A fault-tolerant satellite attitude control method based on magnetic torque converter

Abstract

A fault-tolerant satellite attitude control method based on magnetic torquers is proposed. First, in each control cycle, magnetic torquer and thruster fault detection is performed based on the control signal of the previous cycle and the attitude measurement signal of the current cycle, according to the control measurement consistency score. When a thruster fault is detected or a thruster fault signal is received, the backup thruster is switched if a backup exists. When a thruster fault is detected or a thruster fault signal is received and no backup is available, the attitude control mode is switched to pure magnetic torquer control. When a magnetic torquer fault is detected or a magnetic torquer fault signal is received from other methods or injected from the ground, the faulty magnetic torquer is removed, a backup magnetic torquer is introduced, and the magnetic torquer group configuration is reconstructed for magnetic torquer allocation calculation.

Description

Technical Field

[0001] This invention relates to the field of spacecraft attitude control, and in particular to a satellite attitude fault-tolerant control method based on a magnetic torquer, applicable to all spacecraft that use magnetic torquers and thrusters as actuators. Background Technology

[0002] Satellites use magnetic torquers and thrusters for attitude control, with the magnetic torquer providing the primary control torque. To ensure reliable satellite operation, the magnetic torquer has a cold backup, and the thruster has a separate cold backup. Existing technologies can perform fault detection and switching based on thruster faults to achieve corresponding attitude fault-tolerant control, but lack methods for fault detection and switching based on magnetic torquers. Furthermore, existing technologies also lack corresponding attitude fault-tolerant control methods when no thruster backup is available. As satellites use both magnetic torquers and thrusters for attitude control, with the magnetic torquer as the primary control mechanism, it is necessary to develop satellite attitude fault-tolerant control based on magnetic torquers to improve the satellite's continuous normal operation capability and autonomous survivability. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a satellite attitude fault-tolerant control method based on a magnetic torque device, which ensures the timely switching of abnormal actuators and creates conditions for realizing attitude fault-tolerant control.

[0004] The technical solution of this invention is: a satellite attitude fault-tolerant control method based on magnetic torquers, wherein the satellite uses multiple magnetic torquers and thrusters for attitude control, and the magnetic torquers and thrusters have one or more cold backups for fault replacement; including:

[0005] In each control cycle, based on the control signal from the previous period (i.e., the three-axis component values ​​of the theoretical magnetic moment calculated and output by each magnetic torquer in the previous cycle in the satellite body coordinate system, the three-axis component values ​​of the thrust angular acceleration calculated and output by the thruster in the previous cycle in the satellite body coordinate system, and the attitude measurement signal of the current period), magnetic torquer and thruster fault detection is performed based on control measurement consistency scoring. When a thruster fault is detected or a thruster fault signal is received, the backup thruster is switched if a backup exists. When a thruster fault is detected or a thruster fault signal is received and no backup is available, the attitude control mode is switched to pure magnetic torquer control. If no thruster fault is detected, magnetic torquer fault detection is performed. When a magnetic torquer fault is detected or a magnetic torquer fault signal is received, the faulty magnetic torquer is disconnected. If the number of magnetic torques in use is less than a specified number, the backup magnetic torquer is used to replace the faulty magnetic torquer, reconstructing the magnetic torquer group configuration, and the magnetic torquers are redistributed.

[0006] Preferably, the fault detection of the magnetic torquer and thruster based on control measurement consistency scoring is as follows:

[0007] When fault detection begins or the current time exceeds the detection scoring period T from the start time of fault detection. score When a fault is detected in the magnetic torquer or thruster in the previous cycle, the detection variables are initialized; the detection variables include the cumulative angular momentum value of each magnetic torquer, the cumulative angular momentum value of the thruster, the cumulative angular momentum value of the gyro torque, and the satellite-measured angular momentum change value.

[0008] Initialization has been performed. Each control cycle first updates the detected variables, then performs thruster fault detection: if the vector length of the updated cumulative angular momentum value of the thruster is greater than the preset abnormal angular momentum length threshold of the thruster, the currently used thruster is considered to be faulty; when a thruster fault is detected or a thruster fault signal is received, the backup thruster is switched if a backup exists; when a thruster fault is detected or a thruster fault signal is received and no backup is available, the attitude control mode is switched to pure magnetic torquer control; if no thruster fault is detected, magnetic torquer fault detection is performed.

