A method and system for active phase stabilization control of flexible vibrations during satellite agile maneuvers

Abstract

This invention relates to the field of spacecraft attitude control technology, and more particularly to an active phase stabilization control method and system for flexible vibration during agile maneuvers of satellites. Based on a two-level collaborative architecture of primary control on the satellite platform and secondary control on the three-dimensional super-platform, this method addresses the problem of sustained oscillations easily triggered by large flexible appendages after agile maneuvers by designing an active phase stabilization controller. This controller is configured to specifically design the key flexible mode frequencies affecting maneuver stability. Through phase lead compensation, the damping ratio of the system is effectively increased, thereby rapidly suppressing flexible vibrations after maneuver cessation. By distributing the load control torque, after phase stabilization compensation, to each actuator on the three-dimensional super-platform, rapid stabilization of the load direction within seconds is achieved, overcoming the contradiction between rapid maneuvering and ultra-high stability that is difficult to achieve in existing technologies, and meeting the stability requirements of ultra-high resolution imaging.

Description

Technical Field

[0001] This invention relates to the field of spacecraft attitude control technology, and in particular to an active phase stabilization control method and system for satellite agile maneuvering flexible vibration. Background Technology

[0002] With the continuous development of space missions such as high-resolution Earth observation and moving target tracking, stringent performance requirements have been placed on highly flexible satellites, namely, "ultra-high precision pointing, ultra-high stability control, and ultra-agile control" (i.e., "three supers"). These satellites typically have large solar arrays, antennas, and other flexible attachments, resulting in low and dense overall satellite modal frequencies and complex rigid-flexible-fluid coupling dynamics. During agile maneuvers involving rapid start-up and stop, large oscillations in the flexible attachments are easily induced, creating a significant contradiction with the "fast, stable, ultra-precise, and ultra-stable" control requirements of ultra-high resolution imaging.

[0003] In the prior art, Chinese patent application CN108646775A discloses a method for agile maneuvering and rapid stabilization control of a three-dimensional hyperplanet. This method achieves rapid load pointing through a two-stage collaborative structure of primary attitude control of the celestial body and secondary control of the active pointing hyperstatic platform (i.e., the three-dimensional hyperplanet). However, this method mainly relies on path planning and traditional PID control, and does not design a dedicated damping enhancement mechanism for the inherent low-frequency modes of large flexible attachments. This results in slow attenuation of flexible vibrations after maneuvering to the desired position, making it difficult to meet the requirement of achieving ultra-high stability within seconds.

[0004] Another prior art patent application, CN105372993A, discloses a vibration suppression method for flexible satellite attitude maneuvers, which uses an input shaper combined with robust control to suppress vibration. However, this method does not employ the advanced structure of a "triple-platform" that enables independent and precise control at the load level, and therefore cannot ensure ultra-high precision load pointing while suppressing vibration, making it difficult to meet the dual requirements of "speed" and "stability".

[0005] Therefore, the existing technology still has the following shortcomings:

[0006] 1) Under the two-level control framework based on the three-super platform, there is a lack of effective means to actively dampen and enhance the key flexible modes that affect rapid stability; 2) It is impossible to effectively suppress the continuous oscillations caused by flexible attachments after the maneuver stops while achieving rapid maneuvering; 3) The efficiency and speed of flexible vibration suppression are insufficient, making it difficult to meet the stringent requirement of rapidly achieving ultra-high stability after the large flexible satellite has completed its maneuver. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method and system for active phase stabilization control of flexible vibrations during satellite agile maneuvers. This aims to solve the problem that existing large flexible satellites are unable to quickly suppress flexible vibrations after rapid maneuvers, thus failing to meet the requirements for ultra-high stability imaging.

[0008] To achieve the above objectives, in a first aspect, the present invention provides a method for active phase stabilization control of satellite agile maneuvering and flexible vibration, comprising the following steps:

[0009] A control model for the primary control of the satellite platform is established, and the control torque of the satellite platform is calculated based on the attitude control error and angular velocity control error of the satellite platform.

