Satellite attitude control method and device, electronic equipment and readable storage medium

Abstract

The application provides a satellite attitude control method and device, electronic equipment and readable storage medium. The method comprises the following steps: establishing a center-of-mass offset calculation model of the system center-of-mass position changing with the residual fuel mass of different tanks according to the comprehensive center-of-mass position obtained by superimposing the dry mass center-of-mass position and the initial center-of-mass deviation; establishing a fuel uneven discharge model of different tanks according to different initial fuel masses, nominal flow rates and uneven discharge influence factors of different tanks; identifying a target working condition from a plurality of preset working conditions according to a target initial center-of-mass deviation and target uneven discharge influence factors of different tanks; establishing a coupling disturbance torque model of the 490N engine, and substituting the thrust vector detection data into the coupling disturbance torque model to obtain the current orbit disturbance torque in real time; and dynamically controlling at least one thruster group for attitude control during on-orbit control according to the target working condition and the current orbit disturbance torque.

Description

Technical Field

[0001] This application relates primarily to the field of spacecraft attitude control technology, and in particular to a satellite attitude control method, device, electronic equipment, and readable storage medium. Background Technology

[0002] During satellite orbit transfer, uneven fuel discharge from parallel propellant tanks can easily occur, leading to problems such as center of mass shift and disturbance torque, affecting attitude stability and orbit control performance. Especially during orbit control of satellites with high fuel ratios, center of mass shift exhibits a significant cumulative effect with fuel consumption. Furthermore, it is affected by initial deviations, flow resistance differences, installation errors, and the superposition of multiple orbit control operations, which can easily result in discharge deviations exceeding the normal range, placing higher demands on the attitude control system.

[0003] Many related technologies focus on single aspects such as mass characteristic calculation, emission coefficient estimation, or tank adjustment, rather than forming a closed-loop logic of "emission monitoring - centroid calculation - torque cancellation - attitude control." This results in insufficient adaptation to extreme deviations and the cumulative centroid effect of satellites with high fuel ratios. Furthermore, many of these technologies assume balanced emissions or small deviations, failing to fully consider coupling factors such as cumulative deviations after multiple orbit control maneuvers, engine installation deviations, and initial centroid deviations. When faced with large emission deviations or significant centroid shifts in the later stages of fuel consumption, this may affect the accuracy and stability of attitude control, and even cause attitude control actuators (such as thrusters) to exceed their control capability thresholds. Summary of the Invention

[0004] The purpose of this invention is to provide a satellite attitude control method, apparatus, electronic device, and readable storage medium to solve the above-mentioned technical problems.

[0005] Firstly, this application provides a satellite attitude control method, including:

[0006] Based on the comprehensive centroid position obtained by superimposing the dry weight centroid position and the initial centroid deviation, a centroid offset calculation model is established to show the change of the system centroid position with the remaining fuel mass of different tanks.

[0007] Based on the different initial fuel masses, nominal flow rates, and uneven emission influencing factors of different storage tanks, fuel uneven emission models for the different storage tanks are established.

[0008] Substituting the initial centroid detection data into the centroid offset calculation model, the target initial centroid deviation is obtained; and substituting the tank fuel flow rate data into the fuel uneven emission model, the target uneven emission influence factor for the different tanks is obtained.

[0009] Based on the initial centroid deviation of the target and the impact factors of the unbalanced emission of the target in different tanks, the target operating condition is identified from a variety of preset operating conditions;

[0010] A coupled disturbance torque model for the 490N engine was established, and thrust vector detection data was substituted into the coupled disturbance torque model to calculate the disturbance torque for the current orbit in real time; and,

[0011] Based on the target operating conditions and the current track disturbance torque, at least one thruster group is dynamically controlled for attitude control during track control.

[0012] In some embodiments, the centroid offset calculation model uses the sum of the product of the overall centroid position and the satellite dry weight, and the sum of the products of the remaining fuel mass of each tank and the corresponding tank position coordinates as the numerator, and the sum of the satellite dry weight and the remaining fuel mass of each tank as the denominator, to calculate the system centroid position.