[0009] Calculate the thruster detection value H based on the updated detection variable values. J ;

[0010] If |H J |>H Jnorm If the current thruster is faulty, the system will switch to the backup thruster if a backup is available, and switch the attitude control mode to pure magnetic torquer control if no backup is available.

[0011] The magnetic torque detector detection value ΔH is calculated based on the updated detection variable values. M ;

[0012] If |ΔH M |≥H Mnorm Then calculate the detection value α of the magnetic torque device in direction i respectively. Mi Otherwise, the detection score S for all magnetic torquers will be... Mi Minus 1 point, S Mi When it is less than 0, it remains 0, where H Mnorm The threshold value for the magnetic torque detector;

[0013] If α Mi >α Mnorm The corresponding magnetic torque detector detection score S Mi Add 1 point, where α Mnorm The threshold value for the direction detection of the magnetic torque converter; if the detection score of a certain magnetic torque converter exceeds the specified score threshold S. Mnorm If the magnetic torque device fails, it is considered faulty, and all magnetic torque device detection scores S are adjusted. Mi Clear to zero; α Mi ≤α MnormNo operation is performed at this time.

[0014] Preferably, the magnetic torque detector detection value ΔH M The calculation formula is:

[0015]

[0016] H Mi =H Milast +(M i ×B b )Δt,i=1,2,...,N MT H J =H Jlast +J0a d Δt;

[0017]

[0018] Where, N MT H is used to configure the number of magnetic torquers. Mi H represents the cumulative angular momentum of the magnetic torquer i. J For the cumulative angular momentum value of the thruster, H Tw H represents the cumulative angular momentum of the gyroscopic torque. Measure To measure the change in angular momentum of a satellite; H Milast H Jlast H Twlast H Measurelast These are the values ​​of the detected variables calculated in the previous control cycle, M. i B represents the three-axis component values ​​of the theoretical magnetic moment output periodically from magnetic torquer i in the satellite body coordinate system. b The values ​​represent the three-axis components of the geomagnetic induction intensity in the satellite's body coordinate system, where × indicates cross product calculation, J0 is the satellite's moment of inertia, and a d The three-axis components of the thrust angular acceleration output during the upper period of the thruster are calculated in the satellite body coordinate system. and These are the three-axis inertial angular velocities in the satellite body coordinate system obtained from satellite attitude determination measurements in the current and previous cycles, respectively, with Δt representing the control cycle duration.

[0019] Preferably, the magnetic torque detector in direction i detects the value α. Mi :

[0020] α Mi =ΔH M T H Mi i = 1, 2, ..., N MT .

[0021] Preferably, the reconfigurable magnetic torque converter configuration includes:

[0022] When a magnetic torquer malfunction is detected or a magnetic torquer malfunction signal is received, the malfunctioning magnetic torquer is disconnected. After disconnection, if the number of magnetic torquers in use is less than a specified number (generally 3 or more), a backup magnetic torquer is introduced, the magnetic torquer group configuration is reconstructed, and the corresponding magnetic torquer allocation matrix D is performed. MT calculate:

[0023] C MT =[v M1 v M2 ...v Mn ]

[0024] D MT =C MT T (C MT C MT T ) -1

[0025] Where v M1 v M2 , ..., v Mn This represents the components of the magnetic moment directions of the n magnetic torquers used in the new configuration in the satellite body coordinate system. Each component is a 3*1 dimensional array, and the C array is composed of these components. MT The calculated magnetic torque distribution matrix D is a 3*n dimensional matrix. MT It is an n*3 dimensional matrix;

[0026] If the number of magnetic torquers removed is greater than or equal to the specified number, no operation will be performed.

[0027] A fault-tolerant satellite attitude control system based on magnetic torquers includes multiple magnetic torquers and thrusters for attitude control, with one or more cold backups for each magnetic torquer and thruster; it also includes a fault detection module and a fault-tolerant control module.