[0010] A control model for the two-level control of the three-dimensional platform is established, and the active control torque of the load is calculated based on the attitude control error and angular velocity control error of the load.

[0011] Based on the two-level control of the three-super platform, an active phase stabilization controller is designed to target the flexible mode frequency that affects the stability after maneuvering; the calculated active control torque of the load is input to the active phase stabilization controller to obtain the load control torque after phase stabilization compensation;

[0012] The load control torque, after phase stabilization compensation, is distributed to each actuator of the three-dimensional platform, thereby achieving damping enhancement control of flexible vibration through the actuators.

[0013] Optionally, the control model for the primary control of the satellite platform is as follows:

[0014]

[0015] in, Satellite platform control torque The calculation formula is:

[0016]

[0017] In the formula, The rotational inertia matrix of the satellite platform; The angular momentum of the control torque gyroscope on the satellite platform; The angular velocity of the satellite platform; yes The derivative of is the angular acceleration of the satellite platform; This refers to the reaction torque of the super platform on the satellite platform; The external disturbance torque experienced by the satellite platform; The total inertia of the entire satellite is the sum of the satellite platform inertia, the inertia of the three super platforms, and the payload inertia. , , For the PID parameters of the satellite platform controller; , These are the satellite platform attitude control error and angular velocity control error, respectively. The desired angular velocity of the satellite platform; yes The derivative of is the desired angular acceleration of the satellite platform.

[0018] Optionally, the control model for the two-level control of the three-dimensional super platform is as follows:

[0019]

[0020] Among them, the active control torque of the load The calculation formula is:

[0021] in, The inertia of the load; The load angular velocity; yes The derivative of is the load angular acceleration; The disturbance torque experienced by the load; This is the expression for the inertia of the load relative to the load's center of mass in the whole star's center of mass coordinate system; These are the PID parameters for the load controller; , These are respectively the load attitude control error and the angular velocity control error; The desired angular velocity of the load; yes The derivative is the desired angular acceleration of the load; superscript This is the cross product operator.

[0022] Optionally, the model of the active phase stabilization controller is as follows:

[0023]

[0024]

[0025]

[0026] in, The output of the control torque after passing through the active phase stabilizing controller; , , For active control torque of load In the X, Y, and Z axis components, , , , , , , , , , , , These are the control parameters for the X, Y, and Z active phase stabilization controllers, respectively. For the Laplace operator.

[0027] Optionally, the active phase stabilization controller operates only on one or more control axes affected by the first-order modal frequency of the flexible attachment.

[0028] Optionally, the load control torque after phase stabilization compensation is distributed to each actuator of the three-dimensional platform using the following formula:

[0029]

[0030] in, Let be the Jacobian matrix from the load space to the actuator motion space; for The generalized inverse matrix of the transpose of ; For actuator control quantity array, subscript The number represents the number of actuators, and the superscript T is the transpose symbol.

[0031] In a second aspect, the present invention also provides a two-level collaborative control system for the entire satellite, used to implement any of the methods described in the first aspect. The system includes a satellite platform, a three-dimensional platform, a payload, and an active phase stabilization control module disposed within the three-dimensional platform.

[0032] The triple-platform is installed between the satellite platform and the payload;

[0033] The three-dimensional platform includes multiple actuators, each of which integrates a spring-damped passive element, a voice coil motor, and an eddy current displacement sensor.

[0034] The active phase stabilization control module is configured to receive the load active control torque calculated by the secondary controller of the three-dimensional platform, and perform phase compensation on the control torque based on the preset flexible mode frequency parameters, and output the load control torque after phase stabilization compensation to the actuator.

[0035] Optionally, the system further includes a satellite platform control unit and a supersonic platform control unit;

[0036] The satellite platform control unit is configured to perform primary control of the satellite platform;

[0037] The three-dimensional platform control unit is configured to perform the two-level control of the three-dimensional platform and integrates the active phase stabilization control module.

