Space-borne combined body attitude takeover control method after space target capture

Abstract

The invention particularly relates to a satellite-borne combined body attitude takeover control method after space target capture, which comprises the following steps of: firstly, designing a subdivision phase plane control law, not depending on an accurate model, dynamically switching thrust modes according to an attitude state, and balancing control accuracy and fuel consumption; secondly, thrust distribution is dynamically controlled through a null space, a control instruction is restrained within the physical working range of the thruster, and invalid thrust output is avoided; the continuous thrust is converted into starting time required by thruster control through PWM modulation, and actual hardware characteristics are accurately matched; finally, phase plane control torque dynamic scaling is achieved based on the minimum jet logic, and control modes are switched according to the attitude deviation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of space robot attitude control, in particular to a space target capture post-combination attitude takeover control method for spaceborne. BACKGROUND

[0002] In today's aerospace field, with the continuous deepening of human space exploration and development, space on-orbit service is becoming increasingly important. Spaceborne space target capture technology, as a key link of on-orbit service, is becoming the focus of space research in various countries. From repairing and maintaining failed satellites to prolonging their service life, to cleaning the increasing amount of orbital debris and reducing the risk of space collisions, to refueling other spacecraft to enhance their endurance, spaceborne space target capture technology plays an indispensable role.

[0003] The technical advantages of spaceborne capture device are concentrated in the improvement of operation agility and cost efficiency. The launch mass of the capture device is reduced compared to traditional devices, which can realize rapid deployment and configuration, and has the ability of rapid response and precise operation in extreme time pressure and complex dynamic environment. Through modular design, reusable technology and upgrading propulsion system, the life cycle cost is significantly reduced compared to traditional solutions, which has commercial feasibility and engineering practicability, and lays a foundation for the large-scale application of space on-orbit service.

[0004] However, after the spaceborne device successfully captures the space target, the attitude control of the combination body faces many difficulties. The traditional attitude control method has obvious limitations in dealing with the complex situation of the space target capture post-combination body. Most of the existing control algorithms rely on accurate models and known parameters, which are difficult to adapt to the situation where the mass characteristics parameters of the post-capture combination body are unknown and constantly changing. At the same time, the energy supply of spaceborne device is limited, and the thrust of thruster and fuel reserve are very valuable, which requires the new attitude control method to reduce energy consumption as much as possible on the premise of ensuring control accuracy. Therefore, developing a space target capture post-combination body attitude takeover control method for spaceborne, which is efficient, reliable and can adapt to complex space environment, has become the research focus in the field of space robot attitude control.

[0005] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0006] The present application provides a space target capture post-combination body attitude takeover control method for spaceborne, which can realize the premise of control accuracy and reduce energy consumption as much as possible.

[0007] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0008] According to a first aspect of the present application, a method for attitude takeover control of a post-capture spacecraft- target assembly is provided, the method comprising: Assembly phase plane control law design: based on the real-time measurement of the attitude angle and the attitude angular rate of the assembly sensor, four phase plane switch lines are designed, the switch line area is subdivided, and the shutdown, small thrust, and large thrust working modes of the thruster are switched according to the position of the assembly in the subdivided phase plane; Zero space dynamic control thrust distribution: a thruster configuration reconstruction matrix mathematical model of the assembly is established, a thruster thrust feasible region is defined, and the control amount generated by the phase plane control law is distributed to each thruster by using the zero space characteristics of the thruster configuration matrix through pseudo-inverse operation combined with zero space correction, so that the distributed thrust is constrained within the physical boundary and the direction of the control command vector remains unchanged; Thruster thrust PWM modulation: the continuous thrust obtained by zero space control distribution is converted into thruster on-time by using pulse width modulation method; Phase plane control torque switching logic: according to the size of the attitude deviation of the assembly, the phase plane control torque is dynamically scaled, the normal torque control mode is adopted when the attitude deviation is large, and the small torque control mode is switched to when the attitude deviation is small, and the minimum control torque that satisfies the direction unchanged of the control command vector is obtained by normalizing the thruster on-time after PWM modulation.

[0009] In some example embodiments, the expression of the four phase plane switch lines is: (1) wherein, is the attitude angle, is the attitude angular rate, is the switch line acceleration value, is the angle constraint boundary, is the phase plane time lag.