[0028] In each control cycle, the fault detection module performs fault detection on the magnetic torque and thruster based on the control signal of the previous cycle (here, the three-axis component values ​​of the theoretical magnetic moment calculated and output by each magnetic torquer in the satellite body coordinate system and the three-axis component values ​​of the thrust angular acceleration calculated and output by the thruster in the satellite body coordinate system) and the attitude measurement signal of the current cycle, and notifies the fault-tolerant control module of the detection results.

[0029] The fault-tolerant control module receives signals from external inputs. When the fault detection module detects a thruster fault, it switches to the backup thruster if a backup exists. When a thruster fault is detected or a thruster fault signal is received and no backup is available, the attitude control mode is switched to pure magnetic torquer control. When the fault detection module detects a magnetic torquer fault or a magnetic torquer fault signal is received from the outside, the faulty magnetic torquer is disconnected. If the number of magnetic torques in use is less than a specified number, the backup magnetic torquer is used to replace the faulty magnetic torquer, reconstructing the magnetic torquer group configuration and reallocating the magnetic torquers.

[0030] Preferably, the fault detection of the magnetic torquer and thruster based on control measurement consistency scoring is as follows:

[0031] When fault detection begins or the current time exceeds the detection scoring period T from the start time of fault detection. score When a fault is detected in the magnetic torquer or thruster in the previous cycle, the detection variables are initialized; the detection variables include the cumulative angular momentum value of each magnetic torquer, the cumulative angular momentum value of the thruster, the cumulative angular momentum value of the gyro torque, and the satellite-measured angular momentum change value.

[0032] Initialization has been performed. Each control cycle first updates the detected variables, then performs thruster fault detection: if the vector length of the updated cumulative angular momentum value of the thruster is greater than the preset abnormal angular momentum length threshold, then the currently used thruster is considered to be faulty; otherwise, if no thruster fault is detected, then magnetic torque converter fault detection is performed.

[0033] Calculate the thruster detection value H based on the updated detection variable values. J ;

[0034] If |H J |>H Jnorm If the current thruster is faulty, the system will switch to the backup thruster if a backup is available; otherwise, the attitude control mode will be switched to pure magnetic torque motor control.

[0035] The magnetic torque detector detection value ΔH is calculated based on the updated detection variable values. M ;

[0036] If |ΔH M |≥H Mnorm Then calculate the detection value α of the magnetic torque device in direction i respectively. Mi Otherwise, the detection score S for all magnetic torquers will be... Mi Minus 1 point, S Mi When it is less than 0, it remains 0, where H Mnorm The threshold value for the magnetic torque detector;

[0037] If α Mi>α Mnorm The corresponding magnetic torque detector detection score S Mi Add 1 point, where α Mnorm The threshold value for the direction detection of the magnetic torque converter; if the detection score of a certain magnetic torque converter exceeds the specified score threshold S. Mnorm If the magnetic torque device fails, it is considered faulty, and all magnetic torque device detection scores S are adjusted. Mi Clear to zero; α Mi ≤α Mnorm No operation is performed at this time.

[0038] Thrust detection value H J Calculation formula and thruster fault detection condition formula |H J |>H Jnorm The magnetic torque detector measured value ΔH M Calculation formula and magnetic torque sensor i-direction detection value α Mi Calculation formula and scoring formula for magnetic torque meter test: |ΔH M |<H Mnorm Deduct points, |ΔH M |>H Mnorm And α Mi >α Mnorm Bonus points.

[0039] A computer-readable storage medium storing a computer program, characterized in that, when executed by a processor, the computer program implements the steps of the satellite attitude fault-tolerant control method based on a magnetic torque generator.

[0040] A computer software product includes: a processor and a storage device;

[0041] Storage device for storing one or more programs.

[0042] When the one or more programs are executed by one or more processors, the one or more processors implement the aforementioned satellite attitude fault-tolerant control method based on a magnetic torque generator.