[0038] Optionally, the sensor used in the system includes:

[0039] Satellite platform gyroscopes are used to measure the angular velocity of satellite platforms.

[0040] Load star sensor, used to measure load inertial attitude;

[0041] A load micrometer sensor is used to measure the angular velocity of a load.

[0042] The eddy current sensor for the three-dimensional platform is used to measure the relative displacement between the load and the satellite platform.

[0043] Thirdly, the present invention also provides a highly flexible satellite equipped with a two-stage collaborative control system for the entire satellite as described in any of the second aspects.

[0044] The above-described technical solution of the present invention has the following advantages:

[0045] The active phase stabilization control method for flexible vibration during agile maneuvers provided by this invention, based on a two-level collaborative architecture of primary control on the satellite platform and secondary control on the three-dimensional super-platform, addresses the problem of continuous oscillations easily triggered by large flexible attachments after agile maneuvers by designing an active phase stabilization controller. This controller is configured to specifically design the key flexible mode frequencies affecting maneuver stability. Through phase lead compensation, the damping ratio of the system is effectively increased, thereby rapidly suppressing flexible vibrations after maneuvering stops. By distributing the load control torque after phase stabilization compensation to each actuator on the three-dimensional super-platform, rapid stabilization of the load direction within seconds is achieved. Without affecting the satellite's rapid maneuvering capability, the stabilization speed after maneuvering is significantly improved, achieving the control objective of "fast start, fast stop, and fast stabilization." This overcomes the contradiction between rapid maneuvering and ultra-high stability that is difficult to achieve in existing technologies, meeting the stability requirements of ultra-high resolution imaging and providing key technical support for the next generation of high-resolution Earth observation satellites.

[0046] The two-level collaborative control system for the entire satellite provided by this invention integrates the active phase stabilization control module as a dedicated functional unit into the control unit of the three-super platform. Together with the satellite platform, the three-super platform actuator, and the high-precision sensor, it forms a vibration suppression hardware platform, which supports the reliable operation of the method of this invention in orbit and supports the realization of the damping enhancement effect from a physical level.

[0047] The highly flexible satellite provided by this invention is characterized by its integration of the aforementioned two-stage coordinated control system. Due to its active vibration suppression capability, this satellite achieves shorter stabilization times and higher imaging quality compared to traditional satellites when performing agile observation tasks. Attached Figure Description

[0048] The accompanying drawings are provided for illustrative purposes only, and the proportions and quantities of the components in the drawings may not be consistent with the actual product.

[0049] Figure 1 This is a schematic diagram of the two-level collaborative control system for satellites in an embodiment of the present invention;

[0050] Figure 2 This is a comparison of the Bode plots of the open-loop frequency characteristics of the control system between the method of the present invention and the traditional method without damping enhancement control.

[0051] Figure 3 This is a schematic diagram comparing the suppression effects of the method of this invention and the method without damping enhancement control on the satellite platform after a disturbance is applied to the satellite platform.

[0052] Figure 4 A schematic diagram of the attitude angle response curve of a satellite during a rapid point-to-point maneuver of 1 degree in the roll direction;

[0053] Figure 5 A schematic diagram of the attitude angular velocity response curve of a satellite during a rapid point-to-point maneuver of 1 degree in the roll direction;

[0054] Figure 6 This is a schematic diagram comparing the stability of a satellite platform and its payload when a rapid 1-degree roll-direction maneuver with a small angle in the roll direction is performed without using damping enhancement control methods.

[0055] Figure 7 This is an enlarged schematic diagram of the load stability curve for a rapid 1-degree roll direction maneuver with a small angle of motion, without the use of damping enhancement control methods.

[0056] Figure 8 A schematic diagram showing the comparison of stability between a satellite platform and its payload during a rapid 1-degree roll direction maneuver at a small angle, using a damping-enhanced control method.

