Satellite thruster optimal distribution and control method

Abstract

The invention discloses an optimal distribution and control method of a satellite thruster. Comprising the following steps: determining a mounting surface of a thruster based on a satellite layout and a plume state; determining the number of thrusters on each mounting surface and the size of each thruster based on the quality characteristics of the satellite to obtain a plurality of thruster combinations; each thruster combination is used for controlling a rolling attitude, a pitching attitude, a yawing attitude and an orbit state of the satellite; the thrusters in each thruster combination are in redundant configuration and are backups for each other; and in each control period, attitude control and orbit control of the satellite are completed by controlling the working state of the thrusters in each thruster combination. The use efficiency of the thruster can be improved, and fuel is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellite control, in particular to a satellite thruster optimization distribution and control method. BACKGROUND

[0002] With the rapid development of space technology, the propulsion system as a key system for satellite control and space task completion has also developed rapidly. At present, the main task of the thrust system is to control the attitude, orbit, sinking and position of the satellite. In the design of the satellite, the distribution method of the thruster is not unique, and different distribution methods can realize the above functions.

[0003] However, since the satellite carries limited propellant fuel, and the on-orbit operation time is continuously improved, therefore, it is urgent to optimize the distribution method of the thruster to improve the use efficiency of the thruster. SUMMARY

[0004] The present application provides a satellite thruster optimization distribution and control method, which can improve the use efficiency of the thruster and save fuel. The technical scheme is as follows:

[0005] On the one hand, a satellite thruster optimization distribution and control method is provided, the method comprising:

[0006] determining the installation surface of the thruster based on the satellite layout and the plume state;

[0007] determining the number of thrusters on each installation surface and the size of each thruster based on the mass characteristics of the satellite to obtain a plurality of thruster combinations; each thruster combination is used to control the roll attitude, pitch attitude, yaw attitude and orbit state of the satellite; the thrusters in each thruster combination are redundantly configured and backup each other;

[0008] In each control cycle, the attitude control and orbit control of the satellite are completed by controlling the working state of the thrusters in each thruster combination.

[0009] On the other hand, a satellite thruster optimization distribution and control device is provided, the device comprising:

[0010] a first determination unit configured to determine the installation surface of the thruster based on the satellite layout and the plume state;

[0011] a second determination unit configured to determine the number of thrusters on each installation surface and the size of each thruster based on the mass characteristics of the satellite to obtain a plurality of thruster combinations; each thruster combination is used to control the roll attitude, pitch attitude, yaw attitude and orbit state of the satellite; the thrusters in each thruster combination are redundantly configured and backup each other;

[0012] a control unit, for each control period, completes the attitude control and orbit control of the satellite by controlling the working state of the thrusters in each thruster combination.

[0013] In another aspect, a computer device is provided, comprising a memory for storing a computer program and a processor for executing the computer program stored on the memory to implement the steps of the satellite thruster optimization allocation and control method described above.

[0014] In another aspect, a computer readable storage medium is provided, having a computer program stored therein, which, when executed by a processor, implements the steps of the satellite thruster optimization allocation and control method described above.

[0015] In another aspect, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the satellite thruster optimization allocation and control method described above.

[0016] The embodiment of the present application provides a satellite thruster optimization allocation and control method. First, the mounting surface of the thruster is optimized, the thrusters are concentratedly arranged, wiring and electrical installation processes are reduced, interference torque and torque error of the thrusters are reduced, and the working efficiency of the thrusters is improved. Secondly, the number of thrusters on each mounting surface and the size of each thruster are optimized, and the allocation and use method of the thrusters are designed for different use conditions and scenes, optimal combination logic and control logic are given, attitude control, orbit control and position keeping can be completed independently, backup and redundancy can be formed, integrated control is realized, fuel is saved, and the safety and reliability of the system are improved. Therefore, the application can improve the use efficiency of the thrusters and save fuel. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0018] Figure 1 is a satellite thruster optimization allocation and control method flow chart provided by an embodiment of the present application;

[0019] Figure 2 is a thruster allocation layout schematic diagram provided by an embodiment of the present application;

[0020] Figure 3is a distribution logic schematic diagram of a three-axis thruster provided by an embodiment of the present application;

[0021] Figure 4 is a structure diagram of an optimal distribution and control device of a satellite thruster provided by an embodiment of the present application;

[0022] Figure 5 is a hardware architecture diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0024] The specific implementation of the method of the present application will be described in detail below.

