Method and device for autonomously regulating and controlling nominal frame angle of variable topology CMG group

Abstract

The invention discloses an autonomous regulation and control method and device for a nominal frame angle of a variable topology CMG group, and belongs to the field of spacecraft attitude control. The method comprises the following steps: according to the axial symmetry of the mechanical installation configuration of the CMG group, summarizing all configurations of the CMG group in a full configuration state and an under-configuration state into a plurality of limited equivalent configuration classes; performing off-line optimization on each equivalent configuration class to sequentially obtain a nominal frame angle migration path corresponding to each equivalent configuration class; when the working state of the CMG group operating in orbit is changed, determining an optimal switching scheme from the migration path before the change to the migration path after the change according to the equivalent configuration classes before and after the change of the CMG group; and performing zero angular momentum switching on the CMG group according to the optimal switching scheme. According to the method, automatic switching and migration of nominal frame angles among CMG groups with different configurations can be realized, the on-satellite calculation and storage burden can be simplified to the greatest extent, and the system reliability is improved.

Description

Technical Field

[0001] This invention relates to the field of spacecraft attitude control technology, and in particular to an autonomous adjustment method and device for the nominal frame angle of a variable topology CMG group. Background Technology

[0002] Control moment gyroscopes (CMGs) are key actuators for achieving high-precision, large-angle, agile maneuvering attitude control in satellites and other spacecraft. To extend the service life of vulnerable components in the CMG system (such as low-speed conductive rings), a working mode is often adopted in which the nominal frame angle of the CMG assembly undergoes periodic, continuous, and wide-range migration to avoid localized wear caused by prolonged operation near a fixed position. However, when one or more CMGs in the CMG assembly fail and cease operation (i.e., "underconfiguration"), the effective configuration (topology) of the entire CMG system changes accordingly.

[0003] In related technologies, a new set of fixed nominal frame angle parameters is typically pre-calculated and assigned to each possible failure configuration. In other words, when a CMG group fails, the system needs to independently design a complete set of nominal frame angle migration paths for each possible underconfigured configuration. This leads to a sharp increase in the pre-calculated and stored path parameters, increasing the on-board computing and storage burden and reducing system reliability.

[0004] Therefore, there is an urgent need for an autonomous control method and device for the nominal frame angle of a variable topology CMG group to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides an autonomous adjustment method and apparatus for the nominal frame angle of variable topology CMG groups, enabling autonomous switching and migration of the nominal frame angle between CMG groups of different configurations, simplifying on-board computing and storage burdens as much as possible, and improving system reliability. The technical solution is as follows: On the one hand, an autonomous adjustment method for the nominal frame angle of a variable topology CMG group is provided, the method comprising: Based on the axisymmetry of the mechanical installation configuration of the CMG group, all configurations of the CMG group in the full configuration and under-configuration states are summarized into a finite number of equivalent configuration classes; Offline optimization is performed on each of the equivalent configuration classes to obtain the nominal frame angle migration path corresponding to each equivalent configuration class; wherein, the nominal frame angle migration path is used to characterize the periodic change trajectory of the frame angle of the CMG group to avoid the fixed-point wear of the low-speed conductive ring. When the working status of a CMG group in orbit changes, the optimal switching scheme from the migration path before the change to the migration path after the change is determined based on the equivalent configuration class of the CMG group before and after the change. The CMG group is switched to zero angular momentum according to the optimal switching scheme, so that the frame angle of the CMG group changes periodically according to the changed migration path.

[0006] On the other hand, an autonomous adjustment device for the nominal frame angle of a variable topology CMG group is provided, the device comprising: The classification module is used to classify all configurations of the CMG group in full configuration and under configuration states into a finite number of equivalent configuration classes based on the axisymmetry of the mechanical installation configuration of the CMG group; The optimization module is used to perform offline optimization on each of the equivalent configuration classes, and sequentially obtain the nominal frame angle migration path corresponding to each equivalent configuration class; wherein, the nominal frame angle migration path is used to characterize the periodic change trajectory of the frame angle of the CMG group to avoid the fixed-point wear of the low-speed conductive ring. The determination module is used to determine the optimal switching scheme from the migration path before the change to the migration path after the change, based on the equivalent configuration class of the CMG group before and after the change when the working status of the CMG group in orbit changes. The switching module is used to perform zero angular momentum switching on the CMG group according to the optimal switching scheme, so that the frame angle of the CMG group changes periodically according to the changed migration path.

