Spacecraft despinning maneuver global energy optimal planning method

Abstract

The application discloses a spacecraft despinning control global energy optimal planning method, system and equipment, and belongs to the technical field of spacecrafts. The method comprises the following steps: decomposing the attitude motion of a tumbling target to obtain an attitude decomposition result; describing each despinning period in the attitude decomposition result in a rectangular sequence to obtain a rectangular sequence of the tumbling target; introducing optimization variables in the rectangular sequence of the tumbling target, and constructing a global energy optimal planning model according to the constraint conditions of the despinning process; and scheduling the target tumbling kinetic energy during spacecraft operation according to the global energy optimal planning model. The method avoids the long waiting problem in the traditional local optimal planning method, improves the despinning efficiency, and reduces fuel consumption.

Description

Technical Field

[0001] This invention relates to the field of spacecraft technology, specifically to a method, system, device, medium, and program for global energy optimization planning of spacecraft despin control. Background Technology

[0002] After more than 70 years of satellite technology development, there are currently over 20,000 satellites operating in Earth orbit. However, due to limitations such as onboard fuel reserves and mechanical lifespan, the number of failed satellites is increasing year by year. These failed satellites not only cause significant economic losses but also remain in space for extended periods, occupying valuable orbital resources and posing a collision risk to high-value spacecraft. Therefore, on-orbit maintenance and refueling of failed spacecraft are urgently needed to extend their lifespan in orbit. However, failed spacecraft often experience complex tumbling states due to control system failures and the influence of space environment torques, resulting in extremely high risks associated with direct capture. Therefore, despinning maneuvers to stabilize the target's attitude are a crucial foundational step in conducting on-orbit maintenance.

[0003] In recent years, scholars both domestically and internationally have proposed various despinning methods. Among them, contact methods, represented by flexible brushes, can apply Newton-level control forces to the target and are suitable for stabilizing large targets. However, their control accuracy and the problem of excessive force application still need to be solved. Non-contact despinning methods, because they do not directly contact the target, have been widely studied due to their high safety and strong directivity. According to the control medium, they can be divided into electromagnetic, plume, and laser methods, etc., and the magnitude of the control force applied to the target is between tens of millinewtons and several Newtons. Regardless of whether it is a contact or non-contact despinning method, due to the limited maneuverability of the servicing spacecraft, the servicing spacecraft is usually fixed at a position outside the target's tumbling. As the target's solar panels rotate into the force application area, the actuators (flexible brushes, thrusters, laser generators, etc.) on the servicing spacecraft work to apply control forces to the target. When the target's solar panels are not in the force application area, they remain in a free tumbling state. Therefore, almost all despinning control methods can be modeled as periodic control, as shown in Figure 1.

[0004] Despin control planning involves planning the trajectory of the service spacecraft and the magnitude and location of maneuvers applied to the target solar panels during the despin process, aiming to improve despin efficiency and reduce fuel consumption while ensuring safety. Traditional planning methods primarily focus on suppressing the target's spin, but often neglect nutation suppression. This limited despin planning method cannot simultaneously suppress all three rotational degrees of freedom. Early attempts to directly incorporate nutation constraints into the planning model significantly limited the solution space and hindered improvements in despin efficiency. Although planning methods for different deturbation media can be mutually referenced, they all share a common drawback: they focus only on optimization within the operational period, neglecting the waiting period that constitutes the majority of the entire despin process. While these methods can achieve local optima within each control period, they fail to achieve global optima for periodic control missions. Specifically, as the target angular velocity gradually decays towards the end of the mission, a waiting period of hundreds of seconds is required between adjacent operational periods, which severely weakens the overall deturbation efficiency. These limitations stem from the fact that traditional despinning methods suppress the target's angular velocity from the perspective of dynamic equations and are limited by the periodic fluctuations of the triaxial angular velocity, without finding the monotonic variable in complex tumbling—tumbling energy—to solve the core problem of despinning from the perspective of energy suppression. Summary of the Invention

[0005] Existing despin methods focus only on spin suppression while neglecting nutation suppression, cannot simultaneously suppress all three rotational degrees of freedom, and optimize only the operation period while ignoring the larger waiting period, making it difficult to achieve global optimization and efficient despinning. This invention provides a global energy-optimal planning method for spacecraft despinning control, avoiding the long waiting time problem of traditional local optimal planning methods, improving despinning efficiency, and reducing fuel consumption.