[0043] The advantages of this invention compared to the prior art are:

[0044] This invention uses a control measurement consistency scoring system to monitor the usage of magnetic torquers and thrusters in real time. When a magnetic torquer malfunction is detected or a magnetic torquer malfunction signal is received from another method or ground injection, the faulty magnetic torquer is automatically disconnected, a backup magnetic torquer is introduced, the magnetic torquer assembly configuration is reconstructed, and the magnetic torquer voltage output is calculated. When a thruster malfunction is detected or a thruster malfunction signal is received from another method or ground injection and no backup is available, the attitude control mode is switched to pure magnetic control to ensure timely switching of abnormal actuators and create conditions for achieving attitude fault-tolerant control.

[0045] This invention achieves attitude fault-tolerant control by distinguishing, processing, and reconstructing different types of faults in the actuator to minimize the impact on the attitude control process.

[0046] This invention improves the autonomous fault-tolerant control capability of satellites using magnetic torque generators and thrusters as actuators. Attached Figure Description

[0047] Figure 1 This is a flowchart of a satellite attitude fault-tolerant control method based on a magnetic torque generator according to the present invention. Detailed Implementation

[0048] Example 1:

[0049] Taking a low-Earth orbit satellite with an orbital inclination of around 90 degrees as an example, such as Figure 1 As shown, the specific steps of the present invention are as follows:

[0050] (1) In each control cycle, based on the control signal of the previous cycle and the attitude measurement signal of the current cycle, perform magnetic torque and thruster fault detection based on control measurement consistency scoring.

[0051] When fault detection begins or the current time exceeds the detection scoring period T from the start time of fault detection. score If a fault is detected in the torque converter or thruster in the previous cycle, the detection variables should be initialized.

[0052] H Mi ={0} 3*1 i = 1, 2, ..., N MT

[0053] H J ={0} 3*1 H Tw ={0} 3*1 H Measure ={0} 3*1

[0054] Where N MT H is used to configure the number of magnetic torquers. Mi The cumulative angular momentum values ​​for each magnetic torquer are represented by a 3*1 dimensional array, H. J The cumulative angular momentum value of the thruster is represented by a 3*1 dimensional array, H. Tw The cumulative angular momentum of the gyroscope torque is represented by a 3*1 dimensional array, H. Measure The angular momentum change value of the satellite is measured as a 3*1 dimensional array.

[0055] If initialization has already been performed, each control cycle first performs a calculation and update of the detection variables:

[0056] HMi =H Milast +(M i ×B b )Δt,i=1,2,...,N MT H J =H Jlast +J0a d Δt,

[0057]

[0058] Where H Milast H Jlast H Twlast H Measurelast The detection variable value H calculated for the previous control cycle is respectively Mi H J H Tw H Measure Δt is the control cycle length value, M i The theoretical magnetic moments calculated periodically on each magnetic torque unit are represented by their three-axis components in the satellite's body coordinate system, and are 3*1 dimensional arrays, B. b The three-axis components of the geomagnetic induction intensity in the satellite's body coordinate system are represented by a 3*1 dimensional array, where × indicates cross product calculation. J0 represents the satellite's moment of inertia, a 3*3 dimensional matrix. d The thrust angular acceleration output during the periodic calculation of the thruster is represented by a 3*1 dimensional array in the satellite body coordinate system, consisting of three-axis components. and These are the three-axis inertial angular velocities in the satellite body coordinate system obtained from satellite attitude determination measurements in the current and previous cycles, respectively, and are 3*1 dimensional arrays.

[0059] Then perform thruster fault detection: if |H J |>H Jnorm If the current thruster is faulty, then the backup thruster will be switched on if a backup is available; where |·| represents the vector length calculation, H Jnorm The threshold value for the abnormal angular momentum length of the thruster.

[0060] When a thruster malfunction is detected or a thruster malfunction signal is received from other methods or ground injection and no backup is available, the attitude control mode is switched to pure magnetic control. For the specific algorithm of pure magnetic control, please refer to relevant literature or patent 2024103683808 of Liu Qirui et al., "A high-precision satellite attitude control method using only magnetic torque generator control".