[0010] In some example embodiments, the switching of the shutdown, small thrust, and large thrust working modes of the thruster according to the position of the assembly in the subdivided phase plane is specifically: The thrusters are kept off between the switch lines; when the touch open line is touched, the small thrust is used first, when the angle speed is less than a preset threshold when passing through the horizontal axis, the thrusters are turned off, and when the angle speed is greater than the preset threshold, the small thrust is continued to be used to reduce the angle speed to the threshold; when the angle exceeds the set threshold, the large thrust mode is switched to.

[0011] In some example embodiments, the thruster configuration reconstruction matrix mathematical model of the assembly is specifically: the position vector of the first thruster relative to the center of mass of the combination is: (2) wherein, is the position offset vector of the center of mass of the combination and the center of mass of the service spacecraft; Assuming that the attitude conversion matrix between the service spacecraft body coordinate system and the combination body coordinate system is , the moment of force generated by the first thruster on the center of mass of the combination is: (3) wherein, is the direction vector of the first thruster in the service spacecraft body coordinate system, i is the vector of the first thruster in the service spacecraft body coordinate system, is the position vector of the first thruster relative to the center of mass of the service spacecraft, i is the component of the unit thrust vector of the first thruster on the three axes of the service spacecraft body coordinate system, is the thrust magnitude of the first thruster, i is the position offset vector of the center of mass of the combination and the center of mass of the service spacecraft, is the number of thrusters; i the moment of force generated by all the thrusters on the center of mass of the service spacecraft is: i (4) wherein is the thruster moment matrix of the combination, is the thruster configuration reconstruction matrix after the center of mass of the combination changes: (5) (6) wherein, is the thruster reconstruction matrix due to the offset of the combination relative to the center of mass of the service spacecraft; Equations (4)-(6) constitute the mathematical model of the thruster configuration reconstruction matrix in the combination body coordinate system.

[0012] In some exemplary embodiments, the definition of the thruster thrust feasible region utilizes the null space characteristics of the thruster configuration matrix, and the control amount generated by the phase plane control law is distributed to each thruster through pseudo-inverse operation combined with null space correction, specifically:​​​​​​​ The zero space matrix of the thruster configuration matrix is denoted as , satisfying The control distribution solution is expressed as , wherein is the pseudo-inverse of the matrix A , and is an adjustment factor; the blocks of and are processed, the control quantity exceeding the feasible region of the thrust is placed at the limit position, and the thrust distribution result satisfying the constraint is obtained by solving.

[0013] In some example embodiments, the continuous thrust obtained by the zero space control distribution is converted into the on-time of the thruster, specifically:

[0014] In the formula: represents the continuous thrust obtained after the control distribution, is the nominal thrust value of the thruster, is the control period.

[0015] In some example embodiments, the logic of dynamically scaling the control moment of the phase plane is: The minimum value greater than the minimum jet time after PWM modulation is selected, and the jet time of all thrusters is normalized to generate the scaled minimum jet time, and then the minimum control moment is obtained, and the direction of the control command vector is kept unchanged during the scaling process.

[0016] According to a second aspect of the present application, a storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the space target capture post-combination body attitude takeover control method of the first aspect.

[0017] According to a third aspect of the present application, a computer program product is provided, which stores a computer program, and the computer program is executed by a processor to implement the space target capture post-combination body attitude takeover control method of the first aspect.

[0018] According to a fourth aspect of the present application, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to implement the space target capture post-combination body attitude takeover control method of the first aspect by executing the executable instructions.

[0019] The space target capturing post-combination body attitude takeover control method provided by the embodiment of the application has the following beneficial effects compared with the prior art: 1. Adapt to complex dynamic scenarios: the phase plane control strategy with an accurate model can cope with the problems of centroid and moment of inertia mutation of the post-capturing combination body, has strong robustness, and is suitable for various attitude control tasks of medium and low orbit spacecraft.

[0020] 2. Significantly reduce energy consumption: by subdividing the phase plane control logic, zero space thrust constraint distribution and minimum jet torque scaling, fuel is saved while ensuring control accuracy, which is in line with the engineering practice of limited energy of spaceborne equipment.

