阅读说明：本技术 一种用于卫星快速侧摆机动的飞轮构型与大力矩飞轮接入退出方法、装置、计算机设备和存储介质 (Flywheel configuration and large-moment flywheel access and exit method and device for satellite rapid side swinging maneuver, computer equipment and storage medium ) 是由 李峰 钟兴 刘萌萌 张洁 陈志刚 于 2021-09-30 设计创作，主要内容包括：本发明是一种用于卫星快速侧摆机动的飞轮构型与大力矩飞轮接入退出方法、装置、计算机设备和存储介质。本发明为了提高卫星快速侧摆(即绕卫星X轴转动)机动能力,本发明建立用于卫星快速侧摆机动的飞轮异构构型；根据飞轮异构构型,确定大力矩飞轮接入策略；根据飞轮异构构型,确定大力矩飞轮退出策略。本发明采用的异构飞轮构型简单、易实现、成本低,对于光学卫星侧摆方向快速机动能力提升显著。大力矩飞轮接入退出策略简洁、清晰易于工程实现。(The invention relates to a flywheel configuration and large-moment flywheel access quitting method, a device, computer equipment and a storage medium for rapid satellite sidesway maneuvering. In order to improve the maneuvering capability of the satellite for quick side swinging (namely, rotating around the X axis of the satellite), the invention establishes a flywheel heterogeneous configuration for quick side swinging maneuvering of the satellite; determining a large-torque flywheel access strategy according to the heterogeneous configuration of the flywheel; and determining a large-moment flywheel exit strategy according to the heterogeneous configuration of the flywheel. The heterogeneous flywheel adopted by the invention has the advantages of simple structure, easy realization and low cost, and obviously improves the quick maneuvering capability of the optical satellite in the side swinging direction. The large-torque flywheel access and exit strategy is simple, clear and easy to realize in engineering.)

1. A flywheel configuration and large moment flywheel access exit method for satellite rapid side swinging maneuvering is characterized in that: the method comprises the following steps:

step 1: establishing a flywheel heterogeneous configuration for the rapid satellite sidesway maneuver;

step 2: determining a large-torque flywheel access strategy according to the heterogeneous configuration of the flywheel;

and step 3: and determining a large-moment flywheel exit strategy according to the heterogeneous configuration of the flywheel.

2. The method for accessing and exiting the flywheel configuration and the large-moment flywheel of the satellite rapid yaw maneuver as claimed in claim 1, wherein the method comprises the following steps: the step 1 specifically comprises the following steps:

establishing a flywheel heterogeneous configuration for a satellite rapid side swinging maneuver: namely a 3+1S +1X heterogeneous flywheel; the heterogeneous configuration of the flywheel comprises 3 conventional angular momentum and moment flywheels, 1 conventional angular momentum is in the moment flywheel, and 1 large moment flywheel;

the method comprises the steps of respectively identifying conventional angular momentum and moment flywheels through FLx, FLy and FLz, identifying 1 conventional angular momentum on the moment flywheels through FLs, identifying 1 conventional angular momentum on the moment flywheels FLs through FLhx to serve as redundant backup of FLx, FLy and FLz, identifying 1 large moment flywheels through FLhx, and using the large moment flywheels FLhx for side sway rapid maneuvering control.

3. The method for accessing and exiting the flywheel configuration and the large-moment flywheel of the satellite rapid yaw maneuver as claimed in claim 2, wherein the method comprises the following steps: FLs the absolute value of the included angle between the flywheel angular momentum direction and the three XYZ axes is 57.3 degrees.

4. The method for accessing and exiting the flywheel configuration and the large-moment flywheel of the satellite rapid yaw maneuver as claimed in claim 3, wherein the method comprises the following steps: the directions of the flywheel angular momentums FLx, FLy and FLz are respectively parallel to the direction of the satellite coordinate system X, Y, Z.

5. The method for accessing and exiting the flywheel configuration and the large-moment flywheel of the satellite rapid yaw maneuver as claimed in claim 4, wherein the method comprises the following steps: the angular momentum direction of the FLhx high-torque flywheel is parallel to the X axis of the satellite coordinate system.

6. The method for accessing and exiting the flywheel configuration and the large-moment flywheel of the satellite rapid yaw maneuver as claimed in claim 5, wherein the method comprises the following steps: the step 2 specifically comprises the following steps: when the satellite executes a fast maneuvering task, namely the FastMission mark is TRUE, an access permission mark FLhxIsIn is judged at the same time, and when the FLhxIsIn is TRUE, a large-torque flywheel is accessed into the system to receive the control torque distributed by the control system;

when the mark FastMission is FALSE or FLhxIsIn is FALSE, the large-torque flywheel is not connected to the system, and the satellite attitude control is realized by FLx, FLy, FLz and FLs flywheels.