[0061] (2) If no thruster fault is detected, then perform a torque converter fault detection:

[0062] Calculate the measured value ΔH of the magnetic torque meter MIt is a 3*1 dimensional array:

[0063]

[0064] If |ΔH M |≥H Mnorm Then calculate the direction detection value α of each magnetic torque device respectively. Mi Otherwise, apply the following to all magnetic torque detector test scores S. Mi Minus 1 point, S Mi When it is less than 0, it remains 0, where H Mnorm Threshold for magnetic torque detector detection quantity:

[0065] α Mi =ΔH M T H Mi i = 1, 2, ..., N MT If α Mi >α Mnorm The corresponding magnetic torque detector detection score S Mi Add 1 point, where α Mnorm The threshold value for the direction detection of the magnetic torque converter; if the detection score of a certain magnetic torque converter exceeds the specified score threshold S. Mnorm If the magnetic torque device fails, it is considered faulty, and all magnetic torque device detection scores S are adjusted. Mi Reset to zero.

[0066] (3) When a magnetic torquer failure is detected or a magnetic torquer failure signal is received from other methods or ground injection, the faulty magnetic torquer is disconnected, a backup magnetic torquer is introduced, and the magnetic torquer group configuration is reconstructed for magnetic torquer allocation calculation.

[0067] When a magnetic torquer fault is detected in step (1) or by other detection methods or ground judgment, the faulty magnetic torquer is disconnected. After disconnection, if the number of magnetic torquers in use is less than 3 or a specified number, a backup magnetic torquer is introduced, the magnetic torquer group configuration is reconstructed, and the corresponding magnetic torquer allocation matrix D is performed. MT calculate:

[0068] C MT =[v M1 v M2 ...v Mn ]

[0069] D MT =C MT T (C MT C MT T ) -1

[0070] Where v M1 vM2 , ..., v Mn This represents the components of the magnetic moment directions of the n magnetic torquers used in the new configuration in the satellite body coordinate system. Each component is a 3*1 dimensional array, and the C array is composed of these components. MT The calculated magnetic torque distribution matrix D is a 3*n dimensional matrix. MT It is an n*3 dimensional matrix. The three-axis magnetic moment M required by the control system. x M y M z The magnetic moment outputs M1, M2, ..., M distributed to each magnetic torque generator n The calculation formula is:

[0071]

[0072] For methods of attitude control using magnetic torque generators and thrusters, please refer to relevant literature or the patent of Liu Qirui et al., "A High-Precision Attitude Control Method Combining Magnetic Control and Jet Control with Energy Saving".

[0073] The present invention further provides a satellite attitude fault-tolerant control system based on magnetic torquers, including multiple magnetic torquers and thrusters for attitude control, wherein each magnetic torquer has a cold backup and each thruster has a set of cold backups; characterized in that it also includes a fault detection module and a fault-tolerant control module;

[0074] In each control cycle, the fault detection module performs fault detection on the magnetic torque and thruster based on the control signal of the previous cycle (here, the three-axis component values ​​of the theoretical magnetic moment calculated and output by each magnetic torquer in the satellite body coordinate system and the three-axis component values ​​of the thrust angular acceleration calculated and output by the thruster in the satellite body coordinate system) and the attitude measurement signal of the current cycle, and notifies the fault-tolerant control module of the detection results.

[0075] The fault-tolerant control module receives signals from external inputs. When it receives a thruster fault detected by the fault detection module or a thruster fault signal received from the outside and a backup is available, it switches to the backup thruster if a backup exists. When it receives a thruster fault detected by the fault detection module or a thruster fault signal received from the outside and no backup is available, it switches the attitude control mode to pure magnetic torquer control. When it receives a magnetic torquer fault detected by the fault detection module or a magnetic torquer fault signal received from the outside, it disconnects the faulty magnetic torquer. If the number of magnetic torquers in use is less than a specified number, it replaces the faulty magnetic torquer with a backup magnetic torquer, reconstructs the magnetic torquer group configuration, and redistributes the magnetic torquers.

[0076] For details on the implementation of the system's functions, please refer to the descriptions in the methods above; they will not be elaborated upon here.

[0077] The present invention also provides a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the satellite attitude fault-tolerant control method based on a magnetic torque generator.

[0078] The present invention also provides a computer software product, comprising: a processor and a storage device;

[0079] Storage device for storing one or more programs.

[0080] When the one or more programs are executed by one or more processors, the one or more processors implement the aforementioned satellite attitude fault-tolerant control method based on a magnetic torque generator.