[0057] Figure 9 An enlarged schematic diagram of the load stability curve for a rapid 1-degree roll direction maneuver at a small angle, using a damping-enhanced control method;

[0058] Figure 10 This diagram illustrates the comparison of load stability during rapid 1-degree maneuvering in the rolling direction with and without the use of damping-enhanced control methods.

[0059] In the picture:

[0060] 100: Satellite;

[0061] 101: Satellite platform;

[0062] 102: Three-Super Platform;

[0063] 103: Load. Detailed Implementation

[0064] 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 only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] Combination Figure 1 The two-level collaborative control system of satellite 100 shown in this embodiment, and the active phase stabilization control method for satellite agile maneuvering and flexible vibration provided in this embodiment, are executed on the hardware basis consisting of satellite platform 101, triple super platform 102 and payload 103. The specific steps are as follows:

[0066] (1) Satellite platform primary control: Establish a control model for the primary control of the satellite platform, based on the attitude control error of satellite platform 101. and angular velocity control error Calculate and output the control torque of satellite platform 101 .

[0067] (2) Two-level control of the three-level super platform: A control model for the two-level control of the three-level super platform is established, based on the attitude control error of the load. and angular velocity control error Calculate the active control torque of the load. .

[0068] (3) Active phase stabilization control: Based on the two-level control of the three-dimensional platform, the calculated phase stabilization control is used to stabilize the phase. The input is fed to the active phase stabilization controller. This controller is designed to target the critical flexible mode frequencies that affect post-maneuver stability. Phase compensation and filtering are performed to output the load control torque after phase stabilization compensation. .

[0069] (4) Control allocation and execution: The algorithm is applied to each actuator of the three-dimensional platform 102 to drive its voice coil motor to output precise control force, thereby achieving damping enhancement control of flexible vibration.

[0070] This method employs an active phase stabilization controller to address the inherent low-frequency modes of highly flexible attachments. This controller provides precise phase lead compensation at key modal frequencies, effectively increasing the system's damping ratio and thus rapidly suppressing large-amplitude flexible oscillations generated after maneuvers. By embedding a phase stabilization module into a mature two-stage cooperative control framework, this invention significantly improves the stabilization speed after maneuvering without compromising the satellite's rapid maneuverability, achieving the control objective of "fast start, fast stop, and fast stabilization," and meeting the stringent stability requirements of ultra-high-resolution imaging.

[0071] The control model for the primary control of the satellite platform consists of the platform dynamic equations and the controller control law. In one example, the dynamic model describes the motion of the satellite platform 101 under the action of external forces and torques:

[0072]

[0073] The control law is designed based on this dynamic model and is used to calculate the control torque. It adopts a combination of feedforward and PID feedback:

[0074]

[0075] In the formula, The rotational inertia matrix of the satellite platform; The angular momentum of the control torque gyroscope on the satellite platform; The angular velocity of the satellite platform; yes The derivative of is the angular acceleration of the satellite platform; This refers to the reaction torque of the super platform on the satellite platform; The external disturbance torque experienced by the satellite platform; The total inertia of the entire satellite is the sum of the satellite platform inertia, the inertia of the three super platforms, and the payload inertia. , , For the PID parameters of the satellite platform controller; , These are the satellite platform attitude control error and angular velocity control error, respectively. The desired angular velocity of the satellite platform; yes The derivative of is the desired angular acceleration of the satellite platform.

[0076] In a specific simulation scenario, the spacecraft model parameters are set as follows:

[0077] Satellite platform rotational inertia ;

[0078] Total inertia of the entire star ;

[0079] Controller parameters , , ;

[0080] The three-dimensional platform has 8 actuators. Substituting the above parameters into the control model of the satellite platform's first-level control, the control torque of the satellite platform's first-level control is obtained. .

[0081] This model achieves fast and stable attitude control of the satellite platform. Feedforward term ( This improves the speed of maneuver tracking, while the PID feedback term ensures the accuracy and stability of control, providing a solid foundation for the ultra-precise pointing of the load.