[0007] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing computer programs, and the processor for executing the computer programs stored in the memory to implement the steps of the above-described method for autonomous adjustment of the nominal frame angle of the variable topology CMG group.

[0008] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, the steps of the above-described method for autonomous adjustment of the nominal frame angle of the variable topology CMG group are implemented.

[0009] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the above-described autonomous adjustment method for the nominal frame angle of a variable topology CMG group.

[0010] The technical solution provided by this invention offers at least the following beneficial effects: First, based on the axisymmetry of the CMG group's mechanical installation, the complex combinations of underconfiguration faults are summarized into a finite number of equivalent configuration classes, significantly reducing the total number of path configuration parameters. This solves the problems of heavy parameter storage burden and complex engineering implementation in traditional methods, significantly improving the system's simplicity and reliability. Second, based on the intelligent switching strategy determined by the equivalent configuration classes before and after the CMG group change, topology changes can be automatically identified and the optimal transition scheme can be calculated. Finally, a smooth switching is achieved through zero angular momentum migration, minimizing attitude disturbances, reducing jet compensation probability, effectively saving onboard fuel, and extending mission life. This solution possesses strong versatility; its principle originates from geometric symmetry rather than specific model design, and it can be widely applied to various spacecraft using CMG control. While improving on-orbit autonomous operation capabilities, it reduces maintenance costs, demonstrating significant technological competitive advantages and market application prospects. 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 an embodiment of the present invention for an autonomous adjustment method of the nominal frame angle of a variable topology CMG group; Figure 2 This is a schematic diagram of the nominal frame corner migration path in a CMG-free fault state provided by an embodiment of the present invention; Figure 3 This is a schematic diagram of the nominal frame corner migration path for a 1CMG fault state at the bottom corner, provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the nominal frame corner migration path for a 1CMG fault state at the apex of the present invention; Figure 5 This is a schematic diagram of the nominal frame corner migration path for a bottom corner adjacent 2CMG fault state provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the nominal frame corner migration path for a bottom corner alternating 2CMG fault state provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the nominal frame corner migration path for a fault state of apex corner 1CMG + bottom corner 1CMG provided in an embodiment of the present invention; Figure 8 This is a structural diagram of an autonomous adjustment device for the nominal frame angle of a variable topology CMG group provided in an embodiment of the present invention; Figure 9 This is a hardware architecture diagram of a computer 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] As mentioned earlier, existing methods typically pre-calculate and assign a new set of fixed nominal frame angle parameters for each possible fault configuration. This approach not only increases the burden of onboard storage and computation but also leads to satellite attitude loss due to the lack of switching logic.

[0015] Based on this, the concept of the present invention is to summarize and unify the complex under-configuration configurations by utilizing the inherent symmetry of the mechanical installation of CMG groups, and to design an intelligent switching decision mechanism.

[0016] The following describes the specific implementation of the above concept.

[0017] Please refer to Figure 1 This invention provides an autonomous adjustment method for the nominal frame angle of a variable topology CMG group, the method comprising: Step 100: Based on the axisymmetry of the mechanical installation configuration of the CMG group, all configurations of the CMG group in the full configuration and under-configuration states are summarized into a finite number of equivalent configuration classes. Step 102: Perform offline optimization on each of the equivalent configuration classes to obtain the nominal frame angle migration path corresponding to each equivalent configuration class in sequence; wherein, the nominal frame angle migration path is used to characterize the periodic change trajectory of the frame angle of the CMG group to avoid the fixed-point wear of the low-speed conductive ring. Step 104: When the working status of the CMG group in orbit changes, determine the optimal switching scheme from the migration path before the change to the migration path after the change based on the equivalent configuration class of the CMG group before and after the change. Step 106: Perform zero angular momentum switching on the CMG group according to the optimal switching scheme, so that the frame angle of the CMG group changes periodically according to the changed migration path.