[0021] 3. High control accuracy and reliability: combined with the accurate modeling of the dynamic characteristics of the thruster by PWM modulation and the effective constraint of thruster output by zero space correction, the attitude control command is accurately landed, and simulation verification shows that all indicators meet the task requirements.

[0022] 4. Strong engineering practicability: the thrust distribution scheme adapts to the installation layout and physical constraints of the spaceborne thruster, the control logic conforms to the "on-off" working mode of the thruster, and the modular design is convenient for engineering deployment and promotion, providing technical support for the large-scale application of space on-orbit service.

[0023] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application. BRIEF DESCRIPTION OF DRAWINGS

[0024] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the application, and together with the specification, serve to explain the principles of the application. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained from these drawings without creative labor for those skilled in the art.

[0025] Figure 1 The combination body large centroid offset attitude control system block diagram; Figure 2 The subdivided phase plane control switch line diagram; Figure 3 The thruster installation layout diagram; Figure 4 The thruster PWM jet control logic diagram; Figure 5 The scaled phase plane control torque block diagram; Figure 6 The fuel consumption diagram corresponding to 500 groups of random simulation; Figure 7 The three-axis phase plane diagram corresponding to 500 groups of random simulation. DETAILED DESCRIPTION

[0026] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these example implementations are provided so that this disclosure will be thorough and complete, and will fully convey the inventive aspects to those skilled in the art. Features, structures, or characteristics described in connection with one example implementation can be combined in any suitable manner with features, structures, or characteristics of other example implementations.

[0027] In addition, the accompanying drawings are included to provide a further understanding of the present application, and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the present application and, as such, a change in the drawings can be represented schematically. In the drawings:

[0028] In view of the disadvantages and deficiencies of the prior art, the present example implementation provides a method for attitude takeover control of a post-capture assembly of a space target on board, which can be widely applied and lays a foundation for subsequent implementation of on-orbit missions. The present application can specifically include the following steps: Step 1, design of a phase plane control law for the assembly; Step 2, zero-space dynamic control of thrust distribution; Step 3, PWM modulation of thrust of the thruster; Step 4, switching logic of the phase plane control moment.

[0029] In the following, each step in the present example implementation will be described in more detail in combination with the accompanying drawings and examples.

[0030] The complete attitude control system of the assembly mainly includes a phase plane control law design module, a thrust control distribution module based on zero-space correction, a thruster thrust modulation module based on PWM, and a phase plane control moment switching logic module. A block diagram of the active attitude control of the assembly is shown in Figure 1

[0031] In Step 1, the specific method of the phase plane control law design of the assembly is as follows: ​Throughout the mission, the attitude control scheme for the combined spacecraft should meet control technical specifications while ensuring algorithm reliability and minimizing propellant consumption. After the grappling hook acquires the target, physical parameters such as the center of mass and moment of inertia undergo abrupt changes, necessitating the design of a control method independent of a precise model. Phase plane control is a robust control method that does not rely on a model of the controlled object and has wide applications in attitude acquisition, maneuvering, and stabilization missions for low- and medium-Earth orbit spacecraft. Therefore, a phase plane control strategy can be adopted in the mission, based on real-time measurements of the combined spacecraft's sensors, to achieve attitude control of the combined spacecraft.

[0032] The four switch lines corresponding to the phase plane control selection are as follows: (1) in, For attitude angle, For attitude angular rate, This is the acceleration value of the switching line, and its magnitude affects the flatness of the switching line. As an angle-constrained boundary, It represents the phase plane time delay.

[0033] The conventional phase plane design described above suffers from problems such as excessive fuel consumption and low control accuracy during attitude control. Therefore, it is further subdivided: Between the switching lines, the thruster remains off. When the switching line is touched, to avoid excessive thrust from the thruster leading to large system error deviations, a smaller thrust is used to pass it through the transverse axis. When the angular velocity is low upon passing the transverse axis, the thruster shuts off to save fuel; when the angular velocity exceeds a preset value after passing the transverse axis... At the threshold, the thruster generates a small thrust, causing its angular velocity to approach the threshold. Within the threshold, the system will shut down randomly. When the system touches the open wire, it will eject air with relatively small thrust, and the angular velocity will change slowly, causing the angle to exceed the set threshold. At this time, the thruster switches to a higher thrust mode, causing it to quickly pass through the horizontal axis and generate a reverse angular velocity, pulling the angle back within the threshold. The corresponding subdivision phase plane switching line diagram is as follows: Figure 2 As shown, the thruster switches control within the corresponding subdivided phase plane region.

