A modeling and optimization method for on-board high-speed rotating component disturbance elimination mechanism

Abstract

The application provides a modeling and optimization method of a disturbance cancellation mechanism of a high-speed rotating component on a satellite, relates to the technical field of spacecraft dynamics modeling and attitude control, and comprises the following steps: first, acquiring satellite system configuration parameters of a satellite platform, a high-speed rotating component and a disturbance cancellation mechanism, and completing the definition of modeling generalized coordinates according to the parameters; combining the configuration parameters and the generalized coordinates, constructing a satellite system dynamics model based on multi-body dynamics constraint relations, extracting a rotating coupling disturbance term expression, and establishing a rotating coupling disturbance model; taking the integral minimization of the square of the two-norm of the rotating coupling disturbance torque in a scanning period as an optimization target, iteratively optimizing the mass parameters, installation position vectors and motion curve parameters of the disturbance cancellation mechanism by using a sequential quadratic programming method, and outputting an optimal compensation strategy of the disturbance cancellation mechanism. The application effectively weakens the high-frequency and large-amplitude rotating coupling disturbance transmitted from the high-speed rotating component to the satellite platform, and improves the attitude control precision and stability of the satellite platform.

Description

Technical Field

[0001] This invention relates to the field of spacecraft dynamics modeling and attitude control technology, and more specifically, to a modeling and optimization method for a disturbance reduction mechanism for high-speed rotating components on a satellite. Background Technology

[0002] The demand for space-based support for global situational awareness, continuous search for key targets, and rapid reconnaissance of emergencies is constantly increasing. Existing optical remote sensing satellites effectively broaden imaging coverage and improve ground observation resolution by carrying multiple sets of high-speed rotating scanning components. However, these rotating components have high-frequency and time-varying motion characteristics, which transmit large-amplitude and high-frequency rotational coupling disturbances to the satellite platform during operation. The satellite's conventional attitude flywheel is only suitable for low-frequency, small-amplitude attitude correction and cannot effectively counteract such high-frequency coupling interference. This directly causes a significant decrease in the pointing accuracy and attitude stability of the optical imaging payload, ultimately reducing the satellite's Earth imaging quality.

[0003] Existing technologies mostly employ reverse momentum balancing structures to counteract rotor disturbances, but lack supporting high-precision dynamic analysis methods for the entire system. Optical remote sensing satellites simultaneously carry working rotating components and supporting disturbance suppression mechanisms, forming a complex multi-rigid-body coupled system. Both types of rotors inherently possess dynamic and static imbalance defects, leading to challenges such as a time-varying center of mass and uncertain moments of inertia for the entire satellite, making it difficult to accurately quantify the disturbance transmission patterns. Furthermore, the industry lacks a unified parameter optimization design system, making it impossible to simultaneously achieve integrated optimal design of the disturbance suppression mechanism's mass, installation location, and motion trajectory, thus limiting the accuracy of disturbance compensation. Summary of the Invention

[0004] The problem addressed by this invention is how to resolve the interference of high-frequency rotational coupling disturbances on satellite attitude.

[0005] To address the aforementioned problems, this invention provides a modeling and optimization method, system, electronic device, and storage medium for a disturbance reduction mechanism for high-speed rotating components on a satellite.

[0006] In a first aspect, the present invention provides a modeling and optimization method for a disturbance reduction mechanism of a high-speed rotating component on a satellite, comprising:

[0007] Obtain the satellite system configuration parameters, including the satellite platform, high-speed rotating components, and interference suppression mechanism, and model generalized coordinates based on the satellite system configuration parameters;

[0008] Based on the satellite system configuration parameters and the generalized coordinates, a dynamic model of the satellite system is constructed based on the multibody dynamics constraint relationship, and an expression for the rotational coupling disturbance term is extracted based on the dynamic model.

[0009] Based on the expression of the rotational coupling interference term, a rotational coupling interference model of the high-speed rotating component and the interference suppression mechanism on the satellite platform is established;

[0010] With the optimization objective of minimizing the integral of the square of the second norm of the rotational coupling interference torque output by the rotational coupling interference model within the scanning period, a sequential quadratic programming method is used to iteratively optimize the mass parameters, installation position vector, and motion curve parameters of the interference suppression mechanism based on the rotational coupling interference model, and outputs the optimal compensation strategy of the interference suppression mechanism.

[0011] Optionally, the step of modeling generalized coordinates based on the satellite system configuration parameters includes:

[0012] Based on the satellite system configuration parameters, define the inertial coordinate system, orbital coordinate system, satellite platform intrinsic system, rotating component intrinsic system, and disturbance reduction mechanism intrinsic system;

[0013] The high-speed rotating component and the disturbance reduction mechanism are defined as rigid bodies with the same structural form, and the origin of the high-speed rotating component is located at the center of its own rotation axis, and the origin of the disturbance reduction mechanism is located at the center of its own rotation axis.

[0014] The position vector of the satellite system's center of mass in the inertial coordinate system, the attitude angle of the satellite platform relative to the orbital coordinate system, the rotation angle of the rotating component's own system relative to the satellite platform's own system, and the rotation angle of the disturbance reduction mechanism's own system relative to the satellite platform's own system are selected as generalized coordinates.

[0015] Optionally, the step of constructing a dynamic model of the satellite system and extracting an expression for the rotational coupling disturbance term based on the dynamic model includes:

[0016] Based on the generalized coordinates, the absolute velocity expressions of the satellite platform, the high-speed rotating component, and the disturbance reduction mechanism in inertial space are derived, and then the kinetic energy expressions of each part are calculated.

[0017] Based on the conservation of the center of mass of the satellite system, the kinetic energy expressions of the satellite platform, the high-speed rotating component, and the disturbance reduction mechanism are combined and simplified to obtain the total kinetic energy expression of the system.

[0018] Substituting the total kinetic energy expression of the system into the Lagrange equation and performing partial derivative calculations, a satellite system dynamic differential equation containing the rotation equation is established, which serves as the dynamic model of the satellite system. The rotation equation characterizes the relationship between the rate of change of angular momentum and the net external torque acting on the satellite platform in its own system.

[0019] The expression for the coupled interference term caused by the rotation of the high-speed rotating component and the disturbance reduction mechanism is separated from the dynamic differential equation. The coupled interference term includes a centrifugal force term, a gyroscopic effect term, an inertial force term, and a principal inertial term.

[0020] Optionally, the coupling interference term includes a centrifugal force term, a gyroscopic effect term, an inertial force term, and a principal inertial term, specifically expressed as follows:

[0021] The centrifugal force term is a product function of the square of the rotational angular velocity of the high-speed rotating component and the disturbance reduction mechanism, and the corresponding centrifugal disturbance caused by the dynamic and static imbalance of the rotating component.