[0013] In some embodiments, in the fuel imbalance emission model, the remaining fuel mass of a tank is obtained by subtracting the cumulative fuel consumption of the tank during each orbit control period based on the initial fuel mass of one of the different tanks.

[0014] In some embodiments, in the coupled disturbance torque model, the disturbance torque of the current orbit is characterized as the cross product of the position difference between the 490N engine mounting position and the position of the system centroid, and the actual thrust vector considering the thrust vector deviation.

[0015] In some embodiments, there are four different tanks and two thruster groups, wherein each thruster group consists of 12 10N thrusters.

[0016] In some embodiments, a target operating condition is identified from multiple preset operating conditions based on the target initial centroid deviation and the target uneven emission influence factors of the different storage tanks, including:

[0017] If the initial centroid deviation of the target is ≤3mm, and the absolute value of the deviation between the target uneven emission influence factor of each tank and the benchmark value is ≤1.5%, it is identified as a normal coupled operating condition.

[0018] If the initial centroid deviation of the target is ≤3mm, and the cumulative absolute value of the deviation between the target unbalanced emission influence factor and the benchmark value of at least one of the different tanks is ≥3%, it is identified as a normal centroid extreme emission condition.

[0019] For a target initial centroid deviation of 3mm ≤ 9mm, and the absolute value of the deviation between the target unbalanced emission influence factor of each tank and the benchmark value is ≤ 1.5%, it is identified as a large centroid conventional emission condition.

[0020] For cases where the initial centroid deviation of the target is ≤3mm and the cumulative absolute value of the deviation between the target unbalanced emission influence factor and the baseline value of at least one of the different tanks is ≥3%, the case is identified as an extreme coupling condition.

[0021] In some embodiments, based on the target operating condition and the current orbital disturbance moment, dynamically controlling at least one thruster group for attitude control during orbit control includes:

[0022] For the target operating condition being the conventional coupling operating condition, when the absolute value of the current orbital disturbance torque is ≤10.5Nm, control a single thruster group to perform attitude control;

[0023] For the target operating condition being the conventional centroid extreme emission operating condition, firstly, during a specified number of orbits in the orbit control period, a single thruster group is controlled to perform attitude control, and then during the remaining orbits, two thruster groups are controlled to perform attitude control in coordination.

[0024] For the target operating condition, which is the large center of mass conventional emission operating condition, the two thruster groups are controlled in coordination to perform attitude control throughout the entire process.

[0025] For the target working condition being the extreme coupling working condition, pre-compensation is performed on the static torque corresponding to the initial centroid deviation. After the pre-compensation is completed, the two thruster groups are controlled to coordinate attitude control throughout the entire process.

[0026] Secondly, this application provides a satellite attitude control device, comprising:

[0027] The model building module is used to establish a centroid offset calculation model for the system centroid position as the remaining fuel mass of different tanks changes, based on the comprehensive centroid position obtained by superimposing the dry weight centroid position and the initial centroid deviation. It also establishes a fuel imbalance emission model for different tanks based on their different initial fuel masses, nominal flow rates, and imbalance emission influence factors. The module substitutes the initial centroid detection data into the centroid offset calculation model to obtain the target initial centroid deviation, and substitutes the tank fuel flow rate data into the fuel imbalance emission model to obtain the target imbalance emission influence factor for each tank. Furthermore, it establishes a coupled disturbance torque model for the 490N engine and substitutes the thrust vector detection data into the coupled disturbance torque model to calculate the disturbance torque for the current orbit in real time.

[0028] The operating condition identification module is used to identify the target operating condition from a variety of preset operating conditions based on the initial centroid deviation of the target and the target uneven emission influence factors of different storage tanks; and,

[0029] The control decision module is used to dynamically control at least one thruster group to perform attitude control during orbit control based on the target operating conditions and the current orbit disturbance torque.

[0030] Thirdly, this application provides an electronic device, comprising:

[0031] One or more processors; and,

[0032] One or more memories coupled to one or more processors and storing instructions thereon, which, when the instructions are executed by one or more processors or together, cause the electronic device to perform the method as described in any one of the first aspects.

