A cooperative control method for multiple rotational loads and multiple attitude tasks

Abstract

This invention provides a method for coordinated control of multiple rotating loads and multi-task attitude tasks. The method includes: acquiring the disturbance forces and moments of a load mounted on a force platform system under different operating conditions; wherein the load includes a hyperspectral imager and a multi-angle polarization imager; analyzing the disturbance forces and moments to determine the spectral characteristics of the load; performing single disturbance suppression tests, combined disturbance suppression tests, and attitude maneuver disturbance suppression tests on the load based on the spectral characteristics to obtain test data under different sub-operating conditions; wherein the test data includes the platform's angular velocity, control parameters, and the corresponding settling time; analyzing the impact of the load on the platform's stability based on the test data to obtain the load's activation sequence. This scheme can design a coordinated working sequence for multiple rotating loads, enabling coordinated operation between multiple moving loads on a satellite and achieving high-precision, high-stability control of the satellite.

Description

Technical Field

[0001] This invention relates to the field of satellite control technology, and in particular to a method for collaborative control of multiple rotational loads and multiple attitude tasks. Background Technology

[0002] The terrestrial ecosystem carbon monitoring satellite utilizes a combination of multi-beam lidar and multi-angle multispectral cameras to conduct terrestrial ecosystem vegetation biomass detection, addressing issues related to terrestrial ecosystem carbon monitoring, terrestrial ecological and resource surveys and monitoring, and the evaluation of major national ecological projects. Simultaneously, the satellite employs a hyperspectral imager to perform high-precision detection of fluorescence signals from vegetation photosynthesis, reflecting carbon source-sink conversion processes and enabling assessment of forest vegetation productivity. To further enhance the accuracy of vegetation biomass detection, the satellite is also equipped with an aerosol lidar and a multi-angle polarization imager to simultaneously detect atmospheric aerosol distribution. This provides simultaneous atmospheric correction for forest vegetation remote sensing data, improving inversion accuracy and supporting research on the role of aerosols in atmospheric environment monitoring and climate change.

[0003] However, the hyperspectral imager has a rotatable calibration mechanism that rotates before and after calibration; the multi-angle polarization imager (DPC) rotates its turntable at a certain angular velocity during operation. The on-orbit motion of these two types of rotating mechanisms inevitably affects the attitude stability of the satellite, posing a significant risk to achieving an attitude stability better than 0.0002° / s (3σ) in orbit. Therefore, there is an urgent need to provide a collaborative control method for attitude control of multiple rotating payloads and multiple missions. Summary of the Invention

[0004] This invention provides a method for coordinated control of multiple rotating loads and multiple mission attitude tasks. This method effectively solves the problem of coordinated control of multiple rotating loads and multiple mission attitude tasks. By obtaining the motion characteristics of the load rotation mechanism based on ground physical experiments and on-orbit identification and correction, and designing the coordinated working sequence of multiple rotating loads based on mission imaging timing, the method realizes the coordinated work between multiple moving loads of the satellite and achieves high-precision and high-stability control of the satellite.

[0005] In a first aspect, the present invention provides a method for cooperative control of multiple rotational loads and multiple attitude tasks, comprising: The disturbance force and disturbance torque of the load installed on the force table system under different working conditions are obtained; wherein, the load includes a hyperspectral detector and a multi-angle polarization imager; The disturbance force and the disturbance torque are analyzed to determine the spectral characteristics of the load; Based on the aforementioned spectral characteristics, the load is subjected to single disturbance suppression tests, combined disturbance suppression tests, and attitude maneuver disturbance suppression tests to obtain test data under different sub-conditions; wherein, the test data includes the platform motion angular velocity, control parameters, and the settling time corresponding to the control parameters; Based on the test data, the influence of the load on the stability of the platform is analyzed, and the power-on sequence of the load is obtained.

[0006] Secondly, the present invention also provides a multi-rotational load multi-task attitude task cooperative control device, comprising: The preprocessing module is used to acquire the disturbance force and disturbance torque of the load installed on the force measuring table system under different working conditions, and to analyze the disturbance force and disturbance torque to determine the spectral characteristics of the load; wherein, the load includes a hyperspectral detector and a multi-angle polarization imager; The disturbance suppression test module is used to perform single disturbance suppression test, combined disturbance suppression test and attitude maneuver disturbance suppression test on the load according to the spectral characteristics, so as to obtain test data under different sub-working conditions; wherein, the test data includes the platform motion angular velocity, control parameters and the settling time corresponding to the control parameters; The collaborative analysis module is used to analyze the impact of the load on the stability of the test platform based on the test data, and to obtain the power-on timing of the load.