[0081] The above description is only the best specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the protection scope of the present invention.

[0082] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A satellite attitude fault-tolerant control method based on magnetic torquers, wherein the satellite uses multiple magnetic torquers and thrusters for attitude control, and the magnetic torquers and thrusters have one or more cold backups for fault replacement; characterized in that... include: In each control cycle, based on the control signal of the previous period, i.e. the three-axis component values ​​of the theoretical magnetic moment calculated and output by each magnetic torquer in the previous cycle in the satellite body coordinate system, the three-axis component values ​​of the thrust angular acceleration calculated and output by the thruster in the previous cycle in the satellite body coordinate system, and the attitude measurement signal of the current period, magnetic torquer and thruster fault detection is performed based on control measurement consistency scoring. When a thruster fault is detected or a thruster fault signal is received, the backup thruster is switched if a backup exists. When a thruster fault is detected or a thruster fault signal is received and no backup is available, the attitude control mode is switched to pure magnetic torquer control; if no thruster fault is detected, magnetic torquer fault detection is performed; when a magnetic torquer fault is detected or a magnetic torquer fault signal is received, the faulty magnetic torquer is disconnected; if the number of magnetic torques in use is less than the specified number, the backup magnetic torquer is used to replace the faulty magnetic torquer, the magnetic torquer group configuration is reconstructed, and the magnetic torquers are redistributed. The fault detection of the torque converter and thruster based on control measurement consistency scoring is as follows: When fault detection begins or the current time is more than the start time of fault detection, the detection scoring cycle is exceeded. When a fault is detected in the magnetic torquer or thruster in the previous cycle, the detection variables are initialized; the detection variables include the cumulative angular momentum value of each magnetic torquer, the cumulative angular momentum value of the thruster, the cumulative angular momentum value of the gyro torque, and the satellite-measured angular momentum change value. Initialization has been performed. In each control cycle, the detection variables are first calculated and updated, and then the thruster fault detection is performed: if the vector length of the updated cumulative angular momentum value of the thruster is greater than the preset abnormal angular momentum length threshold of the thruster, then the thruster currently in use is considered to be faulty. Magnetic torquer fault detection: Calculate the magnetic torquer detection value based on the updated detection variable value. ; like Then calculate the detection value of the magnetic torquer in direction i respectively. Otherwise, the detection score for all magnetic torquers will be... Deduct 1 point. When it is less than 0, it remains 0, where The threshold value for the magnetic torque detector; like The corresponding magnetic torque detector score is... Add 1 point, of which This is the threshold value for the direction detection of the magnetic torque converter; if the detection score of a certain magnetic torque converter exceeds the specified threshold value... If the magnetic torque device fails to detect the fault, the detection score of all magnetic torque devices will be adjusted. Reset to zero; No operation is performed at this time.

2. The method according to claim 1, characterized in that: Magnetic torque detector measurement value The calculation formula is: ， ； ， ； in, To configure the number of magnetic torquers, Let be the cumulative angular momentum value of the magnetic torquer i. For the cumulative angular momentum value of the thruster, This represents the cumulative angular momentum value of the gyroscope torque. To measure the change in angular momentum of the satellite; , , , These are the values ​​of the detected variables calculated in the previous control cycle. The theoretical magnetic moment output periodically by magnetic torque generator i is calculated in the three-axis component values ​​of the satellite body coordinate system. These represent the three-axis components of the geomagnetic induction intensity in the satellite's body coordinate system. This indicates the cross product calculation. This represents the satellite's moment of inertia. The three-axis components of the thrust angular acceleration output during the upper period of the thruster are calculated in the satellite body coordinate system. and These represent the three-axis inertial angular velocities in the satellite body coordinate system obtained from satellite attitude determination measurements in the current and previous cycles, respectively. To control the cycle duration.