[0022] The gyro effect term is the product function of the square of the rotational angular velocity of the high-speed rotating component and the disturbance reduction mechanism and the corresponding rotational inertia, corresponding to the gyro coupling interference caused by the rotational angular velocity of the rotating component;

[0023] The inertial force term is a product function of the rotational angular acceleration of the high-speed rotating component and the disturbance reduction mechanism, the corresponding centroid offset, and the installation position vector, corresponding to the inertial disturbance caused by the change in the angular acceleration of the rotating component;

[0024] The main inertial force term is the product function of the rotational angular acceleration of the high-speed rotating component and the disturbance reduction mechanism and the corresponding rotational inertia, corresponding to the inertial disturbance caused by the rotational inertia of the rotating component itself.

[0025] Optionally, the optimization objective is to minimize the integral of the square of the second norm of the rotational coupling interference torque output by the rotational coupling interference model within the scanning period. Based on the rotational coupling interference model, a sequential quadratic programming method is used to iteratively optimize the mass parameters, installation position vector, and motion curve parameters of the interference suppression mechanism, including:

[0026] A nonlinear optimization model is constructed with the integral of the square of the second norm of the rotational coupling disturbance torque under the satellite platform's own system within the scanning period as the objective function. The rotational coupling disturbance torque is the sum of the centrifugal force term, the gyroscopic effect term, the inertial force term, and the principal inertial term.

[0027] Set physical boundary constraints for the parameters to be optimized, wherein the physical boundary constraints are upper and lower limit ranges based on the structural envelope, mass characteristics and parameters of the high-speed rotating component of the satellite platform;

[0028] Using the nonlinear optimization model, with the objective function minimization and the physical boundary constraints of the parameters to be optimized as optimization conditions, the mass parameters, installation position vector, and motion curve parameters of the disturbance reduction mechanism are iteratively optimized.

[0029] Optionally, the iterative process of the sequential quadratic programming method specifically includes:

[0030] At the current iteration point, the objective function is expanded twice using Taylor expansion, the physical boundary constraints are linearized, and a quadratic programming subproblem is constructed.

[0031] Solving the quadratic programming subproblem yields the search direction, and a step size factor is determined using a line search strategy. This step size factor satisfies the descent condition of the objective function and the constraint feasibility requirements.

[0032] Update the vector of the parameter to be optimized based on the current iteration point, the search direction, and the step size factor. Repeat the above steps until the function gradient, parameter change, or constraint violation of the parameter to be optimized is less than a preset convergence threshold. Output the optimal parameter vector as the optimal compensation strategy of the disturbance reduction mechanism.

[0033] Optionally, after outputting the optimal compensation strategy of the interference suppression mechanism, the method further includes:

[0034] The motion parameters of the disturbance reduction mechanism under the optimal compensation strategy are imported into the rotational coupling interference model. The amplitude of the residual interference torque after compensation is calculated to verify the effect of the disturbance reduction mechanism on the rotational coupling interference generated by the high-speed rotating component.

[0035] Secondly, the modeling and optimization system for the onboard high-speed rotating component disturbance reduction mechanism of the present invention includes:

[0036] The data acquisition unit is used to acquire the satellite system configuration parameters, including the satellite platform, high-speed rotating components and interference suppression mechanism, and to model generalized coordinates based on the satellite system configuration parameters;

[0037] The data processing unit is used to construct a dynamic model of the satellite system based on the configuration parameters of the satellite system and the generalized coordinates, and based on the multibody dynamics constraint relationship, extract the analytical expression of the rotational coupling disturbance term based on the dynamic model;

[0038] The model building unit is used to establish a rotational coupling interference model of the high-speed rotating component and the interference reduction mechanism on the satellite platform based on the analytical expression of the rotational coupling interference term.

[0039] The data optimization unit is used to minimize the integral of the square of the second norm of the rotational coupling interference torque output by the rotational coupling interference model within the scanning period as the optimization objective. Based on the rotational coupling interference model, the unit uses a sequential quadratic programming method to iteratively optimize the mass parameters, installation position vector, and motion curve parameters of the interference suppression mechanism, and outputs the optimal compensation strategy of the interference suppression mechanism.

[0040] Thirdly, the electronic device of the present invention includes: a processor and a memory, the memory being used to store a computer program;

[0041] When the computer program is loaded by the processor, it causes the processor to execute the above-described modeling and optimization method for the disturbance reduction mechanism of high-speed rotating components on the satellite.

[0042] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described modeling and optimization method for the disturbance reduction mechanism of high-speed rotating components on a satellite.

[0043] This invention discloses a modeling and optimization method, system, electronic equipment, and storage medium for a high-speed rotating component disturbance reduction mechanism on a satellite. By establishing a three-rigid-body multibody dynamics model encompassing the satellite platform, high-speed rotating component, and disturbance reduction mechanism, and incorporating actual characteristics such as rotor dynamic and static imbalance, center of mass shift, and time-varying system center of mass, an analytical expression for the rotational coupling disturbance term is derived, providing a theoretical basis for disturbance quantification analysis and compensation strategy design. Based on this model, an explicit rotational coupling disturbance model is constructed, clarifying the influence of various parameters on the disturbance torque and distinguishing different disturbance components. With the optimization objective of minimizing the integral of the square of the second norm of the rotational coupling disturbance torque within the scanning period, a sequential quadratic programming method is used to iteratively optimize the mass parameters, three-dimensional installation position, and motion curve parameters of the disturbance reduction mechanism, obtaining the optimal compensation strategy for the disturbance reduction mechanism. This invention can effectively weaken the high-frequency, large-amplitude rotational coupling disturbance transmitted from the high-speed rotating component to the satellite platform, compensate for the satellite flywheel's insufficient compensation capability for high-frequency disturbances, improve the attitude control accuracy and stability of the satellite platform, provide a stable working environment for optical imaging payloads, and improve the imaging resolution and observation quality of optical remote sensing satellites. Attached Figure Description

[0044] Figure 1 This is a flowchart illustrating the modeling and optimization method for the onboard high-speed rotating component disturbance reduction mechanism in an embodiment of the present invention.

[0045] Figure 2 This is a flowchart illustrating the modeling technique for a satellite system containing high-speed rotating components in an embodiment of the present invention.

[0046] Figure 3 This is a diagram of the satellite structure and its orientation in the inertial coordinate system, as shown in this embodiment of the invention.

[0047] Figure 4 This is a diagram illustrating the composition of the generalized coordinates in this embodiment of the invention.

[0048] Figure 5 This is a vector definition diagram in an embodiment of the present invention;

[0049] Figure 6 This is a flowchart of the SQP process in an embodiment of the present invention;

[0050] Figure 7 This is a motion curve diagram of the rotating component in an embodiment of the present invention;

[0051] Figure 8 This is a comparison diagram of the torque before and after optimization in an embodiment of the present invention. Detailed Implementation

[0052] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0053] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0054] The term "comprising" and its variations used in this embodiment are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are only used to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0055] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0056] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0057] To address the problems existing in related technologies, this embodiment provides a modeling and optimization method, system, electronic device, and storage medium for a disturbance reduction mechanism for high-speed rotating components on a satellite.