[0007] Thirdly, the present invention also provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the multi-rotation load multi-task attitude task cooperative control method described in any of the above claims.

[0008] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the multi-rotation load multi-task attitude task cooperative control method described in any of the above claims.

[0009] Fifthly, embodiments of the present invention also provide a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the method described in any of the first aspects of this specification.

[0010] This invention provides a method for collaborative control of multiple rotating loads and multi-task attitude tasks. The method mounts loads on a force-measuring platform system, including a hyperspectral imager and a multi-angle polarization imager. It acquires the disturbance forces and moments of each load under different operating conditions. By analyzing these disturbance forces and moments, the spectral characteristics of each load are obtained. Then, based on these spectral characteristics, various disturbance suppression tests are performed on the loads to obtain test data for single loads operating under different sub-conditions, load combinations operating under different sub-conditions, and loads operating under different sub-conditions during attitude maneuvers. This test data records the platform's angular velocity, the control parameters used, and the corresponding settling time for each control parameter under different sub-conditions. Finally, by analyzing the test data, the impact of the loads on the satellite's stability can be determined, thereby determining the activation sequence of loads that meet stability requirements. Thus, using this method, collaborative operation among multiple moving loads on a satellite can be achieved, enabling high-precision and high-stability satellite control. To address the multi-mission requirements of the terrestrial ecosystem carbon monitoring satellite with multiple rotating payloads, the motion characteristics of the payload rotation mechanism were obtained through ground physical experiments. At the same time, based on the mission imaging time sequence, a payload collaborative working time sequence was designed to enable collaborative work among the multiple moving payloads of the satellite, achieving high-precision and high-stability control of the satellite. This has practical engineering significance and can be applied to various inter-satellite measurement missions. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart of a multi-rotational load, multi-task attitude task cooperative control method provided in an embodiment of the present invention; Figure 2 This is a hardware architecture diagram of a computing device provided in an embodiment of the present invention; Figure 3 This is a structural diagram of a multi-rotational load, multi-task attitude task collaborative control device provided in an embodiment of the present invention. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0014] Please refer to Figure 1 This invention provides a method for cooperative control of multiple rotational loads and multiple attitude tasks, applicable to satellites configured with multiple motion loads that need to work collaboratively, including: Step 100: Obtain the disturbance force and disturbance torque of the load installed on the force measuring table system when it rotates under different working conditions; wherein, the load includes a hyperspectral detector and a multi-angle polarization imager; Step 102: Analyze the disturbance force and disturbance moment to determine the spectral characteristics of the load; Step 104: Perform single disturbance suppression test, combined disturbance suppression test and attitude maneuver disturbance suppression test on the load according to the spectral characteristics to obtain test data under different sub-working conditions; wherein, the test data includes the angular velocity of the platform motion, control parameters and the settling time corresponding to the control parameters; Step 106: Analyze the impact of the load on the stability of the platform based on the test data, and obtain the load start-up sequence.

[0015] In this invention, loads are first installed on a force-measuring platform system. These loads include a hyperspectral imager and a multi-angle polarization imager. The perturbation forces and moments of each load under different operating conditions are acquired. The spectral characteristics of each load are then analyzed. Based on these spectral characteristics, various disturbance suppression tests are performed on the loads to obtain test data for single loads operating under different sub-conditions, load combinations operating under different sub-conditions, and loads operating under different sub-conditions during attitude maneuvers. This test data records the platform's angular velocity, the control parameters used, and the corresponding settling time for each control parameter under different sub-conditions. Finally, by analyzing the test data, the impact of the loads on the satellite's stability can be determined, thereby determining the activation sequence of loads that meet stability requirements. Thus, using this method, collaborative operation among multiple moving loads on the satellite is achieved, enabling high-precision and high-stability satellite control.

[0016] It should be noted that this invention is applied to satellites or spacecraft that require high precision in stability, such as terrestrial ecosystem carbon monitoring satellites.

[0017] The following description Figure 1 The execution method of each step is shown.

[0018] First, before step 100, the process includes: constructing a high-precision force measuring platform system to perform tests on the load's starting torque, sliding torque, angular velocity fluctuations, etc. It should be noted that this force measuring platform system includes a control subsystem, an air-bearing platform, a momentum wheel, a turntable angle measuring device, a gyroscope, etc.