[0082] The control model for the secondary control of the triple-super-platform consists of load dynamics equations and controller control laws. In one example, the dynamics model describes the motion of load 103 (coupled to the satellite platform via triple-super-platform 102):

[0083]

[0084] The control law is used to calculate the active control torque of the load. It also adopts a combination of feedforward and PID feedback:

[0085]

[0086] In the formula, The inertia of the load; The load angular velocity; yes The derivative of is the load angular acceleration; The disturbance torque experienced by the load; This is the expression for the inertia of the load relative to the load's center of mass in the whole star's center of mass coordinate system; , , , are the PID parameters of the load controller; , These are respectively the load attitude control error and the angular velocity control error; The desired angular velocity of the load; yes The derivative is the desired angular acceleration of the load; superscript This is the cross product operator.

[0087] In a specific simulation scenario, the PID control parameters for the load controller design are as follows: , , ;

[0088]

[0089] The active control torque of the load in the secondary control of the three-dimensional platform is obtained from the above parameters. .

[0090] The three-level platform's secondary control has a bandwidth far exceeding that of the primary control, enabling rapid and precise adjustment of the load's attitude. This ensures the load's final pointing accuracy and stability, and is the core of achieving "ultra-precise and ultra-stable" performance.

[0091] In one example, based on the two-stage control of the three-dimensional super-platform, an active phase stabilization controller is designed to rapidly stabilize the flexible mode frequency after maneuvering under the influence of a highly flexible satellite. The active phase stabilization controller model is as follows:

[0092]

[0093]

[0094]

[0095] in, The output of the control torque after passing through the active phase stabilizing controller; , , For active control torque of load In the X, Y, and Z axis components, , , , , , , , , , , , These are the control parameters for the X, Y, and Z active phase stabilization controllers, respectively. For the Laplace operator.

[0096] In this embodiment, it is assumed that the first-order modal frequency of the flexible attachment is 0.12Hz, and the main influence direction is the X-axis rotation direction. Preferably, in this embodiment, the controller is only activated on one or more control axes affected by the first-order modal frequency of the flexible attachment; for control axes that are not activated, their corresponding transfer function value is 1. Based on this, an active phase stabilization controller is designed in the X-axis rotation direction. , , If no active phase stabilization controller is introduced in the rotation directions of the Y and Z axes, then , , , .

[0097] This design produces a significant phase lead at the critical modal frequency (0.12Hz), effectively increasing the system damping. For example... Figure 2 As shown, this ensures system stability while rapidly attenuating vibrations at that frequency (see effect). Figure 3 , Figures 8-10 The selective activation strategy optimizes computational resources and avoids introducing unnecessary phase distortion in non-critical directions.

[0098] In one example, the compensated load control torque The actuators assigned to the three-dimensional platform 102 are achieved by solving the following allocation equation:

[0099]

[0100] in, Let be the Jacobian matrix from the load space to the actuator motion space; for The generalized inverse matrix of the transpose of ; This is an array of actuator control parameters, representing the output force commands of each voice coil motor. (Subscript) The number represents the number of actuators. In this embodiment, there are 8 actuators. The superscript T is the transpose symbol.

[0101]

[0102] Based on the above parameters, the active phase stabilization control method for satellite agile maneuvering and flexible vibration is simulated and verified.

[0103] Figure 2 Bode plots of a three-stage two-level control system with and without damping enhancement control method are presented. As can be seen from the figure, by adding an active phase stabilizing controller, the phase lead of the flexible vibration mode is achieved, thereby improving the damping ratio of the flexible attachment.

[0104] Figure 3 The curves showing the effect of damping-enhanced control on the suppression of disturbances on the satellite platform are presented. As can be seen from the figure, by adding damping-enhanced control based on the two-level coordinated control of the three super platforms, the amplitude at the flexural vibration frequency position can be greatly reduced.