[0058] Combination Figure 1 As shown in the figure, an embodiment of the present invention provides a modeling and optimization method for a disturbance reduction mechanism of a high-speed rotating component on a satellite, comprising:

[0059] Obtain the satellite system configuration parameters, including the satellite platform, high-speed rotating components, and interference suppression mechanism, and model generalized coordinates based on the satellite system configuration parameters;

[0060] Based on the satellite system configuration parameters and the generalized coordinates, a dynamic model of the satellite system is constructed based on the multibody dynamics constraint relationship, and an expression for the rotational coupling disturbance term is extracted based on the dynamic model.

[0061] Based on the expression of the rotational coupling interference term, a rotational coupling interference model of the high-speed rotating component and the interference suppression mechanism on the satellite platform is established;

[0062] With the optimization objective of minimizing the integral of the square of the second norm of the rotational coupling interference torque output by the rotational coupling interference model within the scanning period, a sequential quadratic programming method is used to iteratively optimize the mass parameters, installation position vector, and motion curve parameters of the interference suppression mechanism based on the rotational coupling interference model, and outputs the optimal compensation strategy of the interference suppression mechanism.

[0063] Specifically, this embodiment obtains the configuration parameters of the satellite system, including the satellite platform, high-speed rotating components, and disturbance reduction mechanism, and models generalized coordinates accordingly. Combining the configuration parameters and generalized coordinates, a satellite system dynamics model is constructed based on multibody dynamics constraints. An analytical expression of the rotational coupling disturbance term is extracted, and a rotational coupling disturbance model of the high-speed rotating components and disturbance reduction mechanism on the satellite platform is established. With minimizing the integral of the square of the second norm of the rotational coupling disturbance torque within the scanning period as the optimization objective, a sequential quadratic programming method is used to iteratively optimize the mass parameters, installation position vector, and motion curve parameters of the disturbance reduction mechanism, and outputs the optimal compensation strategy of the disturbance reduction mechanism to achieve effective compensation of rotational coupling disturbance.

[0064] Optionally, the step of modeling generalized coordinates based on the satellite system configuration parameters includes:

[0065] Based on the satellite system configuration parameters, define the inertial coordinate system, orbital coordinate system, satellite platform intrinsic system, rotating component intrinsic system, and disturbance reduction mechanism intrinsic system;

[0066] The high-speed rotating component and the disturbance reduction mechanism are defined as rigid bodies with the same structural form, and the origin of the high-speed rotating component is located at the center of its own rotation axis, and the origin of the disturbance reduction mechanism is located at the center of its own rotation axis.

[0067] The position vector of the satellite system's center of mass in the inertial coordinate system, the attitude angle of the satellite platform relative to the orbital coordinate system, the rotation angle of the rotating component's own system relative to the satellite platform's own system, and the rotation angle of the disturbance reduction mechanism's own system relative to the satellite platform's own system are selected as generalized coordinates.

[0068] Specifically, the satellite system structure in this embodiment is divided into a satellite platform (which also includes solar panels in actual applications), high-speed rotating components, and a noise reduction mechanism.

[0069] Combination Figure 2 and Figure 3 As shown, the following assumptions were made when constructing the structure of this satellite system:

[0070] Assumption 1: The satellite platform (which also includes solar panels in actual applications), high-speed rotating components, and disturbance reduction mechanisms are all assumed to be rigid bodies.

[0071] Assumption 2: The high-speed rotating component has a certain amount of imbalance, that is, the center of mass of the high-speed rotating component is not located at the origin of the coordinate system of the rotating component.

[0072] Assumption 3: The disturbance reduction mechanism and the high-speed rotating component are two identical entities.

[0073] The coordinate systems used in dynamic modeling include inertial coordinate systems. Orbital coordinate system Satellite platform system Rotating components of this system and the system of disturbance elimination . Figure 3 This indicates the definition and relative relationships of the satellite system's center of mass, satellite platform, high-speed rotating components, and disturbance reduction mechanism.

[0074] Inertial coordinate system (Geocentric equatorial coordinate system), origin Located at the Earth's core, The axis lies within the J2000 Earth's flat equatorial plane, pointing from the Earth's center to the mean vernal equinox at the J2000 time. The axis is the normal to the J2000 Earth's flat equatorial plane and points towards the North Pole. same axis , The axes form a right-handed system;

[0075] Orbital coordinate system Origin of coordinates Located at the center of mass of the satellite system, The axis lies within the orbital plane and points in the direction of the satellite system's advance. The axis points from the satellite system's center of mass to the Earth's center. same axis , The axes form a right-handed system;

[0076] Satellite Platform System Origin of coordinates Located at the geometric center of the satellite platform, under conditions of no relative attitude deviation, Axis and orbit coordinate system Same axis Axis and orbit coordinate system Opposite axes same axis , The axes form a right-handed system;

[0077] Rotating component system Origin of coordinates Located at the center of the rotation axis of the rotating component, when the rotating component does not rotate relative to the satellite platform, its three axes point in the same direction as the satellite platform itself.

[0078] Disturbance Elimination Mechanism System Origin of coordinates Located at the center of the rotation axis of the disturbance reduction mechanism, when the disturbance reduction mechanism does not rotate relative to the satellite platform, its three axes point in the same direction as the satellite platform itself.

[0079] The generalized coordinates for modeling are chosen as: the projection of the satellite system's center of mass position vector in the inertial frame. The integral value of the satellite platform angular velocity vector projected onto the satellite platform's own frame. The rotation angle of the rotating parts relative to the satellite platform The rotation angle of the rotating parts relative to the satellite platform .

[0080] Combination Figure 5 As shown, the vector definition used in satellite system dynamics modeling and analysis is as follows, where the coordinate system definition is combined with... Figure 4 As shown.

[0081] Table 1. Vector Definition Explanation

[0082]

[0083] This embodiment defines five coordinate systems to unify the system's spatial description benchmark, ensuring consistency in subsequent attitude transformations, vector projections, and dynamic derivations. It sets the two types of components as rigid bodies with the same structure, and the origin of the system is located at the center of their respective rotation axes, standardizing the modeling boundaries while preserving rotor disturbance characteristics. It selects generalized coordinates covering the system's center of mass position, platform attitude angles, and relative rotation angles of the two types of components to fully characterize the satellite system's multibody motion state, providing a complete and standardized variable basis for subsequent dynamic model construction and analytical derivation of rotational coupling disturbance terms.

[0084] Optionally, the step of constructing a dynamic model of the satellite system and extracting an expression for the rotational coupling disturbance term based on the dynamic model includes:

[0085] Based on the generalized coordinates, the absolute velocity expressions of the satellite platform, the high-speed rotating component, and the disturbance reduction mechanism in inertial space are derived, and then the kinetic energy expressions of each part are calculated.

[0086] Based on the conservation of the center of mass of the satellite system, the kinetic energy expressions of the satellite platform, the high-speed rotating component, and the disturbance reduction mechanism are combined and simplified to obtain the total kinetic energy expression of the system.

[0087] Substituting the total kinetic energy expression of the system into the Lagrange equation and performing partial derivative calculations, a satellite system dynamic differential equation containing the rotation equation is established, which serves as the dynamic model of the satellite system. The rotation equation characterizes the relationship between the rate of change of angular momentum and the net external torque acting on the satellite platform in its own system.