[0019] It should be noted that the hyperspectral imager images vegetation in sunlit areas of the land, measuring vegetation fluorescence information. The hyperspectral imager has a rotatable calibration mechanism that rotates briefly before and after calibration, with its rotation axis located in the XOZ plane of the whole satellite coordinate system. The rotating part of the calibration mechanism is a turntable assembly, which includes a primary calibration diffuser, a reference calibration diffuser, an Earth-viewing window, and a dark-background calibration plate. The turntable assembly operates in two modes: short-term operation, with rotations of 90° and 180°, stopping once the desired angle is reached. The rotation time is required to be no more than 20 seconds for 90° and no more than 30 seconds for 180°. Both operating modes are employed for rotation. The multi-angle polarization imager (DPC) operates in the sunlit area to complete the aerosol detection task. During operation, the turntable rotates at a certain angular velocity. The turntable operates as follows: it starts with frequency conversion acceleration, directly starting at 6 rpm (36° / s), then rotates half a circle at a constant speed, and then accelerates to 11.89 rpm (71.34° / s) or 12.77 rpm (76.62° / s). After reaching the predetermined speed, it rotates continuously at a constant speed. The deceleration and stopping process is similar to the starting process.

[0020] In step 100, the operating conditions of the hyperspectral detector include a first operating condition, a second operating condition, and a third operating condition; wherein, the initial angular velocities of the first and second operating conditions are different, the target angular velocities are the same, and the running angles during the uniform speed phase are the same; the third operating condition is to cut off the power supply when accelerating from the initial angular velocity of the first operating condition to the target angular velocity, in order to simulate a fault state.

[0021] Specifically, the perturbation force and perturbation torque of the calibration mechanism of the hyperspectral detector are obtained under three working conditions. First operating condition: During the acceleration phase, the engine starts rotating at 1.8° / s and accelerates to 6.12° / s with constant acceleration; during the constant speed phase, the engine runs at 6.12° / s for 90° or 180°; during the deceleration phase, the engine decelerates to a stop with a deceleration symmetrical to that of the acceleration phase. Second operating condition: During the acceleration phase, the engine starts rotating at 0.9° / s and accelerates to 6.12° / s with constant acceleration; during the constant speed phase, the engine runs at 6.12° / s for 90° or 180°; during the deceleration phase, the engine decelerates to a stop with a deceleration symmetrical to that of the acceleration phase. Third operating condition: The power supply is cut off when the first operating condition reaches the maximum speed of 6.12° / s, which is used to test the motion characteristics under fault mode conditions.

[0022] In this embodiment of the invention, by changing the initial velocity, the control response under different disturbance intensities is simulated, and by running 90° or 180°, the stability of different motion amplitudes is verified, thereby obtaining the motion characteristics of the hyperspectral detector under different operating conditions.

[0023] In step 100, the operating conditions of the multi-angle polarization imager include the fourth, fifth, and sixth operating conditions; wherein the initial angular velocities of the fourth and fifth operating conditions are the same, but the target angular velocities are different. In the fourth and sixth working conditions, the mounting surface of the optomechanical head of the multi-angle polarization imager is located within the force measuring table surface of the force measuring table system. In the fifth operating condition, the geometric center of the optomechanical head of the multi-angle polarization imager is aligned with the geometric center of the force measuring platform of the force measuring platform system.

[0024] Specifically, the disturbance force and disturbance torque of the multi-angle polarization imager turntable are obtained under three working conditions. Under each working condition, the multi-angle polarization imager turntable is required to rotate at a constant speed for no less than 20 minutes.

[0025] Fourth operating condition: Normal mode: Target angular velocity is 11.89 rpm, using installation method one; Fifth operating condition: Normal mode: Target angular velocity is 11.89 rpm, using installation method two; Sixth operating condition: Speed ​​adjustment mode: Target angular velocity is 12.77 rpm, using installation method one; When designing the tooling holes, the multi-angle polarization imager has two installation methods during the test of the force measuring table system: Installation method 1, the mounting surface of the optomechanical head of the multi-angle polarization imager is located inside the force measuring table surface; Installation method 2, the geometric center of the optomechanical head of the multi-angle polarization imager is aligned with the geometric center of the force measuring table.

[0026] In step 102, existing conventional methods are used to analyze the disturbance force and disturbance torque to obtain the spectral characteristics, which will not be described in detail here.

[0027] In this embodiment of the invention, obtaining the spectral characteristics under different operating conditions before conducting load disturbance suppression tests is a key step in identifying the frequency band distribution of disturbances. In this way, by analyzing the frequency components of the disturbance signal, the energy concentration area of ​​the main interference source can be identified, providing a basis for the design of subsequent suppression algorithms.