[0033] Fourthly, this application provides a non-transitory computer-readable storage medium storing machine-executable instructions that, when executed by one or more processors of a machine, cause the machine to perform the method as described in any one of the first aspects.

[0034] Compared with related technologies, the beneficial effects of the embodiments of this application are as follows:

[0035] This application's embodiment constructs a triple-coupled full-chain model, integrating the synergistic effects of initial centroid deviation, fuel imbalance emissions, and thrust vector deviation. It also divides various preset operating conditions, covering coupling interference in all scenarios from normal to extreme, and clarifies control strategies under different operating conditions. During orbit control, it dynamically controls at least one thruster group for attitude control without ground intervention, thereby effectively improving the accuracy and stability of satellite attitude control. This scheme has strong adaptability and can be directly applied to the SMILE satellite orbit control system. It can also be extended to other spacecraft with high fuel ratios and multiple orbit control cycles, demonstrating strong engineering practicality. Attached Figure Description

[0036] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of some embodiments thereof in the accompanying drawings, in which:

[0037] Figure 1 A flowchart of a satellite attitude control method provided in an embodiment of this application is shown;

[0038] Figure 2 A logical schematic diagram of a satellite attitude control method provided in an embodiment of this application is shown;

[0039] Figure 3 A schematic diagram of a satellite attitude control device provided in an embodiment of this application is shown;

[0040] Figure 4 A schematic diagram of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0041] The principles of this disclosure will now be described with reference to some embodiments. It should be understood that these embodiments are described for illustrative purposes only and to assist those skilled in the art in understanding and implementing this disclosure, and do not impose any limitation on the scope of this disclosure. The disclosure described herein may be implemented in ways other than those described below.

[0042] In the following description and claims, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0043] References to "an embodiment," "embodiment," "exemplary embodiment," etc., in this disclosure indicate that the described embodiments may include specific features, structures, or characteristics, but not every embodiment needs to include specific features, structures, or characteristics. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an exemplary embodiment, whether explicitly described or not, those skilled in the art will recognize that such a feature, structure, or characteristic affects its connection to other embodiments.

[0044] The following section uses the SMILE satellite as an example to describe the specific scheme of this application. The core engineering parameters of this satellite are as follows:

[0045] The satellite's initial launch mass is 2300 kg, dry weight is 713 kg, maximum fuel mass is 1587 kg, and the initial centroid deviation range is ≤9 mm (X / Y / Z directions in mechanical coordinate system).

[0046] The coordinates of the four storage tanks are: TOA (583.6,431.8,857) mm, TOB (-583.6,-431.8,857) mm, TFA (-583.6,431.8,857) mm, and TFB (583.6,-431.8,857) mm.

[0047] 490N engine mounting position (-855.6, 51.95, 0) mm, thrust vector deviation upper limit 3′, specific impulse ≥315s;

[0048] The single-group control torque of the 10N thruster is ±10.5Nm, and the combined control torque of the two groups is ±21Nm, with a specific impulse ≥270s.

[0049] Figure 1 A flowchart of a satellite attitude control method provided in an embodiment of this application is shown, including the following steps:

[0050] S101. Based on the comprehensive centroid position obtained by superimposing the dry weight centroid position and the initial centroid deviation, a centroid offset calculation model is established to calculate the change of the system centroid position with the remaining fuel mass of different tanks.

[0051] In some embodiments, the centroid offset calculation model uses the sum of the product of the overall centroid position and the satellite's dry weight, and the sum of the products of the remaining fuel mass of different tanks and the corresponding tank position coordinates as the numerator, and the sum of the satellite's dry weight and the remaining fuel mass of different tanks as the denominator, to calculate the system's centroid position.

[0052] Define the position of the system's center of mass after the Nth orbital change as r cm ( N ), which satisfies the following expression:

[0053]

[0054] in, m d For satellite dry weight, r d The location of the dry weight's center of mass. m f,i ( N ) is the first i One storage tank ( i =1~4 (corresponding to TOA, TOB, TFA, TFB) N The remaining fuel mass after the second orbital change. r f,i For the first i The coordinates of the location of each storage tank.