[0018] In this embodiment of the invention, firstly, based on the axisymmetry of the CMG group's mechanical installation, the complex combinations of underconfiguration faults are summarized into a finite number of equivalent configuration classes, significantly reducing the total number of path configuration parameters. This solves the problems of heavy parameter storage burden and complex engineering implementation in traditional methods, significantly improving the system's simplicity and reliability. Secondly, based on the intelligent switching strategy determined by the equivalent configuration classes before and after the CMG group change, topology changes can be automatically identified and the optimal transition scheme can be calculated. Finally, a smooth switching is achieved through zero angular momentum migration, minimizing attitude disturbances, reducing jet compensation probability, effectively saving onboard fuel, and extending mission life. This scheme has strong versatility; its principle originates from geometric symmetry rather than specific model design, and can be widely applied to various spacecraft using CMG control. It improves on-orbit autonomous operation capabilities while reducing maintenance costs, demonstrating significant technological competitive advantages and market application prospects.

[0019] The following description Figure 1 The execution method for each step is shown.

[0020] First, for step 100, based on the axisymmetry of the mechanical installation configuration of the CMG group, all configurations of the CMG group in the full configuration and under-configuration states are summarized into a finite number of equivalent configuration classes.

[0021] In this embodiment of the invention, the mechanical installation configuration of the CMG group is analyzed in depth (such as the commonly used pentagonal pyramid configuration in orbit, taking a 6CMG configuration with 1CMG at the apex and 5CMG at the base as an example), utilizing its axisymmetric characteristics. Various possible under-configured CMG configurations (such as 5CMG operation, 4CMG operation, etc.) are summarized into a limited number of equivalent types based on their installation axisymmetric characteristics, rather than dealing with each specific CMG fault combination one by one.

[0022] The specific classifications are as follows: 5CMG can be divided into two configurations: bottom corner 1CMG fault and top corner 1CMG fault. 4CMG can be divided into three configurations: adjacent bottom corner 2CMG fault, alternating bottom corner 2CMG fault, and top corner + bottom corner 1CMG fault.

[0023] For example, 6CMG in full configuration: Status 1 (all 6CMGs are working normally): The configuration is symmetrical and complete, and no fault handling is required.

[0024] 5CMG under-configuration status is divided into two categories: State 2 (bottom corner 1 CMG failure): For example, CMG1 failure, the configuration symmetry is partially disrupted, resulting in limited migration range of adjacent CMGs (e.g., only covering 48°).

[0025] State 3 (Top Corner 1 CMG Failure): For example, if CMG6 fails, the remaining 5 bottom corner CMGs maintain high symmetry, have good periodicity of migration paths, and each CMG can achieve 360° coverage.

[0026] 4CMG under-configuration status is divided into three categories: State 4 (2 adjacent CMG faults at the bottom corner): For example, CMG1 and CMG2 faults, poor configuration, with a near-zero singularity partition area.

[0027] State 5 (2 CMG faults with alternating bottom corners): For example, CMG1 and CMG3 faults, which have better symmetry than State 4 but still have limitations.

[0028] State 6 (Top Corner + Bottom Corner 1 CMG Fault): For example, CMG6 and CMG1 faults have a relatively large migration range (approximately 128°).

[0029] By using axisymmetric induction, dozens of specific fault combinations are simplified into the aforementioned few equivalent configuration classes. This solves the problem of a sudden increase in the number of parameters and provides a unified framework for subsequent path configuration.

[0030] Then, for step 102, offline optimization is performed on each of the equivalent configuration classes to obtain the nominal frame corner migration path corresponding to each equivalent configuration class in turn.

[0031] After the classification is completed, it needs to be completed before the satellite launch. Through scientific calculation, the optimal nominal frame angle migration path is optimized for each equivalent configuration class. The nominal frame angle migration path is used to characterize the periodic change trajectory of the frame angle of the CMG group to avoid the fixed-point wear of the low-speed conductive ring.

[0032] Specifically, the nominal frame corner migration path has the following design goals: Avoid localized wear: By periodically and continuously migrating, fixed-point wear caused by the CMG low-speed conductive ring running in a fixed position for a long time is prevented; Maintaining control performance: Ensure that the path maintains good singularity characteristics throughout the migration process and avoids entering singular regions; Minimize resource consumption: Reduce the storage space of path parameters by optimizing calculations and improve on-board computing efficiency.

[0033] The following principles must also be met: Periodicity principle: The path must be connected end to end to form a closed loop, realizing infinite cyclical migration; Continuity principle: The changes in frame angles must be smooth and continuous to avoid sudden changes that could cause torque shocks; Accessibility principle: The path must be within the mechanical limits of CMG to meet physical feasibility.