[0034] In step 2, the specific method for zero-space dynamic control of thrust distribution is as follows: After the design of the phase plane control law, the control law needs to be distributed to each thruster of the combination. But the on-board capturer carries limited fuel, the control force generated by step 1) may exceed the actual control force boundary, and when the distribution of the thrust value is calculated by using the conventional inverse and pseudo-inverse operation, negative thrust or thrust exceeding the actual physical boundary may be solved. Considering the actual physical constraints of the thruster, the phase plane control strategy needs to be reasonably distributed to ensure that the command thrust value can be effectively constrained within the physical constraint range of the thruster. Therefore, the control distribution correction method using the null space characteristic is used to constrain the thrust within the effective working range of the thruster, and the direction of the phase plane control command vector is ensured unchanged.

[0035] The thruster layout is shown as Figure 3 . The attitude control and orbit control thrusters share a set of storage and supply system, and only the nominal thrust of the thrusters is different. The attitude control 1# to 8# thrusters are installed at the midpoint of each edge of the Z face of the star mechanical system, and the included angle between the adjacent two attitude control thrusters is 90°, and the included angle between each thruster and the installation surface is 45°.

[0036] The position vector of the th thruster relative to the combination mass center is defined as . (2) Wherein, is the position offset vector of the combination mass center and the service spacecraft mass center.

[0037] Assuming that the attitude conversion matrix between the service spacecraft body coordinate system and the combination body coordinate system is , the moment of force generated by the th thruster on the combination mass center is . (3) Wherein, is the direction vector of the i th thruster in the service spacecraft body coordinate system, is the vector of the i th thruster in the service spacecraft body coordinate system, is the position vector of the i th thruster relative to the service spacecraft mass center, is the component of the unit thrust vector of the i th thruster on the three axes of the service spacecraft body coordinate system, is the thrust size of the i th thruster, is the position offset vector of the combination mass center and the service spacecraft mass center, is the number of thrusters. The moment generated by all thrusters on the service spacecraft's center of mass is: (4) where is the thruster moment matrix of the combination, is the thruster configuration reconstruction matrix after the center of mass of the combination changes: (5) (6) So far, equations (4)-(6) constitute the thruster configuration reconstruction matrix mathematical model in the combination body coordinate system.

[0038] Considering the actual engineering problem, the feasible region of the thruster thrust is defined as: (7) The null space matrix of the thruster configuration matrix is Therefore: (8) Therefore, the solution can be written as: (9) where: is the adjustment factor.

[0039] For the thruster configuration matrix , its null space matrix is Obviously, for any , we have Therefore, all solutions that satisfy can be expressed as: (10) where: (11) By blocking the null space matrix and the vector , we get: (12) where: is the null space matrix row component of the control variable beyond its upper and lower limit values; is the to-be-solved variable; and are the control variables corresponding to and respectively. Similarly, by blocking , we get: (13) Therefore, equation (12) can be changed to: (14) Will If placed at the extreme position, it is easy to obtain: (15) In the formula: For matrix The false reversal. If If the column is full, then for The least squares pseudoinverse; if If the term of office is completed, then for The least-2 norm pseudoinverse; if Square array, then for The inverse of the zero-space corrected pseudo-inverse method can relatively easily obtain the thrust of the thruster that satisfies the constraints. This allows for the redistribution of thrust from the thruster.

[0040] In step 3), the specific method for thrust PWM modulation of the thruster is as follows: While the thrust value calculated through zero-space control allocation can constrain the thrust within the effective operating range of the thruster, the thrust value calculated by the control allocation is a continuous quantity, whereas the thrust provided by the assembly can only offer two modes: maximum thrust and zero thrust. To meet the actual "on-off" control mode of the thrusters, the continuous thrust is converted into the on-time of each thruster using pulse-width modulation (PWM).

[0041] (16) In the formula: This represents the continuous thrust obtained after control allocation. The nominal thrust value of the thruster. To control the cycle.