[0055] S102. Based on the different initial fuel masses, nominal flow rates, and uneven emission influencing factors of different storage tanks, establish fuel uneven emission models for different storage tanks.

[0056] In some embodiments, in the fuel imbalance emission model, the remaining fuel mass of a tank is obtained by subtracting the cumulative fuel consumption of a tank during each orbit control period based on the initial fuel mass of one of the tanks.

[0057] Define the impact factor k of uneven emissions i Under normal operating conditions (including the normal coupled operating conditions and the large center of mass normal emission operating conditions mentioned below), k i =1±1.5%, k under extreme operating conditions (including the conventional centroid extreme emission condition and extreme coupling condition mentioned later) i =1±3%; The total fuel flow rate of the 490N engine is 0.1587 kg / s, and the nominal flow rate of a single oxidizer tank is v. o0 =0.0494 kg / s, nominal flow rate v of a single propellant tankf0 =0.0299kg / s;

[0058] No. N After the second orbit control was completed, the first i The remaining fuel mass in each tank satisfies the following expression:

[0059]

[0060] in, m f,i (0) represents the i-th storage tank ( i =1~4 corresponds to the initial fuel mass of TOA, TOB, TFA, and TFB; t k The duration of the k-th orbit control operation; v i0 The nominal flow rate of the i-th tank ( v o0 or v f0 ).

[0061] S103, substitute the initial centroid detection data into the centroid offset calculation model to obtain the target initial centroid deviation, and substitute the tank fuel flow rate data into the fuel imbalance emission model to obtain the target imbalance emission influence factor for different tanks.

[0062] S104. Based on the initial centroid deviation of the target and the impact factors of the uneven emission of the target in different storage tanks, the target operating condition is identified from a variety of preset operating conditions.

[0063] In some embodiments, a target operating condition is identified from multiple preset operating conditions based on the target initial centroid deviation and the target uneven emission impact factors of different tanks, including:

[0064] For targets with an initial centroid deviation of ≤3mm and an absolute value of the deviation between the target uneven emission influence factor and the baseline value for each tank in different tanks of ≤1.5%, it is identified as a normal coupled operating condition.

[0065] For targets with an initial centroid deviation of ≤3mm, and for targets with an uneven emission impact factor in at least one tank with an absolute value of ≥3% from the baseline value, the condition is identified as a normal centroid extreme emission condition.

[0066] For a target initial centroid deviation of 3mm ≤ 9mm, and the absolute value of the deviation between the target unbalanced emission influence factor of each tank and the benchmark value is ≤ 1.5%, it is identified as a large centroid conventional emission condition.

[0067] For cases where the target initial centroid deviation is 3mm ≤ 9mm and the cumulative absolute value of the deviation between the target unbalanced emission influence factor and the baseline value in at least one of the different tanks is ≥ 3%, the case is identified as an extreme coupled condition.

[0068] Define the initial centroid deviation of the target as δ r 0', the target fuel imbalance emission impact factor is k i Multiple preset operating conditions can meet the following triggering conditions:

[0069] 1) Conventional coupling condition: δ r 0'≤3mm and k of all tanks i 'Satisfy | k i -1 | ≤ 1.5%;

[0070] 2) Conventional centroid extreme emission conditions: δ r 0'≤3mm and k exists in the storage tank i 'Satisfy | k i -1|≥3%, or at least two tanks of k i The cumulative value of ' is ≥3%;

[0071] 3) Large center of mass conventional emission condition: 3mm≤δ r 0'≤9mm and k of all tanks i 'Satisfy | k i -1 | ≤ 1.5%;

[0072] 4) Extreme coupling condition: 3mm≤δ r 0'≤9mm and a storage tank exists satisfying |k i -1|≤1.5%, or k of at least two tanks i The cumulative value of ' is ≥3%.

[0073] S105. Establish a coupled interference torque model for the 490N engine, and substitute the thrust vector detection data into the coupled interference torque model to calculate the interference torque of the current orbit in real time.