[0028] In step 104, single disturbance suppression tests, combined disturbance suppression tests, and attitude maneuver disturbance suppression tests are performed on the load according to its spectral characteristics to obtain test data under different sub-conditions, including: S1: Perform a single disturbance suppression test on each load to obtain first test data under different first sub-conditions; wherein, the first sub-condition includes the working state of a single load; S2: Perform combined disturbance suppression tests on the load to obtain second test data under different second sub-conditions; wherein, the second sub-condition includes the operating states of two loads; S3: The force table system is used to simulate the attitude maneuvering conditions of the entire satellite, and the attitude maneuvering disturbance suppression test is performed on the load based on the attitude maneuvering conditions to obtain the third test data under different third sub-conditions; wherein, the third sub-conditions include the working state of the load and the attitude maneuvering commands.

[0029] In this embodiment of the invention, single disturbance suppression testing can quantify the impact of a single load disturbance on the attitude of the force station system, and evaluate the anti-interference performance of the control subsystem within the force station system; it also provides basic data for combined disturbance testing. Combined disturbance suppression testing can simulate the superposition effect of multiple disturbance sources in actual operating conditions, verifying the system's stability under complex disturbances. Attitude maneuver disturbance suppression testing can simulate the impact of disturbance sources during whole-satellite attitude maneuvers, thereby comprehensively simulating various actual operating conditions, which is beneficial for subsequently improving the high-stability control accuracy of the satellite.

[0030] It should be noted that the stabilization time is the time required for the air-bearing platform to stabilize after rotation stops. Specifically, it is the time taken from the moment rotation stops until the stability reaches the preset temperature threshold, calculated based on the platform's angular velocity. In a preferred embodiment, step S1 includes: For any load, when the air-bearing platform of the force measuring table system is in the floating state, the air-bearing platform is stabilized to ensure that the air-bearing platform is in a closed-loop control state and the attitude of the platform is controlled. The power supply to the load is turned on, and motion commands are sent to the load to make the load operate under different first sub-conditions; Real-time acquisition of the angular velocity of the air flotation platform; Based on the angular velocity and spectral characteristics of the platform, the control parameters to be executed are determined, and the settling time corresponding to the execution of the control parameters is obtained.

[0031] Specifically, for the single disturbance suppression test of the hyperspectral imager: with the air-bearing platform in a floating state, a control subsystem is used to stabilize the air-bearing platform. Under this condition, the platform is in a closed-loop control state, and its attitude is controlled. With the platform stable and the multi-angle polarization imager powered off, the power supply to the calibration turntable of the hyperspectral imager is turned on, and a motion command is sent to it through the control subsystem, causing the calibration turntable to move according to a given motion law (i.e., according to the first sub-condition). The angular velocity data of the platform is measured using the turntable's angle measuring device and the gyroscope mounted on the platform. Based on the platform's angular velocity and spectral characteristics, control parameters are determined to evaluate the disturbance suppression effect on the calibration turntable's rotation when different control parameters are executed. The focus is on the stabilization time required for the platform after the calibration turntable stops rotating. For example, the first sub-condition is divided into three sub-conditions, the same as the aforementioned first, second, and third conditions. Furthermore, for each sub-condition, by changing the control parameters and adjusting the controller bandwidth, it is possible to obtain the disturbance control effect of the calibration turntable motion on the platform under different control parameter conditions.

[0032] For the single disturbance suppression test of the multi-angle polarization imager: With the platform state unchanged and the hyperspectral detector powered off, the power to the multi-angle polarization imager is turned on. Drive commands are sent to the multi-angle polarization imager via the 1553B communication interface according to a set pattern, causing the imager's turntable to move according to a given motion pattern (i.e., according to the corresponding first sub-condition). The angular velocity data of the platform's motion is measured using a turntable angle measuring device and a gyroscope mounted on the platform to evaluate the disturbance suppression effect of the control subsystem on the rotation of the multi-angle polarization imager's turntable. For example, the first sub-condition is divided into two sub-conditions, namely the fourth and sixth conditions mentioned above. Furthermore, for each sub-condition, by changing the control parameters and adjusting the controller bandwidth, the disturbance control effect of the multi-angle polarization imager's motion on the platform under different control parameter conditions can be obtained.

[0033] In a preferred embodiment, step S2 includes: When the air-float platform of the force measuring table system is in the floating state, the air-float platform is stabilized to ensure that the air-float platform is in a closed-loop control state and the attitude of the platform is controlled. Power on all loads is switched on, and motion commands are sent to each load according to the preset working sequence so that each load can operate under different second sub-working conditions; Real-time acquisition of the angular velocity of the air flotation platform; Based on the angular velocity and spectral characteristics of the platform, the control parameters to be executed are determined, and the settling time corresponding to the execution of the control parameters is obtained.