[0006] To achieve the above objectives, the present invention provides the following technical solution.

[0007] In a first aspect, the present invention provides a method for global energy optimization planning of spacecraft despin control, comprising: The attitude motion of the tumbling target is decomposed to obtain the attitude decomposition result; Each despin cycle in the attitude decomposition results is described by a rectangular sequence to obtain the rectangular sequence of the tumbling target. Optimization variables are introduced into the rectangular sequence of the tumbling target, and a global energy-optimal planning model is constructed based on the constraints of the despinning process. Based on the global energy optimal planning model, the target tumbling energy is scheduled during spacecraft operations.

[0008] As a further improvement of the present invention, the step of decomposing the attitude motion of the tumbling target to obtain the attitude decomposition result includes: The attitude motion of a tumbling target is decomposed into the rotational energy of the tumbling target. and the nutation kinetic energy of the tumbling target ; In the formula, Let be the moment of inertia of the target about the y-axis; Let be the moment of inertia of the target about the x-axis; Let be the moment of inertia of the target about the z-axis; Circling around the target angular velocity components of the axis, Circling around the target angular velocity components of the axis, Circling around the target Angular velocity components of the axis; In each tumbling cycle of the tumbling target, a despinning torque is applied to reduce the rotational energy and nutational kinetic energy of the tumbling target until both the rotational energy and nutational kinetic energy of the tumbling target are reduced to zero, thus obtaining the attitude decomposition result.

[0009] As a further improvement of the present invention, the step of describing each despinning cycle in the attitude decomposition result with a rectangular sequence to obtain the graph theory of the tumbling target includes: Based on the decrease in spin energy during each despinning cycle in the attitude decomposition results , The decrease in kinetic energy of nutation , This yields the total energy reduction for each cycle. The total energy reduction in each despin cycle is equivalent to a rectangle. The graph theory of the tumbling target is obtained by filling the rectangle representing the initial energy of the tumbling target completely.

[0010] As a further improvement of the present invention, the step of introducing optimization variables into the graph theory of the tumbling target and constructing a global energy-optimal programming model based on the constraints of the despinning process includes: Introducing waiting time between consecutive despin cycles As an optimization variable; The objective function is to minimize the sum of all waiting times, and a global energy-optimal planning model is constructed based on the constraints of the despin process.

[0011] As a further improvement of the present invention, the constraint conditions for the derotation process include: Nutonic kinetic energy is lower than rotational energy:

[0012] The constraint for suppressing spin energy in each operation cycle is: ; The constraint for suppressing the nutation kinetic energy during the operating period is expressed as:

[0013] In the formula, This indicates the aspect ratio of the solar panel. ; The maximum reduction in angular velocity that can be achieved per unit time when force is applied to a spacecraft; For the movement angle; The time constant represents the characteristic time of the nutation damping; This represents the decrease in rotational energy during the current cycle. This represents the decrease in nutational kinetic energy during the current cycle. The rotational energy of the tumbling target.

[0014] As a further improvement of the present invention, the step of scheduling the target tumbling energy during spacecraft operation according to the global energy optimal planning model includes: Using a global energy optimal planning model, the amount of self-rotation energy and nutation kinetic energy suppression of the flipping target during the despinning period is obtained; Based on the rotational energy and nutation kinetic energy suppression of the flipped target during the despinning period, the target tumbling energy during the scheduling spacecraft operation is generated.

[0015] Secondly, the present invention provides a global energy optimization planning system for spacecraft despin control, comprising: Attitude Decomposition Result Module: Used to decompose the attitude motion of the rolling target and obtain the attitude decomposition result; The Graph Theory Module for Tumbling Targets: This module describes each despinning cycle in the attitude decomposition results using a rectangular sequence to obtain a graph rectangular sequence of tumbling targets. Optimal planning model module: used to introduce optimization variables into the rectangular sequence of the tumbling target and construct a global energy optimal planning model based on the constraints of the despinning process; The spacecraft operation scheduling module is used to schedule the target tumbling energy during spacecraft operations based on the global energy optimal planning model.

[0016] Thirdly, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned spacecraft despin control global energy optimal planning method.

[0017] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned spacecraft despin control global energy optimal planning method.

[0018] Fifthly, the present invention provides a computer program product, including computer instructions, which, when executed by a processor, implement the aforementioned spacecraft despin control global energy optimal planning method.