[0074] In some embodiments, in the coupled disturbance torque model, the disturbance torque of the current orbit is characterized as the cross product of the position difference between the 490N engine mounting position and the system centroid position, and the actual thrust vector considering the thrust vector deviation.

[0075] Define the disturbance torque of the current orbit as M dist ( N ), which satisfies the following expression:

[0076]

[0077] Where, r 490 For the mounting location of the 490N engine, F 490 The actual thrust vector that takes into account thrust vector deviation.

[0078] S106, based on the target working conditions and the current track disturbance torque, dynamically control at least one thruster group for attitude control during track control.

[0079] In some embodiments, at least one thruster group includes thruster group A and thruster group B, each group consisting of 12 10N thrusters.

[0080] In some embodiments, based on the target operating condition and the current orbital disturbance moment, at least one thruster group is dynamically controlled for attitude control during orbit control, including:

[0081] 1. For the target working condition being a conventional coupled working condition, when the absolute value of the disturbance torque of the current orbit is ≤10.5Nm, control the attitude control of a single thruster group.

[0082] 2. For the target operating condition being the normal center of mass extreme emission condition, firstly, during the specified number of orbits in the orbit control period, control a single thruster group for attitude control, and then control two thruster groups in coordination for attitude control during the remaining orbits.

[0083] For example, in the SMILE satellite, the specified number can be 8, that is, a single thruster group is activated for attitude control in orbits 1-8, and two thruster groups are activated in coordination for attitude control in orbits 9-11.

[0084] 3. For the target operating condition of large center of mass and conventional emission, the two thruster groups are controlled in coordination to perform attitude control throughout the entire process.

[0085] 4. For the target working condition being an extreme coupled working condition, pre-compensation is performed on the static torque corresponding to the initial centroid deviation. After the pre-compensation is completed, the two thruster groups are controlled to coordinate attitude control throughout the entire process.

[0086] refer to Figure 2 The diagram illustrates the logic of the satellite attitude control method. This application's embodiment constructs a triple-coupled full-chain model, integrating the synergistic effects of initial centroid deviation, uneven fuel emissions, and thrust vector deviation. It also divides the model into multiple preset operating conditions, covering coupling interference across all scenarios from normal to extreme, clearly defining control strategies under different operating conditions, and accommodating various needs. During orbit control, it dynamically controls at least one thruster group for attitude control without ground intervention, thereby effectively improving the accuracy and stability of satellite attitude control. This scheme is highly adaptable and can be directly applied to the SMILE satellite orbit control system. It can also be extended to other spacecraft with high fuel consumption and multiple orbit control cycles, demonstrating strong engineering practicality.

[0087] Figure 3 A schematic diagram of a satellite attitude control device provided in this application is shown. The device includes:

[0088] The model building module 301 is used to establish a centroid offset calculation model for the system centroid position as the remaining fuel mass of different tanks changes, based on the comprehensive centroid position obtained by superimposing the dry weight centroid position and the initial centroid deviation. Based on the different initial fuel masses, nominal flow rates and unbalanced emission influence factors of different tanks, it establishes fuel unbalanced emission models for different tanks. It substitutes the initial centroid detection data into the centroid offset calculation model to obtain the target initial centroid deviation, and substitutes the tank fuel flow rate data into the fuel unbalanced emission model to obtain the target unbalanced emission influence factors for different tanks. It also establishes a coupled interference torque model for the 490N engine, and substitutes the thrust vector detection data into the coupled interference torque model to calculate the interference torque of the current orbit in real time.

[0089] The operating condition identification module 302 is used to identify the target operating condition from multiple preset operating conditions based on the initial centroid deviation of the target and the impact factors of uneven emission from different storage tanks; and,

[0090] The control decision module 303 is used to dynamically control at least one thruster group to perform attitude control during track control based on the target working conditions and the current track disturbance torque.

[0091] It should be understood that the implementation principle and beneficial effects of the satellite attitude control device can be referred to the above method embodiments, and will not be repeated here.