[0034] Specifically, with the air-bearing platform stable, the power supply to the hyperspectral imager and the multi-angle polarization imager is turned on, and motion commands are sent to the corresponding loads according to a preset working sequence. This causes the calibration turntable of the hyperspectral imager and the turntable of the multi-angle polarization imager to rotate sequentially, simulating the on-orbit working sequence. The angular velocity data of the platform is measured by the turntable angle measuring device and the gyroscope configured on the platform to evaluate the disturbance suppression effect of different control parameters on the motion of the load rotation mechanism, with a focus on the stabilization time required for the platform to stop rotating. For example, based on the different working states of the two loads, four second sub-conditions are defined: 1) The maximum rotation speed of the hyperspectral detector is 340 Hz, with 24 steps of acceleration and deceleration, and the rotation sequence is +180°→+90°→+90°. The multi-angle polarization imager operates at the normal setting of 11.89 rpm. t At time 0, a command to rotate the hyperspectral detector is sent. t 0+730~ t Send the hyperspectral detector power-off command at 0+870 seconds. t Send the multi-angle polarization imager rotation command at 0+617 seconds; 2) The hyperspectral detector has a maximum rotation speed of 340 Hz, with 24 steps of acceleration and deceleration, and the rotation sequence is +180°→+90°→+90°. The multi-angle polarization imager operates at a speed adjustment setting of 12.77 rpm. t At time 0, a command to rotate the hyperspectral detector is sent. t 0+730~ t Send the hyperspectral detector power-off command at 0+870 seconds. t Send the multi-angle polarization imager rotation command at 0+617 seconds; 3) The hyperspectral detector has a maximum rotation speed of 340 Hz, with 32 steps of acceleration and deceleration, and the rotation sequence is +180°→+90°→+90°. The multi-angle polarization imager operates at the normal setting of 11.89 rpm. t At time 0, a command to rotate the hyperspectral detector is sent. t 0+730~ t Send the hyperspectral detector power-off command at 0+870 seconds. t Send the multi-angle polarization imager rotation command at 0+617 seconds; 4) The hyperspectral detector has a maximum rotation speed of 340Hz, with 32 steps of acceleration and deceleration, and the rotation sequence is +180°→+90°→+90°. The multi-angle polarization imager operates at a speed adjustment setting of 12.77rpm. t At time 0, a command to rotate the hyperspectral detector is sent. t 0+730~ t Send the hyperspectral detector power-off command at 0+870 seconds. t Send the multi-angle polarization imager rotation command at 0+617 seconds.

[0035] In a preferred embodiment, step S3 includes: Disconnect the power supply to the hyperspectral detector and connect the power supply to the multi-angle polarization imager; send an injection attitude maneuver command to the air-bearing platform of the force measurement platform, and then send a drive command to the multi-angle polarization imager after a preset time to make the multi-angle polarization imager operate in the third sub-condition. Real-time acquisition of the angular velocity of the air flotation platform; Based on the angular velocity and spectral characteristics of the platform, the control parameters to be executed are determined, and the settling time corresponding to the execution of the control parameters is obtained.

[0036] Specifically, by utilizing the momentum wheel on the platform, a satellite attitude maneuver condition is established. In this state, the power supply to the calibration turntable of the hyperspectral imager is cut off, while the power supply to the multi-angle polarization imager is turned on. Drive commands are sent to the multi-angle polarization imager via the 1553B communication interface according to a pre-defined pattern. Simultaneously, attitude maneuver commands are injected 287 seconds before the multi-angle polarization imager's rotation command is sent. Then, the angular velocity data of the platform's motion is measured using the turntable's angle measuring device and the gyroscope configured on the platform to evaluate the disturbance suppression effect of different control parameters on the load rotation mechanism during attitude maneuvering, with a focus on the stabilization time required for the platform to stop rotating. For example, the third sub-condition is: a. The hyperspectral detector is powered off, and the multi-angle polarization imager is powered on and operates at the normal setting of 11.89 rpm; b、 t At time 0, a 32-degree lateral yaw command is sent, and the state enters steady state (entering the sunlit area) 400 seconds later. c. t Send the drive command for the multi-angle polarization imager at 0+287 seconds.

[0037] In step 106, the impact of the load on the stability of the platform is analyzed based on the test data to obtain the load start-up sequence, including: The stability is calculated based on the angular velocity of the platform in the test data; Determine whether there is a stability that meets a preset stability threshold; The control parameters in the test data corresponding to the stability that meets the preset stability threshold are used as the target control parameters under the corresponding sub-condition, and the stabilization time corresponding to the target control parameters is determined as the start-up timing of the corresponding load.