[0025] Please refer to Figure 1 The present application provides an optimal distribution and control method of a satellite thruster, which comprises the following steps.

[0026] In step 100, the mounting surface of the thruster is determined based on the satellite layout and the plume state.

[0027] In step 102, the number of thrusters on each mounting surface and the size of each thruster are determined based on the mass characteristics of the satellite, and a plurality of thruster combinations are obtained. Each thruster combination is used to control the rolling attitude, the pitching attitude, the yawing attitude and the orbit state of the satellite. The thrusters in each thruster combination are redundantly configured and serve as backups for each other.

[0028] In step 104, in each control period, the attitude control and the orbit control of the satellite are completed by controlling the working state of the thrusters in each thruster combination.

[0029] In the embodiment, firstly, the mounting surface of the thruster is optimized, the thrusters are concentratedly arranged, the wiring and electrical installation processes are reduced, the interference moment and the moment error of the thrusters are reduced, and the working efficiency of the thrusters is improved. Secondly, the number of thrusters on each mounting surface and the size of each thruster are optimized, and the distribution and use method of the thrusters are designed for different use conditions and scenes, and the optimal combination logic and control logic are given, which can complete attitude control, orbit control and position keeping independently, can form backup and redundancy, realize integrated control, save fuel, and improve the safety and reliability of the system. Therefore, the application can improve the use efficiency of the thrusters and save fuel.

[0030] The execution mode of each step is described below. Figure 1

[0031] For step 100:

[0032] As shown in Figure 2 The mounting surface of the thruster is three, which are +X mounting surface, -X mounting surface and -Z mounting surface;

[0033] The +Z direction is the side pointing to the earth; the thruster is mounted on the back floor;

[0034] The +X direction is the flight direction of the satellite;

[0035] The +Y direction is the right-hand system direction of the X and Z directions.

[0036] For steps 102 and 104:

[0037] The working mode of the thruster at least includes at least one of the following modes: normal mode, bottoming mode, east position keeping mode, west position keeping mode, south position keeping mode and north position keeping mode; wherein the bottoming mode includes bottoming 1, bottoming 2, bottoming 3 and non-bottoming four modes;

[0038] Each thruster combination corresponds to the attitude control of different axes and the working mode of the thruster.

[0039] In some embodiments, the distribution logic of each thruster combination is determined by the following mode in each control cycle:

[0040] Each thruster is cleared;

[0041] ​X-axis attitude control thruster combination allocation: Iterate through each operating mode of the thruster. For each operating mode, determine whether the thruster is in that operating mode. If it is, determine the switching modulation state and time of the corresponding controller combination based on the X-axis attitude control amount. If not, iterate through the next operating mode. Continue in this manner until each operating mode has been determined and Y-axis attitude control thruster combination allocation is performed.

[0042] Perform Y-axis attitude control thruster combination allocation: Iterate through each operating mode of the thruster. For each operating mode, determine whether the thruster is in that operating mode. If it is, determine the switching modulation state and time of the corresponding controller combination based on the Y-axis attitude control amount. If not, iterate through the next operating mode. Continue in this manner until each operating mode has been determined and Z-axis attitude control thruster combination allocation is performed.

[0043] Perform Z-axis attitude control thruster combination allocation: determine the on modulation time of the corresponding controller combination based on the Z-axis attitude control amount.

[0044] This embodiment, by employing the aforementioned thruster allocation logic, can improve the thruster's working efficiency, reduce its fuel consumption, minimize waste, and extend its service life.

[0045] It should be noted that different types of satellites have different numbers, sizes, and combinations of thrusters, and users can determine the thruster parameters according to the actual situation.