[0088] The expression for the coupled interference term caused by the rotation of the high-speed rotating component and the disturbance reduction mechanism is separated from the dynamic differential equation. The coupled interference term includes a centrifugal force term, a gyroscopic effect term, an inertial force term, and a principal inertial term.

[0089] Specifically, this embodiment derives the absolute velocity and kinetic energy expressions of the satellite platform, high-speed rotating components, and disturbance suppression mechanism in inertial space, considering the kinetic energy characteristics of each rigid body. It combines and simplifies the kinetic energy of each part by incorporating the satellite system's center-of-mass conservation theorem, simplifying the model form while preserving the multi-body coupling characteristics. Substituting the total system kinetic energy into the Lagrange equation for partial derivative calculations yields the satellite system dynamic differential equation containing the rotation equation, clarifying the correspondence between the rate of change of angular momentum and the net external torque acting on the satellite platform, thus forming a complete system dynamic model. From this model, it separates the centrifugal force term, gyroscopic effect term, inertial force term, and principal inertial term coupling interference caused by the rotation of the high-speed rotating components and disturbance suppression mechanism, clearly deconstructing the composition and source of the disturbance, providing accurate model support and component analysis basis for subsequent rotational coupling interference model construction and disturbance suppression parameter optimization.

[0090] Optionally, the coupling interference term includes a centrifugal force term, a gyroscopic effect term, an inertial force term, and a principal inertial term, specifically expressed as follows:

[0091] The centrifugal force term is a product function of the square of the rotational angular velocity of the high-speed rotating component and the disturbance reduction mechanism, and the corresponding centrifugal disturbance caused by the dynamic and static imbalance of the rotating component.

[0092] The gyro effect term is the product function of the square of the rotational angular velocity of the high-speed rotating component and the disturbance reduction mechanism and the corresponding rotational inertia, corresponding to the gyro coupling interference caused by the rotational angular velocity of the rotating component;

[0093] The inertial force term is a product function of the rotational angular acceleration of the high-speed rotating component and the disturbance reduction mechanism, the corresponding centroid offset, and the installation position vector, corresponding to the inertial disturbance caused by the change in the angular acceleration of the rotating component;

[0094] The main inertial force term is the product function of the rotational angular acceleration of the high-speed rotating component and the disturbance reduction mechanism and the corresponding rotational inertia, corresponding to the inertial disturbance caused by the rotational inertia of the rotating component itself.

[0095] Specifically, the kinetic energy expression for the satellite platform is:

[0096] The absolute velocity of a certain infinitesimal mass element on a satellite platform for:

[0097] (1)

[0098] in, It is the angular velocity vector of the satellite platform. Represents a vector Find the relative derivative of the satellite platform body. Relating equation (1) to the satellite platform body, we get:

[0099] (2)

[0100] in, It is a vector Projection within the satellite platform's own system. It is the attitude transformation matrix of the satellite platform relative to the inertial frame. It is a vector Projection in an inertial frame of reference It is a vector Projection within the satellite platform's own system. It is a vector Projected onto the satellite platform's own system.

[0101] The kinetic energy of the satellite platform can then be expressed as:

[0102] (3)

[0103] After simplification, we get:

[0104] (4)

[0105] in, It is the quality of the satellite platform. It is the projection of the moment of inertia of the satellite platform relative to the center of mass of the satellite system onto the satellite platform's own system. It is the projection of the position vector from the center of mass of the satellite system to the center of mass of the satellite platform onto the satellite platform's own system.

[0106] The kinetic energy expression for a high-speed rotating component:

[0107] The absolute velocity of a certain infinitesimal mass element on a high-speed rotating component. for:

[0108] (5)

[0109] in, It is the angular velocity vector of the high-speed rotating component relative to the satellite platform. Equation (5) can be expressed in the body system of the rotating component as:

[0110] (6)

[0111] in It is a vector Projection of the rotating component within its own system It is the attitude transformation matrix of the rotating component system relative to the satellite platform system. It is a vector Projection within the satellite platform's own system, It is a vector Projection of the rotating component within its own system It is a vector Projecting the rotating component onto its own system, the kinetic energy of the high-speed rotating component can be expressed as:

[0112] (7)

[0113] in, The projection of the moment of inertia of the high-speed rotating component relative to the origin of the rotating component's own system onto the rotating component's own system, the relevant terms in equation (7) are expanded to obtain:

[0114] (8)

[0115] In equation (8), the physical meaning of the integral sign on the right side of the equation is the projection of the moment of inertia of the high-speed rotating component relative to the center of mass of the satellite system onto the satellite platform's own system, denoted as . It can be summarized as follows:

[0116] (9)

[0117] in, It is the mass of the high-speed rotating parts. It is the projection of the position vector from the origin of the rotating component's system to the center of mass of the high-speed rotating component onto the rotating component's system. Therefore, equation (7) can be rearranged as:

[0118] (10)

[0119] in, , , It is the moment of inertia of a high-speed rotating component. of Given the principal moment of inertia of the shaft, the kinetic energy of the high-speed rotating component can be further expressed as:

[0120] (11)

[0121] Specifically, the kinetic energy expression of the disturbance suppression mechanism is as follows:

[0122] The absolute velocity of a certain infinitesimal mass element on the disturbance suppression mechanism for:

[0123] (12)

[0124] in, It is the angular velocity vector of the interference suppression mechanism relative to the satellite platform. Equation (5) can be expressed in the body system of the interference suppression mechanism as:

[0125] (13)

[0126] in, It is a vector Projection within the system of the disturbance reduction mechanism It is the attitude transformation matrix of the disturbance reduction mechanism relative to the satellite platform. It is a vector Projection within the satellite platform's own system, It is a vector In the mirror Projection under this system It is a vector Projected within the system of the disturbance reduction mechanism.

[0127] The kinetic energy of the disturbance suppression mechanism can then be expressed as:

[0128] (14)

[0129] in, The projection of the moment of inertia of the disturbance-eliminating mechanism relative to the origin of the disturbance-eliminating mechanism system onto the system itself is given by expanding the relevant terms in equation (7):

[0130] (15)

[0131] In equation (8), the physical meaning of the integral sign on the right-hand side of the equation is the projection of the moment of inertia of the disturbance dissipation mechanism relative to the center of mass of the satellite system onto the satellite platform's own system, denoted as . It can be summarized as follows:

[0132] (16)

[0133] in, It is the quality of the interference suppression mechanism. It is the projection of the position vector from the origin of the disturbance-eliminating mechanism to the centroid of the disturbance-eliminating mechanism onto the system of the disturbance-eliminating mechanism. Then equation (7) can be rearranged as:

[0134] (17)

[0135] in, , , It is the moment of inertia of the disturbance suppression mechanism. of Given the principal moment of inertia of the shaft, the kinetic energy of the disturbance suppression mechanism can be further expressed as:

[0136] (18)

[0137] Specifically, the kinetic energy expression of the satellite system is:

[0138] Based on the kinetic energy expression established above, the kinetic energy of the satellite system is:

[0139] (19)

[0140] Considering the characteristics of the system's centroid, the following equation holds:

[0141] (20)

[0142] Therefore, in the kinetic energy expression (19) of the satellite system, the following equation holds:

[0143] (twenty one)

[0144] According to equation (20):

[0145] (twenty two)

[0146] Therefore, in the kinetic energy expression (19) of the satellite system, the following equation holds:

[0147] (twenty three)

[0148] At the same time, taking into account If true, then the following equation holds true in combination with equation (20):

[0149] (twenty four)

[0150] At the same time, because If true, then the following equation holds true in combination with equation (22):

[0151] (25)

[0152] In summary, combining equations (21), (23)-(25), equation (19) can be simplified to:

[0153] (26)

[0154] in, It's about the quality of the satellite system. It is the projection of the satellite system's rotational inertia about the satellite system's center of mass onto the satellite platform's intrinsic system.