[0019] Compared with the prior art, the present invention has the following beneficial effects: This invention decomposes the attitude motion of a tumbling target into a detailed manner, obtaining the attitude decomposition results. Each despinning cycle in the attitude decomposition results is then described by a rectangular sequence to construct a graph theory representation of the tumbling target. This presents the complex despinning process in an intuitive graph theory form, simplifying the understanding and processing of the despinning process and making the structure and laws of the entire despinning process clearer. Optimization variables are introduced into the graph theory of the tumbling target, and a global energy optimal planning model is constructed based on the constraints of the despinning process. This model takes a global perspective, comprehensively considering various factors and constraints in the despinning process, moving beyond local optimization and enabling comprehensive and systematic planning of the despinning process. Based on this model, the target tumbling energy is scheduled during spacecraft operations, achieving precise control of the despinning process.

[0020] Furthermore, this method effectively avoids the problem of long waiting times in traditional local optimum planning methods. Through global planning, this invention can rationally schedule the spacecraft's operations at various times, making the entire despinning process more compact and efficient. Simultaneously, it reduces fuel consumption while achieving efficient despinning. Attached Figure Description

[0021] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. In the drawings: Figure 1 This is a schematic diagram of a typical scenario for periodic despin manipulation; Figure 2 This is a flowchart illustrating the global energy optimization planning method for spacecraft despin control according to the present invention. Figure 3 This diagram illustrates the control period and waiting period in the periodic despinning process of the present invention. Figure 4 This is a diagram illustrating the rectangular array used in the graph theory-based global energy optimization planning for spacecraft despin control according to the present invention. Figure 5 This diagram illustrates the evolution of the target spin and nutation kinetic energy during each despin cycle of this invention. Figure 6 This is a diagram illustrating the evolution of the target tumbling energy with the amount of suppression during the despinning process of this invention; Figure 7 This is a diagram illustrating the evolution of the target triaxial angular velocity during the despinning process of this invention. Figure 8The graph illustrates the evolution of the target spin and nutation kinetic energy over time using the conventional method of this invention. Figure 9 This is a structural connection diagram of a global energy optimization planning system for spacecraft despin control according to the present invention; Figure 10 This is a schematic diagram of an electronic device in an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0023] 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 invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] To address the problems of existing despin control methods that focus only on spin suppression while neglecting nutation suppression, cannot simultaneously suppress all three rotational degrees of freedom, and only optimize the operation period while ignoring the larger waiting period, thus failing to achieve global optimization and efficient despin control, this invention provides a global energy optimization planning method for spacecraft despin control, such as... Figure 2 As shown, it includes: The attitude motion of the tumbling target is decomposed to obtain the attitude decomposition result; Each despin cycle in the attitude decomposition results is described by a rectangular sequence to obtain the rectangular sequence of the tumbling target. Optimization variables are introduced into the rectangular sequence of the tumbling target, and a global energy-optimal planning model is constructed based on the constraints of the despinning process. Based on the global energy optimal planning model, the target tumbling energy is scheduled during spacecraft operations.

[0025] This method avoids the problem of long waiting times in traditional local optimum planning methods, improves despinning efficiency, and reduces fuel consumption.

[0026] The present invention will be further explained and described below with reference to the accompanying drawings.

[0027] For a typical model of periodic despinning control of a failed spacecraft, each cycle includes a period of force application and a waiting period for the target to re-enter the service spacecraft's reach area. Multiple cycles constitute the entire despinning process, such as... Figure 3 As shown.

[0028] First, based on the scenario of a failed spacecraft undergoing periodic despinning maneuver, the attitude dynamics equations of the spacecraft are constructed as follows: (1) in, The moment of inertia of the target; The three-axis angular velocities of the target are, where, Circling around the target angular velocity components of the axis, Circling around the target angular velocity components of the axis, Circling around the target Angular velocity components of the axis; The triaxial derotation torque received by the target, where, For rolling torque, For pitching moment; This is the yaw moment.