[0038] In one specific implementation, regarding the impact of closed-loop control settling time and maximum angular velocity fluctuations, the design constraints are that the satellite's control bandwidth is higher than 0.0118 Hz, and the error between the satellite's actual moment of inertia and nominal moment of inertia does not exceed 10%. Physical experiments on disturbance suppression of the hyperspectral imager and multi-angle polarization imager were conducted using a single-axis air-bearing platform. The experimental data showed that the turntable rotation speed fluctuation of the multi-angle polarization imager was approximately 1%, which is better than the system's performance requirements for the multi-angle polarization imager. Based on the actual installation and test data of the multi-angle polarization imager, the estimated impact of the multi-angle polarization imager's static imbalance on the satellite's yaw axis stability is approximately 2.9 × 10⁻⁶. -6 The effects of the two payloads on the stability of the star, deg / s, are shown in Table 1: Table 1

[0039] As shown in Table 1, if the preset stability threshold is 0.0002 deg / s, before the load imaging meets the stability requirement of 0.0002 deg / s, the system must send the start or stop command of the multi-angle polarization imager at least 60 seconds in advance, and send the start command of the hyperspectral detector calibration turntable at least 60 seconds in advance.

[0040] In this embodiment of the invention, the above-described method enables coordinated operation among multiple moving payloads on a satellite, achieving high-precision and high-stability control of the satellite. Addressing the multi-task requirements of multiple rotating payloads on a terrestrial ecosystem carbon monitoring satellite, ground-based physical experiments are conducted to obtain the motion characteristics of the payload rotation mechanism. Simultaneously, based on the mission imaging timeline, a coordinated operation timeline for the rotating payloads is designed to achieve coordinated operation among multiple moving payloads on the satellite, enabling high-precision and high-stability control of the satellite. This has practical engineering significance and is applicable to various inter-satellite measurement missions.

[0041] like Figure 2 , Figure 3 As shown, this embodiment of the invention provides a multi-rotational load, multi-task attitude task cooperative control device. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 2 The diagram shown is a hardware architecture diagram of a computing device housing a multi-rotational load, multi-task attitude task collaborative control device provided in an embodiment of the present invention. Except for... Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the computing device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 3As shown, a device in a logical sense is formed by the CPU of its computing device reading the corresponding computer program from the non-volatile memory into memory and running it. This embodiment provides a multi-rotational load, multi-task attitude task cooperative control device, comprising: The preprocessing module 300 is used to acquire the disturbance force and disturbance torque of the load installed on the force measuring table system under different working conditions, and to analyze the disturbance force and disturbance torque to determine the spectral characteristics of the load; wherein the load includes a hyperspectral detector and a multi-angle polarization imager; The disturbance suppression test module 302 is used to perform single disturbance suppression test, combined disturbance suppression test and attitude maneuver disturbance suppression test on the load according to the spectral characteristics, so as to obtain test data under different sub-working conditions; wherein, the test data includes the angular velocity of the platform motion, control parameters and the settling time corresponding to the control parameters; The collaborative analysis module 304 is used to analyze the impact of the load on the stability of the test platform based on the test data and obtain the load start-up timing.

[0042] In some specific implementations, the preprocessing module 300 can be used to perform steps 100 and 102 above, the disturbance suppression test module 302 can be used to perform step 104 above, and the collaborative analysis module 304 can be used to perform step 106 above.

[0043] In some specific implementations, the hyperspectral detector has three operating conditions: a first operating condition, a second operating condition, and a third operating condition. The first and second operating conditions have different initial angular velocities but the same target angular velocity, and the same running angle during the uniform speed phase. The third operating condition is used to simulate a fault state by cutting off the power supply when accelerating from the initial angular velocity of the first operating condition to the target angular velocity.

[0044] In some specific implementations, the multi-angle polarization imager has four operating conditions, a fifth operating condition, and a sixth operating condition; wherein the initial angular velocity is the same and the target angular velocity is different in the fourth and fifth operating conditions. In the fourth and sixth working conditions, the mounting surface of the optomechanical head of the multi-angle polarization imager is located within the force measuring table surface of the force measuring table system. In the fifth operating condition, the geometric center of the optomechanical head of the multi-angle polarization imager is aligned with the geometric center of the force measuring platform of the force measuring platform system.