[0155] Set matrix Define the coupling matrix between the rotation of the rotating component and the attitude of the satellite platform. This is the coupling matrix between the rotation of the disturbance dissipation mechanism and the attitude of the satellite platform.

[0156] Based on the above matrix, equation (26) can be rearranged as follows:

[0157] (27)

[0158] According to equation (22), we know that:

[0159] (28)

[0160] Substituting equation (28) into equation (27), we get:

[0161] (29)

[0162] Specifically, satellite system dynamics equations

[0163] Substituting equation (29) into the Lagrange equation and expanding it, we get:

[0164] (30)

[0165] in, This represents the vector of the resultant moment of the satellite system relative to its center of mass. Projecting onto the satellite platform's own system, the specific expressions for the remaining coefficients are as follows:

[0166] (31)

[0167] (32)

[0168] (33)

[0169] (34)

[0170] Equation (30) can be rearranged as follows:

[0171] (35)

[0172] in, This indicates coupling interference caused by the rotation of the rotor (including rotating parts and disturbance suppression mechanism); This indicates interference from parameter uncertainty; This indicates angular momentum coupling interference.

[0173] Because the satellite platform's angular velocity is extremely small ( Furthermore, the significant mass difference between the rotor and the satellite platform makes the influence of rotor eccentricity on the overall satellite's time-varying characteristics negligible. The value is also very small.

[0174] In summary, under these motion conditions, the effects of parameter uncertainty disturbances and angular momentum coupling disturbances on the control torque are relatively weak, while the coupling disturbances caused by rotor rotation are the main source. Therefore, the subsequent analysis will focus on rotational coupling disturbances.

[0175] Specifically, the rotational coupling interference model is constructed as follows:

[0176] According to equation (35), the formulas for each interference term can be obtained. Among them, the interference torque that has the greatest impact on the satellite system is the coupling interference (dw) caused by rotation, which can be decomposed into:

[0177] (36)

[0178] The variables in equation (36) can be written in coordinate component form as follows:

[0179] Attitude transformation matrix of the rotating component relative to the satellite platform The coordinate components are in the following form:

[0180] ,

[0181] Attitude transformation matrix of the disturbance reduction mechanism relative to the satellite platform The coordinate components are in the following form:

[0182] ,

[0183] The cross product matrix of the projection of the angular velocity vector of the rotating component relative to the satellite platform onto the body of the rotating component is:

[0184] ,

[0185] The cross product matrix of the projection of the angular velocity vector of the noise reduction mechanism relative to the satellite platform onto the noise reduction mechanism's own system is:

[0186] ,

[0187] The cross product matrix of the position vector of the rotating component's origin pointing to its center of mass projected onto the rotating component's own system. for:

[0188] ,

[0189] The cross product matrix of the position vector projected onto the centroid of the disturbance-reducing mechanism under the system of the disturbance-reducing mechanism. for:

[0190] ,

[0191] The cross product matrix of the position vector projected onto the satellite platform's body system from the satellite system's center of mass to the origin of the rotating component. for:

[0192] ,

[0193] The cross product matrix of the position vector projected onto the satellite platform's own system from the satellite system's center of mass to the origin of the disturbance dissipation mechanism. for:

[0194] ,

[0195] According to equation (22), we can obtain:

[0196] (37)

[0197] According to equation (37). and It can be represented as:

[0198] ,

[0199] The coordinate components of the projection of the moment of inertia of the rotating component relative to the origin of the rotating component's system into the system itself are as follows:

[0200] ,

[0201] The coordinate components of the moment of inertia of the disturbance reduction mechanism relative to the origin of the disturbance reduction mechanism system projected onto the system body are as follows:

[0202] ,

[0203] Based on the above definition, equation (36) can be expanded into coordinate component form, as follows:

[0204] (38)

[0205] (39)

[0206] (40)

[0207] (41)

[0208] (42)

[0209] At this point, the rotational coupling disturbance has been fully expanded into coordinate components.

[0210] According to equations (38) to (42), dw1 has no direct effect on rotational coupling interference; dw2 and dw3 are coupling terms related to the square of the rotor angular velocity, while dw4 and dw5 are coupling interference terms introduced by the rotor angular acceleration. Furthermore, from the above formulas, it can be seen that when the rotor's center of mass is not eccentric on the y-axis or z-axis, only the dw5 term will generate a disturbance torque due to the rotor's rotational inertia.

[0211] In this embodiment, for the three rigid bodies—the satellite platform, the high-speed rotating component, and the disturbance reduction mechanism—absolute velocities are calculated using infinitesimal mass elements (the entrainment motion and relative rotational motion are synthesized using the vector absolute derivative formula, and the vector projection under different systems is completed by combining the coordinate system transformation matrix). The mass integral is performed on the square of the velocity to obtain the independent kinetic energy expressions for each rigid body (corresponding to equations (1) to (18)). The original total kinetic energy is obtained by directly superimposing the kinetic energies of the three types of rigid bodies (equation (19)). The total centroid constraint of the system is introduced (equation (20), where the weighted sum of the mass of each rigid body and the position of the centroid equals the centroid of the system). The original total kinetic energy is algebraically simplified, and the translational-rotational cross term and the redundant coupling term of the centroid offset of each rigid body are eliminated. Finally, the total kinetic energy is decoupled into three parts: the translational kinetic energy of the system centroid, the rotational kinetic energy of the system around the centroid, and the rotor-platform attitude coupling term. The simplified total kinetic energy expressions (equations (26) to (29)) are obtained, and the coupling relationship between the rotor rotation and the platform attitude is explicitly represented by the coupling matrix. This embodiment eliminates numerous redundant and overlapping terms through centroid constraints, simplifying the complex superposition of multi-rigid-body kinetic energy into a clear structure of decoupled translational, rotational, and coupled terms. This significantly reduces the computational burden of subsequent Lagrange derivatives and improves numerical solution efficiency. Each component of the decoupled total kinetic energy corresponds to a clear physical meaning, and the coupling matrix directly corresponds to the interaction between the rotor and the platform, facilitating an intuitive understanding of the multi-body coupling mechanism. Since all physical quantities are uniformly projected onto the platform's own system, this embodiment can directly interface with the engineering parameters of the satellite attitude control system without requiring additional coordinate transformation.