7. The method for accessing and exiting the flywheel configuration and the large-moment flywheel of the satellite rapid yaw maneuver as claimed in claim 6, wherein the method comprises the following steps: the step 3 specifically comprises the following steps:

when the satellite finishes the attitude fast maneuver and returns to the non-fast service mode, the attitude is stable, namely the absolute value of the attitude error AttError is less than 0.05 degrees, a control torque Thx of 1/2, which is not more than FLx maximum torque Tx, is sent to the large moment flywheel, and the torque direction is the deceleration direction of the large moment flywheel;

when the absolute value of the high-torque flywheel rotation speed SpeedFLhx is less than Thx dt 2, the high-torque flywheel torque is set to 0, and the engine is turned off.

8. A flywheel configuration and large moment flywheel access withdrawing device for rapid satellite side swinging maneuvering is characterized in that: the device comprises:

a heterogeneous construction module: the heterogeneous construction module is used for establishing a flywheel heterogeneous configuration for the rapid side swinging maneuver of the satellite;

the large flywheel is connected to a strategy control module: the large-force flywheel access strategy control module determines a large-torque flywheel access strategy according to the heterogeneous configuration of the flywheel;

the large moment flywheel exits the strategy control module: the large-torque flywheel quitting strategy control module determines a large-torque flywheel quitting strategy according to the heterogeneous configuration of the flywheel.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that: the processor, when executing the computer program, realizes the steps of the method of any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, the computer program comprising: the computer program, when executed by a processor, implementing the steps of the method of any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of spacecraft attitude control, in particular to a flywheel configuration and large-moment flywheel access and exit method, a device, computer equipment and a storage medium for rapid satellite sidesway maneuver.

Background

In order to improve the multi-target imaging capability of the optical satellite, the method for improving the satellite control capability, namely the quick maneuvering capability, is an effective method. When a satellite control system is designed, a scheme of multiple control moment gyros is mostly adopted, but the control moment gyros are high in cost, complex in system structure, complex in control method and high in failure rate. With the gradual maturity of the large moment flywheel technology, the heterogeneous flywheel configuration additionally provided with the large moment flywheel can provide stronger maneuvering capability of the satellite, and a series of problems caused by the adoption of multi-control moment gyroscopes are avoided.

Disclosure of Invention

The invention aims to improve the maneuvering capability of the satellite in quick side swinging (namely, rotating around the X axis of the satellite).

The invention provides a flywheel configuration and large-moment flywheel access and exit method, a device, computer equipment and a storage medium for rapid satellite sidesway maneuvering, and the invention provides the following technical scheme:

a flywheel configuration and large-moment flywheel access and exit method for satellite rapid side swinging maneuvering comprises the following steps:

step 1: establishing a flywheel heterogeneous configuration for the rapid satellite sidesway maneuver;

step 2: determining a large-torque flywheel access strategy according to the heterogeneous configuration of the flywheel;

and step 3: and determining a large-moment flywheel exit strategy according to the heterogeneous configuration of the flywheel.

Preferably, the step 1 specifically comprises:

establishing a flywheel heterogeneous configuration for a satellite rapid side swinging maneuver: namely a 3+1S +1X heterogeneous flywheel; the heterogeneous configuration of the flywheel comprises 3 conventional angular momentum and moment flywheels, 1 conventional angular momentum is in the moment flywheel, and 1 large moment flywheel;

the method comprises the steps of respectively identifying conventional angular momentum and moment flywheels through FLx, FLy and FLz, identifying 1 conventional angular momentum on the moment flywheels through FLs, identifying 1 conventional angular momentum on the moment flywheels FLs through FLhx to serve as redundant backup of FLx, FLy and FLz, identifying 1 large moment flywheels through FLhx, and using the large moment flywheels FLhx for side sway rapid maneuvering control.

Preferably, the absolute value of the included angle between the FLs flywheel angular momentum direction and the three XYZ axes is 57.3 degrees.

Preferably, the FLx, FLy, FLz flywheel angular momentum directions are parallel to the satellite coordinate system X, Y, Z directions, respectively.

Preferably, the FLhx high-moment flywheel angular momentum direction is parallel to the X axis of the satellite coordinate system.

Preferably, the step 2 specifically comprises: when the satellite executes a fast maneuvering task, namely the FastMission mark is TRUE, an access permission mark FLhxIsIn is judged at the same time, and when the FLhxIsIn is TRUE, a large-torque flywheel is accessed into the system to receive the control torque distributed by the control system;

when the mark FastMission is FALSE or FLhxIsIn is FALSE, the large-torque flywheel is not connected to the system, and the satellite attitude control is realized by FLx, FLy, FLz and FLs flywheels.

Preferably, the step 3 specifically comprises:

when the satellite finishes the attitude fast maneuver and returns to the non-fast service mode, the attitude is stable, namely the absolute value of the attitude error AttError is less than 0.05 degrees, a control torque Thx of 1/2, which is not more than FLx maximum torque Tx, is sent to the large moment flywheel, and the torque direction is the deceleration direction of the large moment flywheel;

when the absolute value of the high-torque flywheel rotation speed SpeedFLhx is less than Thx dt 2, the high-torque flywheel torque is set to 0, and the engine is turned off.