[0105] Figure 4 and Figure 5 Simulation results for attitude angles and angular velocities during a 1-degree rolling maneuver are presented. Figure 6 and Figure 7The stability comparison results for the load and satellite platform are presented for a 1-degree rolling maneuver and an undamped enhanced control method, as well as the load stability results. After a small-angle maneuver to completion, the solar panel will experience significant oscillations. When no damping enhancement method is used, and only a two-stage coordinated control method is employed, the satellite platform stability after a rapid maneuver to completion is approximately 0.02 degrees / second, while the load stability is approximately 6 × 10⁻⁶. -5 At degrees per second, compared to the satellite platform, the load's flexural vibration is attenuated by more than 100 times, but there is still a small amount of flexural vibration. Figure 8 and Figure 9 The stability comparison results for the load and satellite platform under a 1-degree rolling maneuver with damped enhanced control method are presented, along with the load stability results. From... Figure 8 As can be seen, by adopting a damping-enhanced control method, the flexible vibration of the satellite platform is further attenuated. After rapid maneuvering to position, the stability of the satellite platform is approximately 0.02 degrees / second, while the load stability is approximately 1×10⁻⁶. -5 With a speed of degrees per second, compared to the satellite platform, the load's flexural vibration is attenuated by more than 1,000 times, enabling the highly flexible satellite to stabilize within 5 seconds after rapid maneuvering to its position. Figure 10 The results of comparing load stability with and without damping enhancement control method for rapid 1-degree maneuver at a small angle are presented. As can be seen from the figure, the damping enhancement control method further suppresses the flexural vibration after the maneuver is completed, and finally achieves rapid and stable control of flexural vibration after the rapid maneuver of the large flexural satellite, ensuring the ultra-precise and ultra-stable environment required for the high-performance operation of the payload.

[0106] This embodiment also provides a two-stage collaborative control system for the entire satellite, which integrates an active phase stabilization control module to achieve active phase stabilization control. Specifically, in this embodiment, the system includes:

[0107] Satellite Platform 101: Carries the entire satellite and performs primary control.

[0108] The 3C platform 102: Core actuator. It consists of multiple actuators, each of which includes a spring-damped passive element, a voice coil motor, and an eddy current displacement sensor.

[0109] Payload 103: Effective payloads such as optical imaging.

[0110] Control units: These include the satellite platform control unit and the supersonic platform control unit. The supersonic platform control unit integrates an active phase stabilization control module.

[0111] Sensor system: including satellite platform gyroscope, payload star sensor, payload micrometer sensor and three-dimensional platform eddy current sensor, providing full-state feedback for two-level control.

[0112] This system integrates an active phase stabilization control module as a dedicated functional unit, constructing a dedicated vibration suppression hardware platform. This system forms a complete functional closed loop, from sensor perception to dedicated module decision-making and actuator execution, ensuring the reliable realization of damping enhancement effects at the physical level.

[0113] This embodiment also provides a highly flexible satellite, characterized by its integration with the aforementioned two-stage collaborative control system. Due to its active vibration suppression capability, this satellite achieves shorter stabilization times and higher imaging quality compared to traditional satellites when performing agile observation tasks.

[0114] The contents of this invention not described in detail are common knowledge to those skilled in the art.

[0115] 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 not every embodiment contains only one independent technical solution, and in the absence of conflict between solutions, the various technical features mentioned in each embodiment can be combined in any way to form other implementation methods that can be understood by those skilled in the art.