[0046] The following examples illustrate this:

[0047] like Figure 2 As shown, a total of 21 thrusters were used on the three mounting surfaces, designated as 1A to 10A, 1B to 10B, and one 490N thruster (not shown in the figure, but mounted on...). Figure 2 (The very center of the back floor). 1A-8A and 1B-8B each have a thrust of 10N, while 9A, 10A, 9B, and 10B each have a thrust of 25N. By using two branches, A and B, the two branches can serve as backups for each other, providing thrust for the satellite's orbital and attitude control. The specific allocation logic is as follows:

[0048] 1A, 2A, 1B, 2B control the roll attitude of the satellite, 3A, 4A, 3B, 4B control the pitch attitude of the satellite; 5A+7A, 6A+8A, 5B+7B, 6B+8B control the yaw attitude of the satellite. 9A, 10A as backup to control the roll attitude, 9B, 10B as backup to control the pitch attitude. 5A, 6A or 5B, 6B combination pairs as providing body-X direction thrust; 7A, 8A or 7B, 8B combination pairs provide body+X direction thrust. Using the thrusters on the back floor, through the pitch maneuver, realize the functions of point capture, east-west position keeping and life end orbiting, etc. In addition, the 490N thruster is used to realize the large thrust orbit control, when the 490N thruster fails, the four thrusters of 9A, 10A, 9B, 10B can also be used for orbit control.

[0049] In addition, the thruster combination logic of each axis attitude control of the thruster is shown in Table 1, Table 2 and Table 3 and Figure 3

[0050] Table 1 Thruster combination logic of X-axis attitude control

[0051]

[0052]

[0053]

[0054] Table 2 Thruster combination logic of Y-axis attitude control

[0055]

[0056]

[0057]

[0058] Table 3 Thruster combination logic of Z-axis attitude control

[0059]

[0060] ​Note: In Table 1-3, wTWS represents the thruster working mode and branch selection; bTDS represents the sinking working mode; bTBS represents the branch; bTpwx and bTpwy represent the jet time required for attitude control using the X-axis and Y-axis, respectively; TSINKING represents the sinking, AFM represents the far point mode, and TNORMAL represents the normal working mode. In addition, in Table 1, the column Trx, 0 represents that the X-axis does not require attitude control, 1 represents the +X-axis, and -1 represents the -X-axis; in Table 2, the column Try, 0 represents that the Y-axis does not require attitude control, 1 represents the +Y-axis, and -1 represents the -Y-axis; in Table 1, the column Trz, 0 represents that the Z-axis does not require attitude control, 1 represents the +Z-axis, and -1 represents the -Z-axis. In addition, only the A branch is used in the double-branch column in the table, which is used as a backup for the B branch, and in actual application, the A and B branches can be used for control at the same time.

[0061] From Table 1-3 and Figure 3 It can be seen that when the X-axis attitude is controlled and the sinking mode or the far point is fired, the 9A and 10A thrusters are used; when the east-west position is maintained, the 1A, 2A or 1B, 2B thrusters are used. When the Y-axis attitude is controlled and the sinking mode or the far point is fired, the 9B and 10B thrusters are used; when the east-west position is maintained, the 3A, 4A or 3B, 4B thrusters are used. When the Z-axis attitude is controlled, the 5A, 6A, 7A, 8A or 5B, 6B, 7B, 8B thrusters are used. After determining the thruster combination to be used, the corresponding controller combination is determined according to the attitude control amount, whether it is open modulation or closed modulation, and the time of open modulation and closed modulation, to complete the satellite control.

[0062] Of course, the above combination is only an embodiment, and different satellites can use different thruster combination modes.

[0063] In addition, the inventors also designed a thruster autonomous fault handling strategy and method based on three-face distribution, including fault definition, fault diagnosis, fault repair, and safety bottom line control, etc., which improves the fault tolerance capability of the system.

[0064] The fault diagnosis logic is described in detail as follows:

[0065] In some embodiments, the single-machine fault of each thruster is diagnosed by the following method:

[0066] A single-machine diagnosis period is determined, and the single-machine diagnosis period includes a plurality of consecutive control periods;

[0067] For each single-machine diagnosis period, the following is performed:

[0068] For each control cycle in the single machine diagnosis period, the three-axis attitude angle change of the satellite in the current control cycle is calculated; it is judged whether the current attitude angle change is greater than the pre-set angle threshold; if yes, the theoretical jet time of each thruster in working state is calculated, and the actual jet time of each thruster is recorded; the absolute value of the difference between the theoretical jet time and the actual jet time of each thruster is calculated;

[0069] For each thruster, the absolute value of the difference in the single machine diagnosis period is accumulated, and it is judged whether the accumulated value is greater than the pre-set accumulated threshold; if yes, the thruster is determined to be faulty; if no, the thruster is determined to be normal.