[0034] Based on this, the planning process for the nominal frame corner migration path includes: When the CMG group is in full configuration, each CMG in the group can achieve a 360° full coverage nominal frame corner migration path based on the complete symmetry of the CMG group. When the top corner CMG is in an under-configured state, the periodic best migration path is determined based on the symmetry of the bottom corner CMG as the nominal frame corner migration path; When a single bottom corner CMG is in an underconfigured state, the set of paths with the best singularity state among all cycle paths is determined as the nominal frame corner migration path; When both CMGs are in an underconfigured state, a reciprocating migration path within the safe area is selected according to a preset singularity safety threshold, and the reciprocating migration path is connected end to end to obtain the nominal frame corner migration path.

[0035] Specifically: The path diagram for State 1—No CMG fault state is as follows: Figure 2 As shown: 6 CMGs are working, each with a unique state, and the rotating nominal frame corners where each CMG can migrate 360 ​​degrees can be found.

[0036] The path diagram for the fault state of State 2—bottom corner 1CMG is as follows: Figure 3 As shown, compared to 6CMG, after a failure of 5CMG and bottom corner 1CMG (taking CMG1 as an example), the configuration symmetry is disrupted, resulting in different types of periodic paths appearing during path optimization. The set with the best singularity state is selected as the usable value. Due to the asymmetry of the configuration, the load on each CMG is different. The two CMGs adjacent to CMG1 (2 and 5) do not achieve a 360-degree cycle, and the variation range is approximately 48°.

[0037] The path diagram for the fault state of state 3—vertex 1CMG is as follows: Figure 4 As shown, when the apex CMG of the pentagonal pyramid configuration fails, the remaining five CMGs still maintain good symmetry, a good configuration, and a nominal frame angle sequence with excellent periodicity. Under this sequence, all 5 CMGs achieve 360° low-velocity frame angle coverage, and the singularity remains almost always above 4, consistently maintaining a good configuration.

[0038] The path diagram for State 4—the fault state of 2 adjacent CMGs at the bottom corner is as follows: Figure 5 As shown, when there are two CMG faults in the pentagonal pyramid 6CMG configuration, the remaining 4CMG configurations are relatively poor, and the null space is separated by regions with singularity close to 0, making it impossible to directly optimize and obtain a suitable periodic path.

[0039] To address this issue, a certain singularity is set as a lower limit. A region above this lower limit is found on the optimization path, and a reciprocating motion is performed to achieve the connection of the first and last segments of the nominal frame corner sequence. When two adjacent CMG faults occur at the bottom corner (taking CMG1 & CMG2 faults as an example), a nominal frame corner migration path is obtained by setting the singularity lower limit to 1.5.

[0040] Due to the partition, this type of 4CMG configuration cannot achieve 360° coverage, and its minimum range of variation is approximately 54°.

[0041] The path diagram for State 5—the bottom corner alternating 2CMG fault state is as follows: Figure 6 As shown, when there is a CMG fault between two phases at the bottom corner (taking CMG1 & CMG3 faults as an example), setting the singularity lower limit to 1.0 yields a nominal frame corner migration path. Due to the partition, the 4 CMGs in this configuration also cannot achieve 360° coverage, and their minimum variation range is approximately 55°.

[0042] The path diagram for fault state 6—top corner 1CMG + bottom corner 1CMG—is as follows: Figure 7 As shown, when there is a fault in the top corner + bottom corner 1CMG (taking CMG6 & CMG1 faults as an example), setting the singularity lower limit to 1.0 will yield a nominal frame corner migration path.

[0043] Although the 4CMG configuration cannot achieve 360° coverage, its minimum range of variation is approximately 128°, which is relatively wide coverage.

[0044] Finally, for each of the six equivalent configurations (states 1-6), an optimal nominal frame angle periodic migration path was calculated and optimized offline. These path parameters and configuration classification rules were then compiled into the onboard control computer.

[0045] Regarding step 104, when the working status of the CMG group in orbit changes, the optimal switching scheme from the migration path before the change to the migration path after the change is determined based on the equivalent configuration class of the CMG group before and after the change.

[0046] In this embodiment of the invention, it is first determined whether the equivalent configuration class before and after the change belongs to the same type of configuration. If so, the frame angle of each CMG in the CMG group is transformed into a target frame angle of the same type of configuration but different topology to switch the migration path of the CMG group.