[0045] In some specific implementations, the disturbance suppression test module 302 is also used to perform the following operations: A single disturbance suppression test was performed on each load to obtain first test data under different first sub-conditions; wherein, the first sub-condition includes the working state of a single load; Combined disturbance suppression tests are performed on the loads to obtain second test data under different second sub-conditions; wherein, the second sub-condition includes the operating states of two loads; The force table system was used to simulate the attitude maneuvering conditions of the entire satellite, and the attitude maneuvering disturbance suppression test was performed on the payload based on the attitude maneuvering conditions to obtain third test data under different third sub-conditions; the third sub-conditions include the working state of the payload and attitude maneuvering commands.

[0046] In some specific implementations, the disturbance suppression test module 302 is also used to perform the following operations: For any load, when the air-bearing platform of the force measuring table system is in the floating state, the air-bearing platform is stabilized to ensure that the air-bearing platform is in a closed-loop control state and the attitude of the platform is controlled. The power supply to the load is turned on, and motion commands are sent to the load to make the load operate under different first sub-conditions; Real-time acquisition of the angular velocity of the air flotation platform; Based on the angular velocity and spectral characteristics of the platform, the control parameters to be executed are determined, and the settling time corresponding to the execution of the control parameters is obtained.

[0047] In some specific implementations, the disturbance suppression test module 302 is also used to perform the following operations: When the air-float platform of the force measuring table system is in the floating state, the air-float platform is stabilized to ensure that the air-float platform is in a closed-loop control state and the attitude of the platform is controlled. Power on all loads is switched on, and motion commands are sent to each load according to the preset working sequence so that each load can operate under different second sub-working conditions; Real-time acquisition of the angular velocity of the air flotation platform; Based on the angular velocity and spectral characteristics of the platform, the control parameters to be executed are determined, and the settling time corresponding to the execution of the control parameters is obtained.

[0048] In some specific implementations, the disturbance suppression test module 302 is also used to perform the following operations: Disconnect the power supply to the hyperspectral detector and connect the power supply to the multi-angle polarization imager; send an injection attitude maneuver command to the air-bearing platform of the force measurement platform, and then send a drive command to the multi-angle polarization imager after a preset time to make the multi-angle polarization imager operate in the third sub-condition. Real-time acquisition of the angular velocity of the air flotation platform; Based on the angular velocity and spectral characteristics of the platform, the control parameters to be executed are determined, and the settling time corresponding to the execution of the control parameters is obtained.

[0049] In some specific implementations, the collaborative analysis module 304 is also used to perform the following operations: The stability is calculated based on the angular velocity of the platform in the test data; Determine whether there is a stability that meets a preset stability threshold; The control parameters in the test data corresponding to the stability that meets the preset stability threshold are used as the target control parameters under the corresponding sub-condition, and the stabilization time corresponding to the target control parameters is determined as the start-up timing of the corresponding load.

[0050] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a multi-rotational load, multi-task attitude task cooperative control device. In other embodiments of the present invention, a multi-rotational load, multi-task attitude task cooperative control device may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0051] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0052] This invention also provides a computing device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a multi-rotation load multi-task attitude task cooperative control method according to any embodiment of this invention.

[0053] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform a multi-rotation load, multi-task attitude task cooperative control method according to any embodiment of this invention.

[0054] Embodiments of this application also provide a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium and executes the computer program, causing the computer device to perform a multi-rotation load multi-task attitude task cooperative control method as described in any of the above embodiments.

[0055] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0056] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0057] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0058] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0059] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0060] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0061] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for cooperative control of multiple rotational loads and multiple attitude tasks, characterized in that, include: The disturbance force and disturbance torque of the load installed on the force table system under different working conditions are obtained; wherein, the load includes a hyperspectral detector and a multi-angle polarization imager; The disturbance force and the disturbance torque are analyzed to determine the spectral characteristics of the load; Based on the aforementioned spectral characteristics, the load is subjected to single disturbance suppression tests, combined disturbance suppression tests, and attitude maneuver disturbance suppression tests to obtain test data under different sub-conditions; wherein, the test data includes the platform motion angular velocity, control parameters, and the settling time corresponding to the control parameters; Based on the test data, the influence of the load on the stability of the platform is analyzed, and the power-on sequence of the load is obtained.

2. The method according to claim 1, characterized in that, The hyperspectral detector operates under three conditions: a first condition, a second condition, and a third condition. The first and second conditions have different initial angular velocities but the same target angular velocity, and the same operating angle during the constant velocity phase. The third condition involves cutting off the power supply when accelerating from the initial angular velocity of the first condition to the target angular velocity, simulating a fault condition. And / or, The multi-angle polarization imager has six operating conditions: a fourth operating condition, a fifth operating condition, and a sixth operating condition. The fourth operating condition and the fifth operating condition have the same initial angular velocity but different target angular velocities. In the fourth and sixth operating conditions, the mounting surface of the optomechanical head of the multi-angle polarization imager is located within the force measuring platform surface of the force measuring platform system. In the fifth operating condition, the geometric center of the optomechanical head of the multi-angle polarization imager is aligned with the geometric center of the force measuring platform of the force measuring platform system.