[0070] In some embodiments, the system fault of the thruster is diagnosed by the following way:

[0071] For each control cycle, it is judged whether there is jet in the three axes;

[0072] If no, the fault diagnosis is stopped; if yes, the star time of the current control cycle jet is recorded, and the star time is compared with the star time of the jet in the last control cycle, and it is judged whether the difference between the two star times is greater than the set star time difference threshold;

[0073] If no, the fault diagnosis is stopped; if yes, the jet amount in the control cycle is calculated, and it is judged whether the jet amount is greater than the first threshold; if yes, the thruster system fault is determined, and the thruster main backup switching is performed; if no, it is judged whether the jet amount is greater than the second threshold, if yes, the jet is stopped; if no, the fault diagnosis is stopped.

[0074] By adopting the above fault diagnosis logic, the fault tolerance and robustness of the system are greatly improved.

[0075] As shown in Figure 4 , Figure 5 , the embodiment of the application provides a kind of optimization allocation and control device of satellite thruster.The device embodiment can be realized by software, also can be realized by hardware or software and hardware combined mode.From hardware layer, as shown in Figure 4 , it is a kind of hardware architecture diagram of the computing device where the optimization allocation and control device of satellite thruster provided by the embodiment of the application is located, in addition to the processor, memory, network interface and nonvolatile memory shown in Figure 4 , the computing device where the device in the embodiment can generally include other hardware, such as the forwarding chip responsible for processing message etc.Example for software implementation, as shown in Figure 5 , as a logical sense device, it is formed by CPU of its computing device in the memory of nonvolatile memory corresponding computer program reading to run.

[0076] Please refer to Figure 5 The embodiment of the present application provides an optimal distribution and control device of a satellite thruster, which comprises:

[0077] A first determining unit 500 is configured to determine the mounting surface of the thruster based on the satellite layout and the plume state;

[0078] A second determining unit 502 is configured to determine the number of thrusters on each mounting surface and the size of each thruster based on the mass characteristics of the satellite, so as to obtain a plurality of thruster combinations; each thruster combination is respectively used for controlling the roll attitude, the pitch attitude, the yaw attitude and the orbit state of the satellite; the thrusters in each thruster combination are redundantly configured and serve as backups for each other;

[0079] A control unit 504 is configured to, in each control period, complete the attitude control and the orbit control of the satellite by controlling the working state of the thrusters in each thruster combination.

[0080] In some embodiments, the mounting surface is three, which are +X mounting surface, -X mounting surface and -Z mounting surface;

[0081] The +Z direction is the side pointing to the earth;

[0082] The +X direction is the flight direction of the satellite;

[0083] The +Y direction is the right-hand system direction of the X and Z directions.

[0084] In some embodiments, the working mode of the thruster at least includes at least one of the following modes: a normal mode, a bottom-sinking mode, an east-keeping mode, a west-keeping mode, a south-keeping mode and a north-keeping mode; the bottom-sinking mode includes four modes: bottom-sinking 1, bottom-sinking 2, bottom-sinking 3 and non-bottom-sinking;

[0085] Each thruster combination corresponds to the attitude control of different axes and the working mode of the thruster.

[0086] In some embodiments, in each control period, the distribution logic of each thruster combination is determined by the following modes:

[0087] Each thruster is cleared;

[0088] X-axis attitude control thruster combination distribution is performed: each working mode of the thruster is traversed, for each traversed working mode, it is judged whether the thruster is in the working mode or not, if yes, the switch modulation state and the time of the corresponding controller combination are determined based on the attitude control amount of the X axis, if not, the next working mode is traversed; the same is true for the Y-axis attitude control thruster combination distribution.