[0047] Specifically, when similar configurations exist but with different topological combinations, the following transformation logic is adopted: A specific example of a pentagonal pyramid configuration (using the 6CMG system as an example): Before the change: CMG1 and CMG2 were faulty, and the path was designed based on CMG3, 4, 5, and 6; After the change: CMG2 and CMG3 are faulty; the path applies to CMG1, 4, 5, and 6. Transformation rules: CMG index cyclic recursion: current CMG1 → original CMG5, current CMG4 → original CMG3, current CMG5 → original CMG4, current CMG6 → original CMG6; The apex CMG is handled separately: it is rotated by an angle based on symmetry (360° / 5=72°).

[0048] Other configurations follow the same principle.

[0049] Furthermore, the frame angle of each CMG in the changed CMG group (different topologies or different types of configurations) is optimized by inversion transformation to determine the target frame angle for the CMG group to smoothly transition from the current frame angle to the new migration path, so as to switch the migration path of the CMG group.

[0050] The process includes: determining the original sequence of frame angles on the corresponding migration path based on the modified equivalent configuration class, and increasing all frame angles in the original sequence by 180° to obtain the inverted sequence; Based on the initial frame angles before the CMG group change and the original sequence, the first Euclidean distance modulus between the initial frame angles and each frame angle in the original sequence is calculated to obtain the first modulus sequence. Based on the initial frame angles before the CMG group change and the inverted sequence, the second Euclidean distance modulus between the initial frame angles and each frame angle in the inverted sequence is calculated to obtain the second modulus sequence. Traverse the first module length sequence and the second module length sequence to determine the frame angle with the shortest module length as the target frame angle for migration.

[0051] In other words, the optimization process will traverse the nominal frame angles of the sequence and the corresponding inverted sequences, find the set of frame angles with the smallest difference magnitude with the current working CMG frame angles, determine them as the target frame angles for migration, and mark them with an inverted flag.

[0052] It is worth noting that abrupt changes in the CMG frame angle can lead to drastic changes in output torque, thereby increasing the risk of spacecraft attitude loss of control. A smaller difference modulus indicates a smaller frame angle adjustment and a smoother torque change, significantly reducing interference with attitude control. Therefore, this embodiment finds the target frame angle with the smallest modulus to ensure the continuity of the frame angle migration path and avoid abrupt changes.

[0053] For step 106, the CMG group is switched to zero angular momentum according to the optimal switching scheme, so that the frame angle of the CMG group changes periodically according to the changed migration path.

[0054] In this embodiment of the invention, the control system performs the switching in a zero angular momentum migration mode, that is, while keeping the angular momentum of the CMG combination unchanged, the frame angle is smoothly adjusted to the target point.

[0055] Further, determine whether the frame angle reaches the target frame angle within the preset time threshold. If so, end the migration and continuously monitor the working status of the CMG group. Otherwise, if the CMG group is found to be stuck, the control mode is adjusted to jet mode, and after migrating through PD control, it returns to angular momentum mode.

[0056] Please refer to Figure 8 This invention provides an autonomous adjustment device for the nominal frame angle of a variable topology CMG group, the device comprising: The classification module 800 is used to classify all configurations of the CMG group in full configuration and under configuration states into a finite number of equivalent configuration classes based on the axisymmetry of the mechanical installation configuration of the CMG group. The optimization module 802 is used to perform offline optimization on each of the equivalent configuration classes to obtain the nominal frame angle migration path corresponding to each equivalent configuration class in sequence; wherein, the nominal frame angle migration path is used to characterize the periodic change trajectory of the frame angle of the CMG group to avoid the fixed-point wear of the low-speed conductive ring. The determination module 804 is used to determine the optimal switching scheme from the migration path before the change to the migration path after the change, based on the equivalent configuration class of the CMG group before and after the change when the working status of the CMG group in orbit changes. The switching module 806 is used to perform zero angular momentum switching on the CMG group according to the optimal switching scheme, so that the frame angle of the CMG group changes periodically according to the changed migration path.

[0057] In this embodiment of the invention, the equivalent configuration class includes a full configuration, a vertex CMG underconfiguration configuration, a bottom 1CMG underconfiguration configuration, an adjacent bottom 2CMG underconfiguration configuration, an alternating bottom 2CMG underconfiguration configuration, and a vertex and bottom 1CMG underconfiguration configuration.

