） In the formula, 、 、 、 These are the parameters of the cubic polynomial velocity trajectory equation; The boundary conditions satisfy: （3） （4） （5） （6） Submodule S2.3: Calculates the parameters of the cubic polynomial velocity trajectory equation: （7） By substituting the boundary conditions, we obtain the specific expression for the cubic polynomial velocity trajectory equation. Submodule S2.4: Based on the specific expression of the cubic polynomial velocity trajectory equation, generate the desired speed sequence according to the given interpolation density; the desired speed sequence is used by the flywheel dual closed-loop controller to execute current loop and speed loop control to achieve tracking of the desired speed sequence.

4. A flywheel speed control system based on polynomial trajectory programming, characterized in that, The system includes an attitude control system, a trajectory planning module, a flywheel dual closed-loop controller, a PWM modulator and power circuit, a flywheel motor, and a feedback signal acquisition unit. The flywheel dual closed-loop controller includes a speed loop controller and a current loop controller; Attitude control system: Sends the desired rotational speed command to the trajectory planning module at the attitude control cycle. The desired rotational speed command is a step command. Trajectory planning module: After receiving the desired rotational speed command, it generates the desired rotational speed sequence using the desired rotational speed sequence acquisition method based on polynomial trajectory planning as described in claim 1 or 2; Speed ​​loop controller: Receives the desired speed sequence as input command, and also receives the actual speed feedback signal from the flywheel motor. It generates a current command signal through a proportional-integral control algorithm and sends the current command signal to the current loop controller. Current loop controller: Receives current command signal and real-time current feedback signal from flywheel motor, generates continuous voltage control signal through proportional-integral control algorithm, and transmits the continuous voltage control signal to PWM modulator; PWM modulator and power circuit: The PWM modulator converts the continuous voltage control signal into a pulse width modulation waveform, and controls the switching state of the power circuit by adjusting the pulse duty cycle, thereby generating a drive voltage of corresponding amplitude; Flywheel motor: The driving voltage is applied to the windings of the flywheel motor, which generates electromagnetic torque through electromagnetic induction effect, driving the flywheel rotor to perform the target motion; Feedback signal acquisition unit: Acquires the actual speed feedback signal of the flywheel motor and feeds it back to the speed loop controller; acquires the real-time current feedback signal of the flywheel motor and feeds it back to the current loop controller.

5. A flywheel speed control method based on polynomial trajectory programming, characterized in that, The method includes the following steps: Step ST1: Generate the desired rotational speed sequence using the desired rotational speed sequence acquisition method based on polynomial trajectory planning as described in claim 1; Step ST2: Receive the desired speed sequence and the actual speed feedback signal from the flywheel motor, and generate a current command signal through a proportional-integral control algorithm; Step ST3: Receive the current command signal and the real-time current feedback signal from the flywheel motor, and generate a continuous voltage control signal through the proportional-integral control algorithm; The continuous voltage control signal is used to generate a drive voltage through a PWM modulator and a power circuit. The drive voltage drives the flywheel motor to drive the flywheel rotor to perform the target motion.

6. The flywheel speed control method based on polynomial trajectory programming according to claim 5, characterized in that, The attitude control cycle is 100ms; the given interpolation density is 50 interpolation points in each attitude control cycle; the execution cycle of step ST2 is 2ms.

7. A flywheel speed control device based on polynomial trajectory programming, characterized in that, The device includes the following modules: Module ST1: Generates the desired rotational speed sequence using the desired rotational speed sequence acquisition method based on polynomial trajectory planning as described in claim 1; Module ST2: Receives the desired speed sequence and the actual speed feedback signal from the flywheel motor, generates a current command signal through the proportional-integral control algorithm, and sends the current command signal to the current loop controller; Module ST3: Receives current command signals and real-time current feedback signals from the flywheel motor, and generates continuous voltage control signals through a proportional-integral control algorithm; The continuous voltage control signal is used to generate a drive voltage through a PWM modulator and a power circuit. The drive voltage drives the flywheel motor to drive the flywheel rotor to perform the target motion.

8. A computer device, comprising: A processor and a memory, characterized in that the memory is used to store executable instructions of the processor, the processor being configured to perform the flywheel speed control method based on polynomial trajectory planning as described in claim 5 or 6 by executing the executable instructions.

9. A computer storage medium, characterized in that, The storage medium stores a computer program, which, when executed, performs the flywheel speed control method based on polynomial trajectory planning as described in claim 5 or 6.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the flywheel speed control method based on polynomial trajectory planning as described in claim 5 or 6.

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