[0029] In the proposed typical scenario of periodic manipulation, the servicing spacecraft applies despin torque only during the operational phase of each despin cycle to suppress the angular velocity of the failed target, while the angular velocity evolves freely during the waiting period. This periodic operation results in a stepwise decrease in angular velocity, a common characteristic of various despinning methods such as plumes, brushes, and lasers. The core objective of despinning planning is to achieve efficient despinning by dynamically adjusting the control forces applied by the servicing spacecraft. However, traditional planning methods focus only on maximizing the despin torque during the operational phase, thus ignoring the impact of the waiting period on the total despinning time. Such methods constitute locally optimal planning strategies and cannot guarantee maximum efficiency throughout the entire mission. Unlike the coupled three-axis angular velocities, the rotational kinetic energy of the target monotonically decreases during despinning.

[0030] Therefore, from an energy perspective, a graph theory-based global energy optimization planning method for spacecraft despin control is proposed to achieve globally optimal operation.

[0031] Unlike single-axis rotation, the attitude motion of a tumbling target consists of three components. It is necessary to coordinate and suppress its rotation and nutation. First, the rotational energy of the tumbling target is defined as: (2) In the formula, Let be the moment of inertia of the target about the y-axis.

[0032] The nutation angle of the target is determined by Give, its The components exhibit periodic changes. Among them, Let be the moment of inertia of the target about the x-axis; Let be the moment of inertia of the target about the z-axis.

[0033] To directly analyze the evolution of nutation, the nutation kinetic energy of a tumbling target is defined as: (3) The goal of despinning is to reduce both spin energy and nutation kinetic energy to zero. Using graph theory-based notation, a coordinate system is defined as follows: Figure 4 As shown, the horizontal axis represents the current rotational energy of the tumbling target, and the vertical axis represents its current nutational kinetic energy. Applying a despinning torque in each cycle reduces both rotational and nutational kinetic energies. The amount of reduction in rotational energy during the current cycle is shown. , The decrease in kinetic energy of nutation , Therefore, the total energy reduction in each cycle is determined by the rectangle. The area is given. Therefore, for the despinning method with periodic force application, the operation process can be described graphically as follows: each despinning cycle is equivalent to drawing a rectangle that increases in size sequentially until the rectangle representing the initial energy of the tumbling target is completely filled, indicating complete stability.

[0034] For periodic despinning methods, traditional methods cannot constrain the duration of the target's free rotation phase, leading to an increase in the total despinning time. Therefore, a waiting time is introduced. Let represent the interval between consecutive despinning cycles. The principle of global energy-optimal despinning programming is to minimize the total waiting time by coordinating the suppression of rotational and nutational kinetic energy within each cycle using graph theory. The corresponding objective function is defined as follows: (4) In the formula, This indicates the range of rotation angles that can be effectively manipulated during the despinning process; for This indicates the aspect ratio of the solar panel. ; is a time constant, representing the characteristic time of nutation damping.

[0035] To prevent excessive suppression of the spin angular velocity from causing more complex tumbling states, the nutation kinetic energy must be kept lower than the spin energy throughout the despinning process.

[0036] (5) That is, all vertices of the rectangle must be located at... Figure 4To the left of the red dashed line. Since the area of ​​each rectangle represents the suppression effect on the target's tumble energy, it must also be constrained according to the performance limits of the despin actuator carried by the servicing spacecraft. The constraint for suppressing spin energy per operating cycle is: (6) In the formula, The maximum reduction in angular velocity that can be achieved per unit time when force is applied to a spacecraft; For the movement angle of the chapter.

[0037] Since the despin-derotation effect of media such as brushes, plumes, and lasers on spin and nutation is related to the current state of the target's sail, the constraint for nutation kinetic energy suppression in each operational cycle is expressed as: (7) In the formula, This indicates the aspect ratio of the solar panel. .

[0038] The key to improving the efficiency of periodic operation methods lies in reducing the total waiting time throughout the entire operation process, which corresponds to minimizing the sum of the times of all rectangular intervals in the graphical representation. Therefore, the following global energy-optimal planning method is established to schedule the target rolling energy during each operation: (8) This method can obtain the expected reduction in the spin and nutation kinetic energy of the tumbling target in each despin cycle, and in the last cycle, it can simultaneously suppress the target's three-axis angular velocities to 0, thus making it completely stable.

[0039] This method proposes a tumbling target despinning planning method from an energy perspective for the first time, which makes both spin and nutation zero at the same time. This avoids the problem of long waiting time in traditional local optimum planning methods, significantly improves despinning efficiency, and reduces fuel consumption. Furthermore, it can be used for most despinning methods with periodic manipulation characteristics.

[0040] The method will be further explained below with reference to specific embodiments.