[0058] In this embodiment of the invention, the offline optimization of each equivalent configuration class to obtain the nominal frame corner migration path corresponding to each equivalent configuration class includes: when the CMG group is in a fully configured state, planning a nominal frame corner migration path that can achieve 360° full coverage for each CMG in the group based on the complete symmetry of the CMG group; when the top corner CMG is in an underconfigured state, determining the migration path with the best periodicity based on the symmetry of the bottom corner CMG as the nominal frame corner migration path; when a single bottom corner CMG is in an underconfigured state, determining the set of paths with the best singularity state among all periodic paths as the nominal frame corner migration path; when two CMGs are in an underconfigured state, selecting a reciprocating migration path within the safe area based on a preset singularity safety threshold, and connecting the reciprocating migration paths end to end to obtain the nominal frame corner migration path.

[0059] In this embodiment of the invention, determining the optimal switching scheme from the migration path before the change to the migration path after the change based on the equivalent configuration class of the CMG group before and after the change includes: determining whether the equivalent configuration class before and after the change belongs to the same type of configuration; if so, performing intra-group target frame angle transformation processing on the frame angle of each CMG in the CMG group to switch the migration path of the CMG group; if the equivalent configuration class before and after the change does not belong to the same type of configuration, performing inverse transformation optimization on the frame angle of each CMG in the CMG group to determine the migration target frame angle that allows the CMG group to smoothly transition from the current frame angle to the new migration path to switch the migration path of the CMG group.

[0060] In this embodiment of the invention, the step of performing a reverse transformation optimization on the frame angles of each CMG in the CMG group to determine the target frame angle for the smooth transition of the CMG group from the current frame angle to the new migration path includes: determining the original sequence of frame angles on the corresponding migration path based on the modified equivalent configuration class, and increasing all frame angles in the original sequence by 180° to obtain a reverse sequence; calculating the first Euclidean distance modulus between the initial frame angles of the CMG group before the change and the original sequence to obtain a first modulus sequence; calculating the second Euclidean distance modulus between the initial frame angles of the CMG group before the change and the reverse sequence to obtain a second modulus sequence; and traversing the first modulus sequence and the second modulus sequence to determine the frame angle with the shortest modulus as the target frame angle for migration.

[0061] In this embodiment of the invention, after the CMG group is switched to zero angular momentum according to the optimal switching scheme, the method further includes: determining whether the frame angle reaches the target frame angle within a preset time threshold; if so, ending the migration and continuously monitoring the working status of the CMG group; otherwise, determining that the CMG group is stuck, adjusting the control mode to jet mode, and returning to angular momentum mode after completing the migration through PD control.

[0062] It should be noted that the autonomous control device for the nominal frame angle of the variable topology CMG group provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the autonomous control device for the nominal frame angle of the variable topology CMG group provided in the above embodiments and the autonomous control method embodiment for the nominal frame angle of the variable topology CMG group belong to the same concept. The specific implementation process is detailed in the method embodiment, and will not be repeated here.

[0063] Embodiments of this application also provide a computer device, please refer to... Figure 9 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the autonomous control method for the nominal frame angle of the variable topology CMG group provided in the above method embodiments.

[0064] Embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the autonomous adjustment method for the nominal frame angle of the variable topology CMG group provided in the above-described method embodiments.

[0065] 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 the autonomous adjustment method for the nominal frame angle of the variable topology CMG group as described in any of the above embodiments.

[0066] For ease of description, the above systems or devices are described separately as various modules or units based on their functions. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware components.

[0067] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0068] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth 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.

[0069] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for autonomously adjusting the nominal frame angle of a variable topology CMG group, characterized in that, The method includes: Based on the axisymmetry of the mechanical installation configuration of the CMG group, all configurations of the CMG group in the full configuration and under-configuration states are summarized into a finite number of equivalent configuration classes; Offline optimization is performed on each of the equivalent configuration classes to obtain the nominal frame angle migration path corresponding to each equivalent configuration class; wherein, the nominal frame angle migration path is used to characterize the periodic change trajectory of the frame angle of the CMG group to avoid the fixed-point wear of the low-speed conductive ring. When the working status of a CMG group in orbit changes, the optimal switching scheme from the migration path before the change to the migration path after the change is determined based on the equivalent configuration class of the CMG group before and after the change. The CMG group is switched to zero angular momentum according to the optimal switching scheme, so that the frame angle of the CMG group changes periodically according to the changed migration path.