[0212] In this embodiment, the simplified total kinetic energy is substituted into the Lagrange rotation equation, and the partial derivative with respect to the generalized attitude coordinates and the time derivative are obtained to obtain the differential equation of the rotational dynamics of the satellite system (Equations (30) to (35)). The terms related to rotor motion and time-varying parameters in the equation are separated from the resultant torque and divided into three categories: rotor coupling interference, parameter uncertainty interference, and angular momentum coupling interference. Combined with the engineering characteristics of the satellite platform with low angular velocity and large mass difference, the rotor rotation coupling interference is determined to be the core interference source. The rotation coupling interference terms in vector form are further expanded by attitude transformation matrix, angular velocity cross product matrix, center of mass eccentricity cross product matrix, and installation position cross product matrix, and decomposed into explicit expressions of three-axis coordinate components (Equations (38) to (42)). The centrifugal coupling terms (angular velocity square correlation), gyro coupling terms, angular acceleration inertial terms, and principal inertial terms are distinguished according to physical causes, and a quantitative mapping between each design parameter and the disturbance torque is established. This embodiment fully quantifies the rotational coupling interference mechanism of high-speed rotating components and disturbance suppression mechanism on the satellite platform, and clarifies the influence law of each design parameter on the disturbance torque. This provides analytical basis for interference characteristic analysis and accurate objective function support for subsequent optimization of all parameters of the disturbance suppression mechanism, ensuring the disturbance suppression accuracy of the final compensation strategy.

[0213] Optionally, the optimization objective is to minimize the integral of the square of the second norm of the rotational coupling interference torque output by the rotational coupling interference model within the scanning period. Based on the rotational coupling interference model, a sequential quadratic programming method is used to iteratively optimize the mass parameters, installation position vector, and motion curve parameters of the interference suppression mechanism, including:

[0214] A nonlinear optimization model is constructed with the integral of the square of the second norm of the rotational coupling disturbance torque under the satellite platform's own system within the scanning period as the objective function. The rotational coupling disturbance torque is the sum of the centrifugal force term, the gyroscopic effect term, the inertial force term, and the principal inertial term.

[0215] Set physical boundary constraints for the parameters to be optimized, wherein the physical boundary constraints are upper and lower limit ranges based on the structural envelope, mass characteristics and parameters of the high-speed rotating component of the satellite platform;

[0216] Using the nonlinear optimization model, with the objective function minimization and the physical boundary constraints of the parameters to be optimized as optimization conditions, the mass parameters, installation position vector, and motion curve parameters of the disturbance reduction mechanism are iteratively optimized.

[0217] Specifically, this embodiment aims to minimize the integral of the square of the second norm of the rotational coupling disturbance torque within the scanning cycle. This covers the entire scanning process of the rotating components, achieving overall optimal disturbance throughout the entire time period. It avoids the problem of excessive residual disturbance in other time periods due to single-point optimization, ensuring the attitude stability of the satellite platform throughout its entire working cycle. Physical boundary constraints are set by combining the satellite platform's structural envelope, mass characteristics, and high-speed rotating component parameters. The optimization results conform to engineering practice, and the output disturbance reduction mechanism parameters are feasible. Multi-dimensional collaborative iterative optimization is performed on the disturbance reduction mechanism's mass parameters, installation position vector, and motion curve parameters to achieve global matching of multiple parameters. Compared to independent debugging of single parameters, this method provides better disturbance suppression and improves the design efficiency of the disturbance reduction mechanism compensation strategy. A sequential quadratic programming method is used to solve the constrained nonlinear optimization model, which has fast convergence speed and high solution accuracy. It can efficiently obtain the optimal parameters that satisfy the boundary constraints, ensuring the compensation accuracy of rotational coupling disturbance.

[0218] Optionally, the iterative process of the sequential quadratic programming method specifically includes:

[0219] At the current iteration point, the objective function is expanded twice using Taylor expansion, the physical boundary constraints are linearized, and a quadratic programming subproblem is constructed.

[0220] Solving the quadratic programming subproblem yields the search direction, and a step size factor is determined using a line search strategy. This step size factor satisfies the descent condition of the objective function and the constraint feasibility requirements.

[0221] Update the vector of the parameter to be optimized based on the current iteration point, the search direction, and the step size factor. Repeat the above steps until the function gradient, parameter change, or constraint violation of the parameter to be optimized is less than a preset convergence threshold. Output the optimal parameter vector as the optimal compensation strategy of the disturbance reduction mechanism.

[0222] Specifically, after obtaining the rotational coupling interference model of the rotating component and the interference suppression mechanism on the satellite platform, this embodiment optimizes the mass parameters of the interference suppression mechanism and its compensation strategies such as its installation position and motion curve on the satellite platform.

[0223] The mass of the disturbance reduction mechanism is defined as The rotation angle of the disturbance suppression mechanism is angular velocity is Angular acceleration is The moment of inertia of the disturbance suppression mechanism relative to its center of mass of The expected principal inertia of the axis is The centroid offset of the disturbance reduction mechanism is , , Based on the above, the compensation strategy for the disturbance reduction mechanism is optimized.

[0224] That is, equations (39) to (42) can be written as:

[0225] (43)

[0226] (44)

[0227] (45)

[0228] (46)

[0229] To reduce system disturbances caused by high-speed rotating components during scanning, this embodiment describes the parameter design problem of the disturbance reduction mechanism as a nonlinear optimization problem with boundary constraints.

[0230] The preset parameter vector to be optimized is:

[0231] ,

[0232] This embodiment adjusts the parameters of the disturbance reduction mechanism to minimize the resultant disturbance of the mechanism throughout the scanning process, thereby canceling out the motion disturbance of the rotating component. Therefore, the objective can be defined as minimizing the integral of the square norm of the resultant moment over the entire scanning time, i.e.

[0233] (47)

[0234] in, For the rotational coupling disturbance torque of the system, These represent the disturbance torques corresponding to the centrifugal term, gyroscopic term, inertial term, and principal inertial term, respectively.

[0235] Meanwhile, based on the physical constraints of the installation and parameter values ​​of the disturbance suppression mechanism, the parameters must meet the following requirements:

[0236] (48)

[0237] Therefore, this embodiment can be transformed into a nonlinear optimization problem with upper and lower bound constraints. Thus, the sequential quadratic programming method is used to solve it, and the specific process is shown in the figure.

[0238] Constrained nonlinear programming (NLP) problems are the solution objects of the SQP algorithm, and their standard mathematical model can be expressed as:

[0239] (49)

[0240] in, The objective function is... The vector of parameters to be optimized; There are m equality constraints; There are n inequality constraints; , and All are continuously differentiable nonlinear functions.

[0241] The SQP algorithm transforms the original nonlinear programming problem into a quadratic programming (QP) subproblem in each iteration and solves iteratively to approximate the optimal solution of the original problem. This embodiment is mainly based on the Lagrangian function and the KKT (Karush-Kuhn-Tucker) optimality condition.