3. The method according to claim 2, characterized in that: Magnetic torquer i-direction detection value : 。 4. The method according to claim 1, characterized in that: The reconfigurable magnetic torque converter assembly configuration includes: When a magnetic torquer malfunction is detected or a magnetic torquer malfunction signal is received, the faulty magnetic torquer is disconnected. After disconnection, if the number of magnetic torquers in use is less than a specified number, backup magnetic torquers are introduced, the magnetic torquer group configuration is reconstructed, and the corresponding magnetic torquer allocation matrix is ​​performed. calculate: in , , ..., This represents the component of the magnetic moment direction of the n magnetic torquers used in the new configuration in the satellite body coordinate system, all of which are 3. 1-dimensional arrays, combined 3 n-dimensional matrix, calculated magnetic torque distribution matrix For n 3D matrix; If the number of magnetic torquers removed is greater than or equal to the specified number, no operation will be performed.

5. A satellite attitude fault-tolerant control system based on magnetic torquers, comprising multiple magnetic torquers and thrusters for attitude control, wherein the magnetic torquers and thrusters have one or more cold backups; characterized in that: It also includes a fault detection module and a fault tolerance control module; In each control cycle, the fault detection module performs fault detection on the magnetic torque and thruster based on the control signal of the previous cycle, namely the three-axis component values ​​of the theoretical magnetic moment calculated and output by each magnetic torque in the satellite body coordinate system, the three-axis component values ​​of the thrust angular acceleration calculated and output by the thruster in the previous cycle, and the attitude measurement signal of the current cycle. The detection results are then notified to the fault-tolerant control module. The fault-tolerant control module receives signals from external inputs. When the fault detection module detects a thruster fault, it switches to the backup thruster if a backup exists. When a thruster fault is detected or a thruster fault signal is received and no backup is available, the attitude control mode is switched to pure magnetic torquer control; when a fault detection module detects a magnetic torquer fault or a magnetic torquer fault signal is received from the outside, the faulty magnetic torquer is disconnected. If the number of magnetic torques in use is less than the specified number, the backup magnetic torquer is used to replace the faulty magnetic torquer, the magnetic torquer group configuration is reconstructed, and the magnetic torquers are redistributed. The fault detection of the torque converter and thruster based on control measurement consistency scoring is as follows: When fault detection begins or the current time is more than the start time of fault detection, the detection scoring cycle is exceeded. When a fault is detected in the magnetic torquer or thruster in the previous cycle, the detection variables are initialized; the detection variables include the cumulative angular momentum value of each magnetic torquer, the cumulative angular momentum value of the thruster, the cumulative angular momentum value of the gyro torque, and the satellite-measured angular momentum change value. Initialization has been performed. Each control cycle first updates the detected variables, then performs thruster fault detection: if the vector length of the updated cumulative angular momentum value of the thruster is greater than the preset abnormal angular momentum length threshold, then the currently used thruster is considered to be faulty; otherwise, if no thruster fault is detected, then magnetic torque converter fault detection is performed. Calculate the magnetic torque sensor detection value based on the updated detection variable value. ; like Then calculate the detection value of the magnetic torquer in direction i respectively. ,when The corresponding magnetic torque detector score is... Add 1 point, of which The threshold value for the direction detection of the magnetic torque converter; If the detection score of a certain magnetic torque meter exceeds the specified score threshold If the magnetic torque device fails to detect the fault, the detection score of all magnetic torque devices will be adjusted. Reset to zero; No operation is performed at this time; like Detection scores for all magnetic torquers Deduct 1 point. When it is less than 0, it remains 0, where This is the threshold value for the magnetic torque detector.

6. The system according to claim 5, characterized in that: Reconstruct the magnetic torque generator configuration and perform the corresponding magnetic torque generator allocation matrix. calculate: in , , ..., This represents the component of the magnetic moment direction of the n magnetic torquers used in the new configuration in the satellite body coordinate system, all of which are 3. 1-dimensional arrays, combined 3 n-dimensional matrix, calculated magnetic torque distribution matrix For n 3D matrix.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the satellite attitude fault-tolerant control method based on a magnetic torquer as described in any one of claims 1 to 4.

8. A computer software product, characterized in that... include: Processors and storage devices; Storage device for storing one or more programs. When the one or more programs are executed by one or more processors, the one or more processors implement a satellite attitude fault-tolerant control method based on a magnetic torquer as described in any one of claims 1 to 4.

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