[0089] performing Y-axis attitude control thruster combination distribution: traversing each working mode of the thrusters, for each traversed working mode, judging whether the thruster is in the working mode, if yes, determining the on-off modulation state and time of the corresponding controller combination based on the Y-axis attitude regulation amount; if no, traversing the next working mode; and iteratively until each working mode is judged and Z-axis attitude control thruster combination distribution is performed;

[0090] performing Z-axis attitude control thruster combination distribution: determining the on modulation time of the corresponding controller combination based on the Z-axis attitude regulation amount.

[0091] In some embodiments, the device further comprises a single-machine fault diagnosis unit configured to perform the following operations:

[0092] determining a single-machine diagnosis period, the single-machine diagnosis period comprising a plurality of continuous control periods;

[0093] for each single-machine diagnosis period, performing the following operations:

[0094] for each control period in the single-machine diagnosis period, calculating the three-axis attitude angle change of the satellite in the current control period; judging whether the current attitude angle change is greater than a pre-set angle threshold; if yes, calculating the theoretical jet time of each thruster in the working state and recording the actual jet time of each thruster; and calculating the absolute value of the difference between the theoretical jet time and the actual jet time of each thruster;

[0095] for each thruster, accumulating the absolute value of the difference in the single-machine diagnosis period, and judging whether the accumulated value is greater than a pre-set accumulated threshold; if yes, determining that the thruster is faulty; if no, determining that the thruster is normal.

[0096] In some embodiments, the device further comprises a system fault diagnosis unit configured to perform the following operations:

[0097] for each control period, judging whether there is jetting in the three axes;

[0098] if no, stopping fault diagnosis; if yes, recording the star time of the current control period jetting, and comparing the star time with the star time of the jetting in the previous control period, judging whether the difference between the two star times is greater than a set star time difference threshold;

[0099] if no, stopping fault diagnosis; if yes, calculating the jetting amount in the control period, and judging whether the jetting amount is greater than a first threshold; if yes, determining that the thruster system is faulty, and performing thruster main backup switching; if no, judging whether the jetting amount is greater than a second threshold, if yes, stopping jetting; if no, stopping fault diagnosis.

[0100] It should be noted that the above embodiment provides the satellite thruster optimization distribution and control device, only the above each function module is divided and is described by way of example, in actual application, the above function distribution can be completed by different function modules according to needs, namely the internal structure of the device is divided into different function modules to complete all or part of the functions described above.In addition, the satellite thruster optimization distribution and control device provided by the above embodiment and the satellite thruster optimization distribution and control method embodiment belong to the same concept, and the specific implementation process is described in the method embodiment, which will not be described here.

[0101] Embodiments of the present application also provide a computer device, please refer to Figure 5 The computer device includes a processor and a memory, and the memory stores at least one instruction, at least one program, a code set or an instruction set, at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to realize the satellite thruster optimization distribution and control method provided by each method embodiment.

[0102] Embodiments of the present application also provide a computer readable storage medium, at least one instruction, at least one program, a code set or an instruction set is stored on the computer readable storage medium, at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to realize the satellite thruster optimization distribution and control method provided by each method embodiment.

[0103] Embodiments of the present application also provide a computer program product, the computer program product includes a computer program, the processor of the computer device reads the computer program from the computer readable storage medium, and the processor executes the computer program, so that the computer device executes the satellite thruster optimization distribution and control method described in any of the above embodiments.

[0104] For the convenience of description, the above system or device is described as various modules or units respectively described by function. Of course, in the implementation of the present application, the functions of each unit can be realized in the same or more software and / or hardware.

[0105] From the description of the above embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary general hardware platform. Based on such understanding, the technical solutions of the present application can be embodied in the form of software product, which can be stored in storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including a plurality of instructions to make a computer device (which can be a personal computer, server, or network device, etc.) execute the method described in each embodiment or some parts of the embodiments of the present application.

[0106] Finally, it needs to be pointed out that, in this document, relational terms such as first, second, third and fourth and the like can only be used to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual relationship or order between or among such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0107] The above description is only the preferred embodiment of the present application, and it should be pointed out that, for those skilled in the art, some improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method for optimizing the allocation and control of satellite thrusters, characterized in that, The method includes: The mounting surface of the thruster is determined based on the satellite layout and plume conditions; Based on the satellite's mass characteristics, the number of thrusters on each mounting surface and the size of each thruster are determined to obtain multiple thruster combinations; each thruster combination is used to control the satellite's roll attitude, pitch attitude, yaw attitude and orbital state; the thrusters in each thruster combination are redundantly configured and serve as backups for each other; Each control cycle involves controlling the operating status of the thrusters in each thruster assembly to achieve satellite attitude and orbit control.