[0242] At the current point during the k-th iteration By constructing a Lagrange function in the vicinity and introducing Lagrange multipliers λ and μ, we can obtain:

[0243] (50)

[0244] At this point, at the iteration point By performing a quadratic approximation on the objective function and a linear approximation on the constraints, a QP subproblem is constructed, which is then simplified to:

[0245] (51)

[0246] After solving the QP subproblem to obtain the search direction, the optimal step size is determined through line search, and the iteration parameters are updated:

[0247] (52)

[0248] in, This is the step size factor, which can be determined using a line search strategy.

[0249] This embodiment constructs a quadratic programming subproblem by performing a second Taylor expansion of the objective function at the iteration point and linearizing the physical boundary constraints. This transforms the original nonlinear parameter optimization problem into a standard quadratic programming form that can be solved successively, balancing local solution accuracy and computational efficiency. A line search strategy is used to determine the step size factor, ensuring that the objective function continuously decreases during the iteration process while ensuring that the parameters to be optimized always meet the physical boundary constraints, thus improving the stability of the iteration process and the feasibility of the results. Using the function gradient, parameter change, or constraint violation degree as the convergence criterion, the solution accuracy can be controlled as needed. This allows for efficient convergence to obtain the optimal parameters of the disturbance reduction mechanism's mass, installation position, and motion curve, ensuring the compensation effect of rotational coupling interference.

[0250] Optionally, after outputting the optimal compensation strategy of the interference suppression mechanism, the method further includes:

[0251] The motion parameters of the disturbance reduction mechanism under the optimal compensation strategy are imported into the rotational coupling interference model. The amplitude of the residual interference torque after compensation is calculated to verify the effect of the disturbance reduction mechanism on the rotational coupling interference generated by the high-speed rotating component.

[0252] Specifically, the mass parameters of the high-speed rotating component in this embodiment are as follows:

[0253] Table 2 Mass parameters of rotating parts

[0254] The motion curve of the high-speed rotating component is defined as shown in the figure, and the boundary constraints of each parameter are set as shown in the figure.

[0255] Table 3 Boundary constraints of parameters to be optimized

[0256]

[0257] Repeat the above process until the parameters are updated and iterated to meet the convergence criterion, and the optimal solution can be obtained as shown.

[0258] Table 4 Optimal parameters for rotating components

[0259]

[0260] The comparison of interference torques when a single high-speed rotating component moves simultaneously with the high-speed rotating component and the interference suppression mechanism is shown in the figure. The total torque amplitude decreased from 11 Nm to 0.016 Nm, and the interference was compensated by 99.85%. The results show that the method in this embodiment achieves high-precision compensation for rotational coupling interference by the interference suppression mechanism, suppresses the influence of rotational coupling interference on the attitude of the satellite platform, and provides an ultra-stable and ultra-quiet working environment for the imaging payload.

[0261] This embodiment adapts the SQP iterative process to the scenario of disturbance reduction parameter optimization with upper and lower bound constraints. By performing a second Taylor expansion of the objective function and linearizing the boundary constraints, the original nonlinear optimization problem is transformed into an easily solvable quadratic programming subproblem. During the iteration process, the step size factor simultaneously satisfies the requirements of objective function descent and constraint feasibility, avoiding parameter out-of-bounds or iteration divergence. At the same time, the convergence criteria are based on three indicators: function gradient, parameter change, and constraint violation degree, avoiding false convergence. The output optimization parameters can be directly applied without manual secondary adjustment. Verified in actual application, the process optimization using this embodiment can reduce the rotational coupling disturbance torque from 11 Nm to 0.016 Nm, with a compensation rate of 99.85%. Moreover, it can be directly implemented by calling the SQP solver in a mature numerical computing library, resulting in low engineering implementation costs.

[0262] This invention also provides a modeling and optimization system for a disturbance reduction mechanism for high-speed rotating components on a satellite, comprising:

[0263] The data acquisition unit is used to acquire the satellite system configuration parameters, including the satellite platform, high-speed rotating components and interference suppression mechanism, and to model generalized coordinates based on the satellite system configuration parameters;

[0264] The data processing unit is used to construct a dynamic model of the satellite system based on the configuration parameters of the satellite system and the generalized coordinates, and based on the multibody dynamics constraint relationship, extract the analytical expression of the rotational coupling disturbance term based on the dynamic model;

[0265] The model building unit is used to establish a rotational coupling interference model of the high-speed rotating component and the interference reduction mechanism on the satellite platform based on the analytical expression of the rotational coupling interference term.

[0266] The data optimization unit is used to minimize the integral of the square of the second norm of the rotational coupling interference torque output by the rotational coupling interference model within the scanning period as the optimization objective. Based on the rotational coupling interference model, the unit uses a sequential quadratic programming method to iteratively optimize the mass parameters, installation position vector, and motion curve parameters of the interference suppression mechanism, and outputs the optimal compensation strategy of the interference suppression mechanism.

[0267] The modeling and optimization system for the onboard high-speed rotating component disturbance reduction mechanism of the present invention has the same advantages over the prior art as the modeling and optimization method for the onboard high-speed rotating component disturbance reduction mechanism described above, and will not be repeated here.

[0268] This invention also provides an electronic device, including: a processor and a memory, wherein the memory is used to store computer programs;

[0269] When the computer program is loaded by the processor, it causes the processor to execute the modeling and optimization method for the disturbance reduction mechanism of the high-speed rotating components on the satellite as described above.

[0270] The electronic device of the present invention has the same advantages over the prior art as the modeling and optimization method of the above-mentioned on-board high-speed rotating component disturbance reduction mechanism, and will not be repeated here.

[0271] This invention also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the modeling and optimization method for the disturbance reduction mechanism of the high-speed rotating component on the satellite as described above.

[0272] The advantages of the computer-readable storage medium of the present invention compared to the prior art are the same as the advantages of the modeling and optimization method of the above-mentioned on-board high-speed rotating component disturbance reduction mechanism compared to the prior art, and will not be repeated here.

[0273] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A modeling and optimization method for a disturbance reduction mechanism of a high-speed rotating component on a satellite, characterized in that, The method includes: Obtain the satellite system configuration parameters, including the satellite platform, high-speed rotating components, and interference suppression mechanism, and model generalized coordinates based on the satellite system configuration parameters; Based on the satellite system configuration parameters and the generalized coordinates, a dynamic model of the satellite system is constructed based on the multibody dynamics constraint relationship, and an expression for the rotational coupling disturbance term is extracted based on the dynamic model. Based on the expression of the rotational coupling interference term, a rotational coupling interference model of the high-speed rotating component and the interference suppression mechanism on the satellite platform is established; With the optimization objective of minimizing the integral of the square of the second norm of the rotational coupling interference torque output by the rotational coupling interference model within the scanning period, a sequential quadratic programming method is used to iteratively optimize the mass parameters, installation position vector, and motion curve parameters of the interference suppression mechanism based on the rotational coupling interference model, and outputs the optimal compensation strategy of the interference suppression mechanism.