[0042] In the PWM modulation section, the following dynamic characteristics of each thruster are considered: thrust inconsistency between thrusters, thruster mounting axis offset, PWM minimum resolution, thrust output response delay, and minimum opening time of solenoid valve switching in a single operation. A precise mathematical description of these characteristics is implemented in the thruster modeling section. Ultimately, high-precision, high-reliability PWM modulation is achieved to ensure accurate execution of attitude adjustment and orbital maneuvers for the spaceborne acquisition vehicle. Specifically, thrust inconsistency between thrusters is described using a normal distribution to represent the deviation; thruster mounting axis offset is modeled as a random offset within a cone centered on the ideal mounting axis; the minimum PWM resolution is described using simulation step size; and the thruster modeling logic flow for thrust output response delay, minimum opening time of solenoid valve switching in a single operation, and control cycle is as follows:Figure 4 as shown.

[0043] In the step 4), the specific logic of the phase plane control moment switching is as follows: In the control task, the minimum three-axis control moment that the combination can provide directly determines the control accuracy of the system. In order to improve the three-axis control accuracy and reduce the fuel consumption when the system controls a small attitude deviation, the phase plane control moment is dynamically scaled according to the minimum jet logic. The dynamic scaling should meet the minimum opening performance of the thruster on the premise that the direction of the control command vector is unchanged. In the case of large attitude deviation of the combination, the controller switches to the normal moment control mode; in the case of small attitude deviation, the controller autonomously switches to the small moment control mode. The scaling logic is to select the minimum value greater than the minimum jet time of each thruster after PWM modulation, normalize the jet time of other thrusters, obtain the scaled minimum jet time, and then obtain the minimum control moment that meets the unchanged direction of the control command vector. The specific scaling control block diagram is as shown in Figure 5 as shown.

[0044] In order to verify whether the post-capture attitude takeover control method based on the above four steps meets the technical index requirements, multiple shooting verifications are performed, and 500 groups of random simulations are obtained, Figure 6 The fuel consumption corresponding to 1000s (between 200s and 1200s) is within 50Ns, and the attitude angle and attitude angular velocity in FIG. 7 can be effectively controlled within the command range (angle threshold [-3°, 3°]; angular velocity threshold [-0.3° / s, 0.3° / s]). The technical index requirements of the capture task are met.

[0045] It should be noted that, as another aspect, the present application also provides a storage medium, which can be included in an electronic device or exist independently without being assembled into the electronic device. The storage medium carries one or more programs, which, when executed by an electronic device, cause the electronic device to implement the method described in the following embodiments.

[0046] In one embodiment, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

[0047] In addition, the above-described figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present application, and are not for limiting purposes. It is easy to understand that the processes shown in the above-described figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be executed synchronously or asynchronously, for example, in multiple modules.

[0048] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

[0049] It is to be understood that the application is not limited to the precise structures hereinabove described and shown in the drawings, for purposes of illustration and education only, and that variations in changes can be made by persons skilled in the art without departing from the scope of the present application. The scope of the application should be determined only by the claims appended hereto.

Claims

1. A method for attitude takeover control of a post-capture assembly of a space target by a space-borne vehicle, characterized in that, The method comprises: Combination body phase plane control law design: based on the real-time measurement of the attitude angle and the attitude angle rate of the combination body sensor, four phase plane switch lines are designed, the switch line area is subdivided, and the off, small thrust and large thrust working modes of the thruster are switched according to the position of the combination body in the subdivided phase plane; Zero space dynamic control thrust distribution: a combination body thruster configuration reconstruction matrix mathematical model is established, a thruster thrust feasible region is defined, the control amount generated by the phase plane control law is distributed to each thruster by using the zero space characteristics of the thruster configuration matrix through pseudo-inverse operation combined with zero space correction, and the distributed thrust is constrained within the physical boundary and the direction of the control instruction vector is kept unchanged; Thruster thrust PWM modulation: the continuous thrust obtained by the zero space control distribution is converted into thruster on-time by using the pulse width modulation method; Phase plane control moment switching logic: the phase plane control moment is dynamically scaled according to the attitude deviation of the combination body, the normal moment control mode is adopted when the attitude deviation is large, the small moment control mode is switched to when the attitude deviation is small, and the minimum control moment that satisfies the direction unchanged of the control instruction vector is obtained by normalizing the thruster on-time after PWM modulation.