2. The method according to claim 1, characterized in that, There are three mounting surfaces: +X mounting surface, -X mounting surface, and -Z mounting surface. In this context, the +Z direction represents the side pointing towards the Earth. The +X direction is the satellite's flight direction; The +Y direction is the right-handed direction of the X and Z directions.

3. The method according to claim 1, characterized in that, The thruster operates in at least one of the following modes: normal mode, bottoming mode, eastward position holding mode, westward position holding mode, southward position holding mode, and northward position holding mode; Each thruster assembly corresponds to the attitude control of different axes and the thruster's operating mode.

4. The method according to claim 3, characterized in that, In each control cycle, the allocation logic for each thruster combination is determined as follows: Reset all thrusters to zero; X-axis attitude control thruster combination allocation: Iterate through each operating mode of the thruster. For each operating mode, determine whether the thruster is in that operating mode. If it is, determine the switching modulation state and time of the corresponding controller combination based on the X-axis attitude control amount. If not, iterate through the next operating mode. Continue in this manner until each operating mode has been determined and Y-axis attitude control thruster combination allocation is performed. Perform Y-axis attitude control thruster combination allocation: Iterate through each operating mode of the thruster. For each operating mode, determine whether the thruster is in that operating mode. If it is, determine the switching modulation state and time of the corresponding controller combination based on the Y-axis attitude control amount. If not, iterate through the next operating mode. Continue in this manner until each operating mode has been determined and Z-axis attitude control thruster combination allocation is performed. Perform Z-axis attitude control thruster combination allocation: determine the on modulation time of the corresponding controller combination based on the Z-axis attitude control amount.

5. The method according to claim 4, characterized in that, Also includes: Individual faults in each thruster are diagnosed using the following methods: Determine the single-machine diagnostic cycle, which includes multiple consecutive control cycles; For each of the aforementioned single-machine diagnostic cycles, the following is executed: For each control cycle within this single-machine diagnostic cycle, the satellite's three-axis attitude angle changes in the current control cycle are calculated; it is then determined whether the current attitude angle change is greater than a preset angle threshold. If so, calculate the theoretical jet time for each thruster in operation and record the actual jet time for each thruster; calculate the absolute value of the difference between the theoretical jet time and the actual jet time for each thruster. For each thruster, the absolute value of the difference within the single-machine diagnostic cycle is accumulated, and it is determined whether the accumulated value is greater than a preset accumulated threshold. If it is, the thruster is determined to be faulty; otherwise, the thruster is determined to be normal.

6. The method according to claim 4, characterized in that, Also includes: The following methods can be used to diagnose system faults in the thruster: For each control cycle, it is determined whether there is jetting on the three axes; If not, stop fault diagnosis; if yes, record the star time of jetting in the current control cycle, and compare the star time with the star time of jetting in the previous control cycle to determine whether the difference between the two star times is greater than the set star time difference threshold. If not, stop fault diagnosis; if yes, calculate the jet volume within the control cycle and determine whether the jet volume is greater than the first threshold. If yes, the thruster system is determined to be faulty, and a primary / backup switch for the thruster is initiated; if no, it is determined whether the jet volume exceeds the second threshold. If yes, jet propulsion is stopped; if no, fault diagnosis is stopped.

7. A satellite thruster optimization allocation and control device, characterized in that, The device includes: The first determining unit is used to determine the mounting surface of the thruster based on the satellite layout and plume conditions; The second determining unit is used to determine the number of thrusters on each mounting surface and the size of each thruster based on the mass characteristics of the satellite, resulting in multiple thruster combinations; each thruster combination is used to control the roll attitude, pitch attitude, yaw attitude and orbital state of the satellite; the thrusters in each thruster combination are redundantly configured and serve as backups for each other; The control unit, used in each control cycle, controls the working state of the thrusters in each thruster assembly to complete the satellite's attitude and orbit control.

8. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-6.

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