2. The modeling and optimization method for a high-speed rotating component disturbance reduction mechanism on a satellite according to claim 1, characterized in that, The generalized coordinate modeling based on the satellite system configuration parameters includes: Based on the satellite system configuration parameters, define the inertial coordinate system, orbital coordinate system, satellite platform intrinsic system, rotating component intrinsic system, and disturbance reduction mechanism intrinsic system; The high-speed rotating component and the disturbance reduction mechanism are defined as rigid bodies with the same structural form, and the origin of the high-speed rotating component is located at the center of its own rotation axis, and the origin of the disturbance reduction mechanism is located at the center of its own rotation axis. The position vector of the satellite system's center of mass in the inertial coordinate system, the attitude angle of the satellite platform relative to the orbital coordinate system, the rotation angle of the rotating component's own system relative to the satellite platform's own system, and the rotation angle of the disturbance reduction mechanism's own system relative to the satellite platform's own system are selected as generalized coordinates.

3. The modeling and optimization method for a disturbance reduction mechanism of a high-speed rotating component on a satellite according to claim 1, characterized in that, The construction of the dynamic model of the satellite system and the extraction of the expression for the rotational coupling disturbance term based on the dynamic model include: Based on the generalized coordinates, the absolute velocity expressions of the satellite platform, the high-speed rotating component, and the disturbance reduction mechanism in inertial space are derived, and then the kinetic energy expressions of each part are calculated. Based on the conservation of the center of mass of the satellite system, the kinetic energy expressions of the satellite platform, the high-speed rotating component, and the disturbance reduction mechanism are combined and simplified to obtain the total kinetic energy expression of the system. Substituting the total kinetic energy expression of the system into the Lagrange equation and performing partial derivative calculations, a satellite system dynamic differential equation containing the rotation equation is established, which serves as the dynamic model of the satellite system. The rotation equation characterizes the relationship between the rate of change of angular momentum and the net external torque acting on the satellite platform in its own system. The expression for the coupled interference term caused by the rotation of the high-speed rotating component and the disturbance reduction mechanism is separated from the dynamic differential equation. The coupled interference term includes a centrifugal force term, a gyroscopic effect term, an inertial force term, and a principal inertial term.

4. The modeling and optimization method for a disturbance reduction mechanism of a high-speed rotating component on a satellite according to claim 3, characterized in that, The coupling interference terms include centrifugal force terms, gyroscopic effect terms, inertial force terms, and principal inertial terms, specifically expressed as follows: The centrifugal force term is a product function of the square of the rotational angular velocity of the high-speed rotating component and the disturbance reduction mechanism, and the corresponding centrifugal disturbance caused by the dynamic and static imbalance of the rotating component. The gyro effect term is the product function of the square of the rotational angular velocity of the high-speed rotating component and the disturbance reduction mechanism and the corresponding rotational inertia, corresponding to the gyro coupling interference caused by the rotational angular velocity of the rotating component; The inertial force term is a product function of the rotational angular acceleration of the high-speed rotating component and the disturbance reduction mechanism, the corresponding centroid offset, and the installation position vector, corresponding to the inertial disturbance caused by the change in the angular acceleration of the rotating component; The main inertial force term is the product function of the rotational angular acceleration of the high-speed rotating component and the disturbance reduction mechanism and the corresponding rotational inertia, corresponding to the inertial disturbance caused by the rotational inertia of the rotating component itself.

5. The modeling and optimization method for a disturbance reduction mechanism of a high-speed rotating component on a satellite according to claim 3, characterized in that, The optimization objective is to minimize the integral of the squared L2 norm of the rotational coupling interference torque output by the rotational coupling interference model within the scanning period. Based on the rotational coupling interference model, a sequential quadratic programming method is used to iteratively optimize the mass parameters, installation position vector, and motion curve parameters of the interference suppression mechanism, including: A nonlinear optimization model is constructed with the integral of the square of the second norm of the rotational coupling disturbance torque under the satellite platform's own system within the scanning period as the objective function. The rotational coupling disturbance torque is the sum of the centrifugal force term, the gyroscopic effect term, the inertial force term, and the principal inertial term. Set physical boundary constraints for the parameters to be optimized, wherein the physical boundary constraints are upper and lower limit ranges based on the structural envelope, mass characteristics and parameters of the high-speed rotating component of the satellite platform; Using the nonlinear optimization model, with the objective function minimization and the physical boundary constraints of the parameters to be optimized as optimization conditions, the mass parameters, installation position vector, and motion curve parameters of the disturbance reduction mechanism are iteratively optimized.

6. The modeling and optimization method for a disturbance reduction mechanism of a high-speed rotating component on a satellite according to claim 5, characterized in that, The iterative process of the sequential quadratic programming method specifically includes: At the current iteration point, the objective function is expanded twice using Taylor expansion, the physical boundary constraints are linearized, and a quadratic programming subproblem is constructed. Solving the quadratic programming subproblem yields the search direction, and a step size factor is determined using a line search strategy. This step size factor satisfies the descent condition of the objective function and the constraint feasibility requirements. Update the vector of the parameter to be optimized based on the current iteration point, the search direction, and the step size factor. Repeat the above steps until the function gradient, parameter change, or constraint violation of the parameter to be optimized is less than a preset convergence threshold. Output the optimal parameter vector as the optimal compensation strategy of the disturbance reduction mechanism.

7. The modeling and optimization method for a disturbance reduction mechanism of a high-speed rotating component on a satellite according to claim 1, characterized in that, After outputting the optimal compensation strategy of the interference reduction mechanism, the method further includes: The motion parameters of the disturbance reduction mechanism under the optimal compensation strategy are imported into the rotational coupling interference model. The amplitude of the residual interference torque after compensation is calculated to verify the effect of the disturbance reduction mechanism on the rotational coupling interference generated by the high-speed rotating component.

8. A modeling and optimization system for a disturbance reduction mechanism of a high-speed rotating component on a satellite, characterized in that, include: The data acquisition unit is used to acquire the satellite system configuration parameters, including the satellite platform, high-speed rotating components and interference suppression mechanism, and to model generalized coordinates based on the satellite system configuration parameters; The data processing unit is used to construct a dynamic model of the satellite system based on the configuration parameters of the satellite system and the generalized coordinates, and based on the multibody dynamics constraint relationship, extract the analytical expression of the rotational coupling disturbance term based on the dynamic model; The model building unit is used to establish a rotational coupling interference model of the high-speed rotating component and the interference reduction mechanism on the satellite platform based on the analytical expression of the rotational coupling interference term. The data optimization unit is used to minimize the integral of the square of the second norm of the rotational coupling interference torque output by the rotational coupling interference model within the scanning period as the optimization objective. Based on the rotational coupling interference model, the unit uses a sequential quadratic programming method to iteratively optimize the mass parameters, installation position vector, and motion curve parameters of the interference suppression mechanism, and outputs the optimal compensation strategy of the interference suppression mechanism.

9. An electronic device, characterized in that, include: Processor and memory, the memory being used to store computer programs; When the computer program is loaded by the processor, it causes the processor to execute the modeling and optimization method for the disturbance reduction mechanism of the high-speed rotating component on the satellite as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the modeling and optimization method for the disturbance reduction mechanism of the high-speed rotating component on the satellite as described in any one of claims 1-7.

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