[0092] Figure 4 This refers to an electronic device applicable to embodiments of this application. For example... Figure 4 The electronic device includes one or more memories 401 and one or more processors 402, wherein the one or more memories 401 are coupled to and store instructions thereon, the instructions being executed by the one or more processors 402 or together, causing the electronic device to perform the method as described in any of the first aspects.

[0093] It should be understood that the processor mentioned in the embodiments of this application can be a CPU, or other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0094] It should also be understood that the memory mentioned in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory, dynamic random access memory, synchronous dynamic random access memory, double data rate synchronous dynamic random access memory, enhanced synchronous dynamic random access memory, synchronous linked dynamic random access memory, and direct memory bus random access memory.

[0095] This application also provides a non-transitory computer-readable storage medium storing machine-executable instructions that can be executed by one or more processors of a machine. The machine may include electronic devices as mentioned above. When the machine-executable instructions are executed by one or more processors, the machine performs any of the methods mentioned above.

[0096] Computer-readable storage media may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. This propagated signal may take various forms, including electromagnetic, optical, and so on, or suitable combinations thereof. The computer-readable storage medium can be connected to an instruction execution system, apparatus, or device to enable communication, propagation, or transmission of a program for use. The program code located on the computer-readable storage medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or similar media, or any combination of the above media.

[0097] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0098] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0099] Some aspects of this application can be executed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The aforementioned hardware or software may be referred to as a "data block," "module," "engine," "unit," "component," or "system." The processor may be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. Furthermore, aspects of this application may manifest as computer products residing in one or more computer-readable media, including computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic tapes, etc.), optical discs (e.g., compressed CDs, digital multifunction DVDs, etc.), smart cards, and flash memory devices (e.g., cards, sticks, key drives, etc.).

[0100] A computer-readable medium may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. This propagated signal may take various forms, including electromagnetic, optical, and so on, or suitable combinations thereof. A computer-readable medium can be any computer-readable medium other than a computer-readable storage medium, which can be connected to an instruction execution system, apparatus, or device to enable communication, propagation, or transmission of a program for use. The program code located on the computer-readable medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or similar media, or any combination of the above media.

[0101] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0102] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

Claims

1. A satellite attitude control method, characterized in that, include: Based on the comprehensive centroid position obtained by superimposing the dry weight centroid position and the initial centroid deviation, a centroid offset calculation model is established to show the change of the system centroid position with the remaining fuel mass of different tanks. Based on the different initial fuel masses, nominal flow rates, and uneven emission influencing factors of different storage tanks, fuel uneven emission models for the different storage tanks are established. Substituting the initial centroid detection data into the centroid offset calculation model, the target initial centroid deviation is obtained; and substituting the tank fuel flow rate data into the fuel uneven emission model, the target uneven emission influence factor for the different tanks is obtained. Based on the initial centroid deviation and the target uneven emission influence factors of different tanks, the target operating condition is identified from a variety of preset operating conditions, wherein the variety of preset operating conditions is a combination of the following operating conditions: normal coupled operating condition, normal centroid extreme emission operating condition, large centroid normal emission operating condition and extreme coupled operating condition. A coupled disturbance torque model for the 490N engine was established, and the thrust vector detection data was substituted into the coupled disturbance torque model to calculate the disturbance torque of the current orbit in real time. as well as, Based on the target operating conditions and the current track disturbance torque, at least one thruster group is dynamically controlled for attitude control during track control.

2. The method as described in claim 1, characterized in that, In the centroid offset calculation model, the system centroid position is calculated by using the sum of the product of the overall centroid position and the satellite dry weight, and the sum of the products of the remaining fuel mass of each tank and the corresponding tank position coordinates as the numerator, and the sum of the satellite dry weight and the remaining fuel mass of each tank as the denominator.

3. The method as described in claim 1, characterized in that, In the fuel imbalance emission model, the remaining fuel mass of a tank is obtained by subtracting the cumulative fuel consumption of the tank during each orbit control period based on the initial fuel mass of one of the different tanks.