[0116] Furthermore, without departing from the scope of the present invention, modifications to the technical solutions described in the foregoing embodiments, or equivalent substitutions of some of the technical features, shall 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 active phase stabilization control of flexible vibrations during satellite agile maneuvers, characterized in that, Includes the following steps: A control model for the primary control of the satellite platform is established, and the control torque of the satellite platform is calculated based on the attitude control error and angular velocity control error of the satellite platform. A control model for the two-level control of the three-dimensional platform is established, and the active control torque of the load is calculated based on the attitude control error and angular velocity control error of the load. Based on the two-level control of the three-super platform, an active phase stabilization controller is designed to target the flexible mode frequency that affects the stability after maneuvering. The calculated active control torque of the load is input to the active phase stabilization controller to obtain the load control torque after phase stabilization compensation; The load control torque after phase stabilization compensation is distributed to each actuator of the three-dimensional platform, and the damping enhancement control of the flexible vibration is achieved through the actuators. The control model for the primary control of the satellite platform is as follows: Among them, satellite platform control torque The calculation formula is: In the formula, The moment of inertia matrix of the satellite platform; The angular momentum of the control torque gyroscope on the satellite platform; The angular velocity of the satellite platform; yes The derivative of is the angular acceleration of the satellite platform; This refers to the reaction torque of the super platform on the satellite platform; The external disturbance torque experienced by the satellite platform; The total inertia of the entire satellite is the sum of the satellite platform inertia, the inertia of the three super platforms, and the payload inertia. , , For the PID parameters of the satellite platform controller; , These are the satellite platform attitude control error and angular velocity control error, respectively. The desired angular velocity of the satellite platform; yes The derivative of is the desired angular acceleration of the satellite platform; The control model for the two-level control of the three-dimensional platform is as follows: Among them, the active control torque of the load The calculation formula is: in, The inertia of the load; The load angular velocity; yes The derivative of is the load angular acceleration; The disturbance torque experienced by the load; This is the expression for the inertia of the load relative to the load's center of mass in the whole star's center of mass coordinate system; These are the PID parameters for the load controller; , These are respectively the load attitude control error and the angular velocity control error; The desired angular velocity of the load; yes The derivative of is the desired angular acceleration of the load; superscript This is the cross product operator; The model of the active phase stabilization controller is as follows: in, The output of the control torque after passing through the active phase stabilizing controller; , , For active control torque of load In the X, Y, and Z axis components, , , , , , , , , , , , These are the control parameters for the X, Y, and Z active phase stabilization controllers, respectively. For the Laplace operator.

2. The method according to claim 1, characterized in that: The active phase stabilization controller operates only on one or more control axes affected by the first-order mode frequency of the flexible attachment.

3. The method according to claim 1, characterized in that, The load control torque, after phase stabilization compensation, is distributed to each actuator of the three-dimensional platform using the following formula: in, Let be the Jacobian matrix from the load space to the actuator motion space; for The generalized inverse matrix of the transpose of ; For actuator control quantity array, subscript The number represents the number of actuators, and the superscript T is the transpose symbol.

4. A two-stage collaborative control system for a satellite, used to implement the method according to any one of claims 1 to 3, characterized in that, It includes a satellite platform, a super platform, a payload, and an active phase stabilization control module installed within the super platform; The triple-platform is installed between the satellite platform and the payload; The three-dimensional platform includes multiple actuators, each of which integrates a spring-damped passive element, a voice coil motor, and an eddy current displacement sensor. The active phase stabilization control module is configured to receive the load active control torque calculated by the secondary controller of the three-dimensional platform, and perform phase compensation on the control torque based on the preset flexible mode frequency parameters, and output the load control torque after phase stabilization compensation to the actuator.

5. The system according to claim 4, characterized in that, The system also includes a satellite platform control unit and a supersonic platform control unit; The satellite platform control unit is configured to perform primary control of the satellite platform; The three-dimensional platform control unit is configured to perform the two-level control of the three-dimensional platform and integrates the active phase stabilization control module.

6. The system according to claim 4, characterized in that, The sensors used in the system include: Satellite platform gyroscopes are used to measure the angular velocity of satellite platforms. Load star sensor, used to measure load inertial attitude; A load micrometer sensor is used to measure the angular velocity of a load. The eddy current sensor for the three-dimensional platform is used to measure the relative displacement between the load and the satellite platform.

7. A highly flexible satellite, characterized in that, It is equipped with a two-level collaborative control system for the entire satellite as described in any one of claims 4 to 6.

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