[0041] Example The efficiency of the proposed planning method is verified using the periodic despinning of a plasma plume as an example. The selected simulation object is a 200kg tumbling failure spacecraft with a moment of inertia of... The initial angular velocity is The size of the windsurfing board is The actuators serving the spacecraft are Hall thrusters, which generate plasma plumes with an impact force of... Assuming the servicing spacecraft can precisely apply the desired despinning torque, the simulation results are as follows: Figure 5 As shown.

[0042] like Figure 6 As shown, the optimal energy planning method throughout the process reduces the nutation kinetic energy and spin kinetic energy of the target spacecraft from the initial 200J and 480J to 0 through 49 despin cycles. It is worth noting that the angular velocities of each axis are reduced to 0 simultaneously in the last despin cycle, thus avoiding the need to wait for a long time at the end of the despin cycle for the target solar panels to enter the control area.

[0043] like Figure 7 As shown, the target angular velocity starts from the initial value. After 49 despin cycles totaling 4158.50 s, the velocity was stabilized to [1.2, 0.8, 0.7] × 10⁻³ deg / s. The total activation time (control period) of the Hall thrusters on the servicing spacecraft during the despin process was 1746.6 s, and the waiting time was 2411.9 s. For the same objective, the simulation results of the traditional despinning programming method, which always applies force at the midpoint of the outer edge of the target sail, are as follows: Figure 8 As can be seen, the total deswirl time of the traditional method is 4926.35s, with a waiting period of 2988.70s, accounting for 60.6% of the total deswirl time. The comparison shows that the proposed planning method shortens the total deswirl time by 767.85s and improves the deswirl efficiency by 15.8%, verifying the feasibility and efficiency of the proposed method.

[0044] The second objective of this invention is to propose a global energy optimal planning system for spacecraft despin control, such as... Figure 9 As shown, it includes: Attitude decomposition result module 100: used to decompose the attitude motion of the rolling target to obtain attitude decomposition results; Graph Theory Module 200 for Tumbling Targets: Used to describe each despinning cycle in the attitude decomposition results with a rectangular sequence, resulting in a graph rectangular sequence of tumbling targets; Optimal planning model module 300: used to introduce optimization variables into the rectangular sequence of the tumbling target and construct a global energy optimal planning model based on the constraints of the despinning process; Spacecraft Operation Scheduling Module 400: Used to schedule the target tumbling energy during spacecraft operation based on the global energy optimal planning model.

[0045] like Figure 10 As shown, a third objective of this invention is to provide an electronic device comprising a processor 501, a memory 502, and a display screen 503. The memory 502 and the display screen 503 are both connected to the processor 501, such as via a bus 504. Optionally, the electronic device may further include a transceiver 505. It should be noted that in practical applications, the transceiver 505 is not limited to one type, and the structure of this electronic device does not constitute a limitation on the embodiments of this application.

[0046] Processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 501 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0047] Bus 504 may include a pathway for transmitting information between the aforementioned components. Bus 504 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 504 can be divided into address bus, data bus, control bus, etc.

[0048] The memory 502 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0049] The memory 502 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 501. The processor 501 is used to execute the application code stored in the memory 502 to implement the content shown in the foregoing method embodiments.

[0050] Figure 10 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0051] A fourth objective of this invention is to provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, performs the aforementioned functions. Figure 2 The illustrated method embodiments include various processes. For example, a memory may include instructions that can be executed by a processor of an electronic device to perform the described method.

[0052] A computer-readable storage medium can be a tangible device that holds and stores instructions used by an instruction execution device. A computer-readable storage medium can be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof. Specifically, a computer-readable storage medium can be a portable computer disk, a hard disk, a USB flash drive, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), staging random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory stick, floppy disk, optical disk, magnetic disk, mechanical encoding device, or any combination thereof.

[0053] A fifth objective of this invention is to provide a computer program product comprising computer instructions that, when executed by a processor, implement the above-described... Figure 2 The various processes of the method embodiments shown can achieve the same technical effect, and will not be described again here to avoid repetition.

Claims

1. A method for global energy optimization planning of spacecraft despin control, characterized in that, include: The attitude motion of the tumbling target is decomposed to obtain the attitude decomposition result; Each despin cycle in the attitude decomposition results is described by a rectangular sequence to obtain the rectangular sequence of the tumbling target. Optimization variables are introduced into the rectangular sequence of the tumbling target, and a global energy-optimal planning model is constructed based on the constraints of the despinning process. Based on the global energy optimal planning model, the target tumbling energy is scheduled during spacecraft operations.