4. The method as described in claim 1, characterized in that, In the coupled interference torque model, the interference torque of the current orbit is represented as the cross product of the position difference between the 490N engine installation position and the position of the system's centroid, and the actual thrust vector considering the thrust vector deviation.

5. The method as described in claim 1, characterized in that, There are four different storage tanks and two thruster groups, with each thruster group consisting of 12 10N thrusters.

6. The method as described in claim 5, characterized in that, Based on the initial centroid deviation and the target uneven emission impact factors of different storage tanks, the target operating condition is identified from multiple preset operating conditions, including: If the initial centroid deviation of the target is ≤3mm, and the absolute value of the deviation between the target uneven emission influence factor of each tank and the benchmark value is ≤1.5%, it is identified as a normal coupled operating condition. If the initial centroid deviation of the target is ≤3mm, and the cumulative absolute value of the deviation between the target unbalanced emission influence factor and the benchmark value of at least one of the different tanks is ≥3%, it is identified as a normal centroid extreme emission condition. For a target initial centroid deviation of 3mm ≤ 9mm, and the absolute value of the deviation between the target unbalanced emission influence factor of each tank and the benchmark value is ≤ 1.5%, it is identified as a large centroid conventional emission condition. For cases where the initial centroid deviation of the target is ≤3mm and the cumulative absolute value of the deviation between the target unbalanced emission influence factor and the baseline value of at least one of the different tanks is ≥3%, the case is identified as an extreme coupling condition.

7. The method as described in claim 6, characterized in that, Based on the target operating condition and the current orbital disturbance moment, at least one thruster group is dynamically controlled for attitude control during orbit control, including: For the target operating condition being the conventional coupling operating condition, when the absolute value of the current orbital disturbance torque is ≤10.5Nm, control a single thruster group to perform attitude control; For the target operating condition being the conventional centroid extreme emission operating condition, firstly, during a specified number of orbits in the orbit control period, a single thruster group is controlled to perform attitude control, and then during the remaining orbits, two thruster groups are controlled to perform attitude control in coordination. For the target operating condition, which is the large center of mass conventional emission operating condition, the two thruster groups are controlled in coordination to perform attitude control throughout the entire process. For the target working condition being the extreme coupling working condition, pre-compensation is performed on the static torque corresponding to the initial centroid deviation. After the pre-compensation is completed, the two thruster groups are controlled to coordinate attitude control throughout the entire process.

8. A satellite attitude control device, characterized in that, include: The model building module is used to establish a centroid offset calculation model for the system centroid position as the remaining fuel mass of different tanks changes, based on the comprehensive centroid position obtained by superimposing the dry weight centroid position and the initial centroid deviation. It also establishes a fuel imbalance emission model for different tanks based on their different initial fuel masses, nominal flow rates, and imbalance emission influence factors. The module substitutes the initial centroid detection data into the centroid offset calculation model to obtain the target initial centroid deviation, and substitutes the tank fuel flow rate data into the fuel imbalance emission model to obtain the target imbalance emission influence factor for each tank. Furthermore, it establishes a coupled disturbance torque model for the 490N engine and substitutes the thrust vector detection data into the coupled disturbance torque model to calculate the disturbance torque for the current orbit in real time. The operating condition identification module is used to identify the target operating condition from a variety of preset operating conditions based on the target initial centroid deviation and the target uneven emission influence factors of different tanks. The various preset operating conditions are combinations of the following operating conditions: normal coupled operating condition, normal centroid extreme emission operating condition, large centroid normal emission operating condition, and extreme coupled operating condition; and... The control decision module is used to dynamically control at least one thruster group to perform attitude control during track control based on the target operating conditions and the current track disturbance torque.

9. An electronic device, characterized in that, include: One or more processors; as well as, One or more memories coupled to one or more processors and storing instructions thereon, which, when executed by one or more processors or together, cause an electronic device to perform the method as described in any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing machine-executable instructions, characterized in that, When executed by one or more processors of the machine, the machine-executable instructions cause the machine to perform the method as described in any one of claims 1-7.

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