2. The method as described in claim 1, characterized in that, The equivalent configuration classes include full configuration, vertices CMG underconfiguration configuration, bottom corner 1CMG underconfiguration configuration, adjacent bottom corner 2CMG underconfiguration configuration, alternating bottom corner 2CMG underconfiguration configuration, and vertices and bottom corners 1CMG underconfiguration configuration.

3. The method as described in claim 2, characterized in that, The offline optimization of each equivalent configuration class, sequentially obtaining the nominal frame corner migration path corresponding to each equivalent configuration class, includes: When the CMG group is in full configuration, each CMG in the group can achieve a 360° full coverage nominal frame corner migration path based on the complete symmetry of the CMG group. When the top corner CMG is in an under-configured state, the migration path with the best periodicity is determined based on the symmetry of the bottom corner CMG as the nominal frame corner migration path; When a single bottom corner CMG is in an underconfigured state, the set of paths with the best singularity state among all cycle paths is determined as the nominal frame corner migration path; When both CMGs are in an underconfigured state, a reciprocating migration path within the safe area is selected according to a preset singularity safety threshold, and the reciprocating migration path is connected end to end to obtain the nominal frame corner migration path.

4. The method as described in claim 2, characterized in that, The step of determining the optimal switching scheme from the migration path before the change to the migration path after the change based on the equivalent configuration class of the CMG group before and after the change includes: Determine whether the equivalent configuration class before and after the change belongs to the same type of configuration. If so, perform target frame angle transformation processing on the frame angle of each CMG in the CMG group for different topologies of the same type of configuration. Then, perform inverse transformation optimization on the frame angle of each CMG in the changed CMG group to switch the migration path of the CMG group. If the equivalent configurations before and after the change do not belong to the same type of configuration, then the frame angle of each CMG in the changed CMG group is reversed and optimized to determine the target frame angle for the CMG group to smoothly transition from the current frame angle to the new migration path, so as to switch the migration path of the CMG group.

5. The method as described in claim 4, characterized in that, The step of performing a reverse transformation optimization on the frame angle of each CMG in the modified CMG group to determine the target frame angle for the smooth transition of the CMG group from the current frame angle to the new migration path includes: Based on the modified equivalent configuration class, determine the original sequence of frame angles on the corresponding migration path, and increase all frame angles in the original sequence by 180° to obtain the inverted sequence; Based on the initial frame angles before the CMG group change and the original sequence, the first Euclidean distance modulus between the initial frame angles and each frame angle in the original sequence is calculated to obtain the first modulus sequence. Based on the initial frame angles before the CMG group change and the inverted sequence, the second Euclidean distance modulus between the initial frame angles and each frame angle in the inverted sequence is calculated to obtain the second modulus sequence. Traverse the first module length sequence and the second module length sequence to determine the frame angle with the shortest module length as the target frame angle for migration.

6. The method as described in claim 1, characterized in that, After performing zero angular momentum switching on the CMG group according to the optimal switching scheme, the method further includes: Determine whether the frame angle reaches the target frame angle within the preset time threshold. If so, end the migration and continuously monitor the working status of the CMG group. Otherwise, if the CMG group is found to be stuck, the control mode is adjusted to jet mode, and after migrating through PD control, it returns to angular momentum mode.

7. An autonomous adjustment device for the nominal frame angle of a variable topology CMG group, characterized in that, The device includes: The classification module is used to classify all configurations of the CMG group in full configuration and under configuration states into a finite number of equivalent configuration classes based on the axisymmetry of the mechanical installation configuration of the CMG group; The optimization module is used to perform offline optimization on each of the equivalent configuration classes, and sequentially obtain the nominal frame angle migration path corresponding to each equivalent configuration class; wherein, the nominal frame angle migration path is used to characterize the periodic change trajectory of the frame angle of the CMG group to avoid the fixed-point wear of the low-speed conductive ring. The determination module is used to determine the optimal switching scheme from the migration path before the change to the migration path after the change, based on the equivalent configuration class of the CMG group before and after the change when the working status of the CMG group in orbit changes. The switching module is used to perform zero angular momentum switching on the CMG group according to the optimal switching scheme, so that the frame angle of the CMG group changes periodically according to the changed migration path.

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

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

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

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