2. The spacecraft despin control global energy optimal planning method according to claim 1, characterized in that, The process of decomposing the attitude motion of the tumbling target to obtain the attitude decomposition result includes: The attitude motion of a tumbling target is decomposed into the rotational energy of the tumbling target. and the nutation kinetic energy of the tumbling target ; In the formula, Let be the moment of inertia of the target about the y-axis; Let be the moment of inertia of the target about the x-axis; Let be the moment of inertia of the target about the z-axis; Circling around the target angular velocity components of the axis, Circling around the target angular velocity components of the axis, Circling around the target Angular velocity components of the axis; In each tumbling cycle of the tumbling target, a despinning torque is applied to reduce the rotational energy and nutational kinetic energy of the tumbling target until both the rotational energy and nutational kinetic energy of the tumbling target are reduced to zero, thus obtaining the attitude decomposition result.

3. The spacecraft despin control global energy optimal planning method according to claim 1, characterized in that, The process of describing each despin cycle in the attitude decomposition results using a rectangular sequence to obtain the graph theory of the tumbling target includes: Based on the decrease in spin energy during each despinning cycle in the attitude decomposition results , The decrease in kinetic energy of nutation , This yields the total energy reduction for each cycle. The total energy reduction in each despin cycle is equivalent to a rectangle. This continues until the rectangle representing the initial energy of the tumbling target is completely filled, resulting in a sequence of rectangles representing the tumbling target.

4. The spacecraft despin control global energy optimal planning method according to claim 1, characterized in that, The process of introducing optimization variables into the rectangular sequence of the tumbling target and constructing a global energy-optimal programming model based on the constraints of the despinning process includes: Introducing waiting time between consecutive despin cycles Optimization variables in the rectangular sequence serving as the rolling target; The objective function is to minimize the sum of all waiting times, and a global energy-optimal planning model is constructed based on the constraints of the despin process.

5. The spacecraft despin control global energy optimal planning method according to claim 1, characterized in that, The constraints of the derotation process include: Nutonic kinetic energy is lower than rotational energy: The constraint for suppressing spin energy in each operation cycle is: ； The constraint for suppressing the nutation kinetic energy during the operating period is expressed as: In the formula, This indicates the aspect ratio of the solar panel. ; The maximum reduction in angular velocity that can be achieved per unit time when force is applied to a spacecraft; For the movement angle; The time constant represents the characteristic time of the nutation damping; This represents the decrease in rotational energy during the current cycle. This represents the decrease in nutational kinetic energy during the current cycle. The rotational energy of the tumbling target.

6. The spacecraft despin control global energy optimal planning method according to claim 1, characterized in that, The method of scheduling the target tumbling energy during spacecraft operation based on the global energy optimal planning model includes: Using a global energy optimal planning model, the amount of self-rotation energy and nutation kinetic energy suppression of the flipping target during the despinning period is obtained; Based on the rotational energy and nutation kinetic energy suppression of the flipped target during the despinning period, the application position and time of the spacecraft's despinning force are optimized to generate the target tumbling energy during the scheduling of spacecraft operations.

7. A global energy optimal planning system for spacecraft despin control, based on the global energy optimal planning method for spacecraft despin control as described in any one of claims 1-6, characterized in that, include: Attitude Decomposition Result Module: Used to decompose the attitude motion of the rolling target and obtain the attitude decomposition result; The Graph Theory Module for Tumbling Targets: This module describes each despinning cycle in the attitude decomposition results using a rectangular sequence to obtain a graph rectangular sequence of tumbling targets. Optimal planning model module: used to introduce optimization variables into the rectangular sequence of the tumbling target and construct a global energy optimal planning model based on the constraints of the despinning process; The spacecraft operation scheduling module is used to schedule the target tumbling energy during spacecraft operations based on the global energy optimal planning model.

8. An electronic device, characterized in that, The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the global energy optimal planning method for spacecraft despin control as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the global energy optimal planning method for spacecraft despin control as described in any one of claims 1-6.

10. A computer program product, characterized in that, It includes computer instructions that, when executed by a processor, implement a global energy optimization planning method for spacecraft despin control as described in any one of claims 1-6.

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