2. The method of claim 1, wherein The expression of the four phase plane switch lines is: (1) wherein, is the attitude angle, is the attitude angular rate, is the switch line acceleration value, is the angle constraint boundary, is the phase plane time delay.

3. The method according to claim 2, wherein The off, small thrust and large thrust working modes of the thruster are switched according to the position of the combination body in the subdivided phase plane, specifically: The thrusters are kept off between the switch lines; when the open line is touched, the small thrust is used first, when the angle velocity is less than a preset threshold value when crossing the horizontal axis, the thrusters are turned off, and when the angle velocity is greater than the preset threshold value, the small thrust is continued to be used to reduce the angle velocity to the threshold; when the angle exceeds the set threshold value, the large thrust mode is switched to.

4. The method of claim 1, wherein, The combination body thruster configuration reconstruction matrix mathematical model is specifically: Definition of the position vector of the individual thrusters relative to the center of mass of the combination is: (2) wherein, is the position offset vector of the combination center of mass and the service spacecraft center of mass; Assume that the attitude transformation matrix between the service spacecraft body coordinate system and the assembly body coordinate system is , then the moment generated by the first th thruster on the assembly center of mass is ​ (3) wherein, is the direction vector of the j-th thruster in the service spacecraft body coordinate system, i is the direction vector of the j-th thruster in the service spacecraft body coordinate system, is the direction vector of the j-th thruster in the service spacecraft body coordinate system, i is the direction vector of the j-th thruster in the service spacecraft body coordinate system, is the position vector of the j-th thruster relative to the service spacecraft center of mass, i is the position vector of the j-th thruster relative to the service spacecraft center of mass, is the component of the unit thrust vector of the j-th thruster on the three axes of the service spacecraft body coordinate system, i is the component of the unit thrust vector of the j-th thruster on the three axes of the service spacecraft body coordinate system, is the thrust magnitude of the j-th thruster, i is the thrust magnitude of the j-th thruster, is the position offset vector of the combination center of mass and the service spacecraft center of mass, is the number of thrusters; The moment generated by all the thrusters to the center of mass of the service spacecraft is: (4) wherein is the thrust matrix of the thrusters of the assembly, is the thruster configuration reconstruction matrix after the change of the center of mass of the assembly: (5) (6) wherein, Tm is the reconfiguration matrix for the thrusters due to the offset of the assembly with respect to the mass center of the service spacecraft; The formula (4)-formula (6) constitutes the thruster configuration reconstruction matrix mathematical model in the combination body body coordinate system.

5. The method of claim 4, wherein, The thruster thrust feasible region is defined, the control amount generated by the phase plane control law is distributed to each thruster by using the zero space characteristics of the thruster configuration matrix through pseudo-inverse operation combined with zero space correction, specifically: The zero space matrix of the thruster configuration matrix is denoted as , satisfying The control allocation solution is expressed as where is the pseudo-inverse of the matrix A , and is a scaling factor; the blocks of and are processed to place the control quantities outside the feasible region of thrust at the limit position, and the solution is obtained to satisfy the constraints of the thrust allocation result.

6. The method of claim 1, wherein: The continuous thrust obtained by the zero space control distribution is converted into thruster on-time, specifically: wherein: represents the control distribution resulting continuous thrust, is the nominal thrust value of the thruster, is the control period.

7. The method of claim 1, wherein: The logic of dynamically scaling the phase plane control moment is: The minimum jet time greater than the minimum jet time after PWM modulation is selected, the jet time of all the thrusters is normalized to generate the scaled minimum jet time, and then the minimum control moment is obtained, and the direction of the control instruction vector is kept unchanged during the scaling process.

8. A storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to realize the space target capture after combination body attitude takeover control method of the starboard as claimed in any one of claims 1 to 7.

9. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the space target capture after combination body attitude takeover control method of the starboard as claimed in any one of claims 1 to 7.

10. An electronic device, comprising: It comprises: a processor; and a memory for storing executable instructions of the processor; The processor is configured to execute the space target capturing post-assembly attitude takeover control method of any one of claims 1-7 by executing the executable instructions.

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