3. The method according to claim 1, characterized in that, The process of performing single disturbance suppression tests, combined disturbance suppression tests, and attitude maneuver disturbance suppression tests on the load based on the spectral characteristics to obtain test data under different sub-conditions includes: A single disturbance suppression test is performed on each load to obtain first test data under different first sub-conditions; wherein, the first sub-condition includes the working state of a single load; The load is subjected to a combined disturbance suppression test to obtain second test data under different second sub-conditions; wherein, the second sub-condition includes the operating states of two loads; The force measurement platform system is used to simulate the attitude maneuvering conditions of the entire satellite, and the attitude maneuvering disturbance suppression test is performed on the payload based on the attitude maneuvering conditions to obtain third test data under different third sub-conditions; wherein, the third sub-condition includes the working state of the payload and attitude maneuvering commands.

4. The method according to claim 3, characterized in that, The step of performing a single disturbance suppression test on each load to obtain first test data under different first sub-conditions includes: For any load, when the air-bearing platform of the force measuring table system is in the floating state, the air-bearing platform is stabilized so that the air-bearing platform body is in a closed-loop control state and the attitude of the platform body is controlled. The power supply to the load is turned on, and motion commands are sent to the load to make the load operate under different first sub-conditions; Real-time acquisition of the angular velocity of the air-float platform; Based on the angular velocity of the platform and the spectral characteristics, the control parameters to be executed are determined, and the settling time corresponding to the execution of the control parameters is obtained. And / or, The combined disturbance suppression test on the load to obtain second test data under different second sub-conditions includes: When the air-float platform of the force measuring table system is in the floating state, the air-float platform is stabilized so that the air-float platform body is in a closed-loop control state and the attitude of the platform body is controlled. Power is switched on to all the loads, and motion commands are sent to each load according to a preset working sequence so that each load can operate under different second sub-working conditions; Real-time acquisition of the angular velocity of the air-float platform; Based on the angular velocity of the platform and the spectral characteristics, the control parameters to be executed are determined, and the settling time corresponding to the execution of the control parameters is obtained.

5. The method according to claim 4, characterized in that, The attitude maneuvering disturbance suppression test on the load based on the attitude maneuvering condition, to obtain third test data under different third sub-conditions, includes: The power supply to the hyperspectral detector is cut off, and the power supply to the multi-angle polarization imager is turned on. An injection attitude maneuvering command is sent to the air-bearing platform of the force measuring platform system, and then a drive command is sent to the multi-angle polarization imager after a preset time, so that the multi-angle polarization imager operates in the third sub-condition. Real-time acquisition of the angular velocity of the air-float platform; Based on the angular velocity of the platform and the spectral characteristics, the control parameters to be executed are determined, and the settling time corresponding to the execution of the control parameters is obtained.

6. The method according to any one of claims 1 to 5, characterized in that, The step of analyzing the impact of the load on the stability of the platform based on the test data to obtain the load's power-on sequence includes: The stability is calculated based on the angular velocity of the platform motion in the test data. Determine whether the stability satisfies a preset stability threshold; The control parameters in the test data corresponding to the stability that meets the preset stability threshold are used as the target control parameters under the corresponding sub-condition, and the stabilization time corresponding to the target control parameters is determined as the start-up sequence of the corresponding load.

7. A multi-rotational load, multi-task attitude task cooperative control device, used to implement the method described in any one of claims 1 to 6, characterized in that, include: The preprocessing module is used to acquire the disturbance force and disturbance torque of the load installed on the force measuring table system under different working conditions, and to analyze the disturbance force and disturbance torque to determine the spectral characteristics of the load; wherein, the load includes a hyperspectral detector and a multi-angle polarization imager; The disturbance suppression test module is used to perform single disturbance suppression test, combined disturbance suppression test and attitude maneuver disturbance suppression test on the load according to the spectral characteristics, so as to obtain test data under different sub-working conditions; wherein, the test data includes the platform motion angular velocity, control parameters and the settling time corresponding to the control parameters; The collaborative analysis module is used to analyze the impact of the load on the stability of the test platform based on the test data, and to obtain the power-on timing of the load.

8. A computing device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program, implements the method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of 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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