A flywheel configuration and high-torque flywheel access and exit device for a satellite fast yaw maneuver, the device comprising:

a heterogeneous construction module: the heterogeneous construction module is used for establishing a flywheel heterogeneous configuration for the rapid side swinging maneuver of the satellite;

the large flywheel is connected to a strategy control module: the large-force flywheel access strategy control module determines a large-torque flywheel access strategy according to the heterogeneous configuration of the flywheel;

the large moment flywheel exits the strategy control module: the large-torque flywheel quitting strategy control module determines a large-torque flywheel quitting strategy according to the heterogeneous configuration of the flywheel.

A computer device comprising a memory storing a computer program and a processor executing the steps of the method of any one of steps 1-3 when the computer program is executed.

A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of steps 1-3.

The invention has the following beneficial effects:

the heterogeneous flywheel adopted by the invention has the advantages of simple structure, easy realization and low cost, and obviously improves the quick maneuvering capability of the optical satellite in the side swinging direction. The large-torque flywheel access and exit strategy is simple, clear and easy to realize in engineering.

Drawings

FIG. 1 is a schematic diagram of a heterogeneous flywheel configuration;

FIG. 2 is a flow chart of the access of a large moment flywheel;

FIG. 3 is a high torque flywheel exit flow diagram.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The present invention will be described in detail with reference to specific examples.

The first embodiment is as follows:

according to the present invention, as shown in fig. 1-3, the present invention provides a flywheel configuration and a large moment flywheel access exit method for a satellite rapid side swinging maneuver, comprising the following steps:

step 1: establishing a flywheel heterogeneous configuration for the rapid satellite sidesway maneuver;

step 2: determining a large-torque flywheel access strategy according to the heterogeneous configuration of the flywheel;

and step 3: and determining a large-moment flywheel exit strategy according to the heterogeneous configuration of the flywheel.

The second embodiment is as follows:

the difference between the second embodiment and the first embodiment is only that:

the step 1 specifically comprises the following steps:

establishing a flywheel heterogeneous configuration for a satellite rapid side swinging maneuver: namely a 3+1S +1X heterogeneous flywheel; the heterogeneous configuration of the flywheel comprises 3 conventional angular momentum and moment flywheels, 1 conventional angular momentum is in the moment flywheel, and 1 large moment flywheel;

the method comprises the steps of respectively identifying conventional angular momentum and moment flywheels through FLx, FLy and FLz, identifying 1 conventional angular momentum on the moment flywheels through FLs, identifying 1 conventional angular momentum on the moment flywheels FLs through FLhx to serve as redundant backup of FLx, FLy and FLz, identifying 1 large moment flywheels through FLhx, and using the large moment flywheels FLhx for side sway rapid maneuvering control.

The third concrete embodiment:

the difference between the third embodiment and the second embodiment is only that:

FLs the absolute value of the included angle between the flywheel angular momentum direction and the three XYZ axes is 57.3 degrees.

The fourth concrete embodiment:

the difference between the fourth embodiment and the third embodiment is only that:

the directions of the flywheel angular momentums FLx, FLy and FLz are respectively parallel to the direction of the satellite coordinate system X, Y, Z.

The fifth concrete embodiment:

the difference between the fifth embodiment and the fourth embodiment is only that:

the angular momentum direction of the FLhx high-torque flywheel is parallel to the X axis of the satellite coordinate system.

The sixth specific embodiment:

the difference between the sixth embodiment and the fifth embodiment is only that:

the step 2 specifically comprises the following steps: when the satellite executes a fast maneuvering task, namely the FastMission mark is TRUE, an access permission mark FLhxIsIn is judged at the same time, and when the FLhxIsIn is TRUE, a large-torque flywheel is accessed into the system to receive the control torque distributed by the control system;

when the mark FastMission is FALSE or FLhxIsIn is FALSE, the large-torque flywheel is not connected to the system, and the satellite attitude control is realized by FLx, FLy, FLz and FLs flywheels.

The seventh specific embodiment:

the seventh embodiment of the present application differs from the sixth embodiment only in that:

the step 3 specifically comprises the following steps:

when the satellite finishes the attitude fast maneuver and returns to the non-fast service mode, the attitude is stable, namely the absolute value of the attitude error AttError is less than 0.05 degrees, a control torque Thx of 1/2, which is not more than FLx maximum torque Tx, is sent to the large moment flywheel, and the torque direction is the deceleration direction of the large moment flywheel;

when the absolute value of the high-torque flywheel rotation speed SpeedFLhx is less than Thx dt 2, the high-torque flywheel torque is set to 0, and the engine is turned off.

The eighth embodiment:

the eighth embodiment of the present application differs from the seventh embodiment only in that:

the invention provides a flywheel configuration and large moment flywheel access and exit device for rapid satellite side swinging movement, which comprises:

a heterogeneous construction module: the heterogeneous construction module is used for establishing a flywheel heterogeneous configuration for the rapid side swinging maneuver of the satellite;

the large flywheel is connected to a strategy control module: the large-force flywheel access strategy control module determines a large-torque flywheel access strategy according to the heterogeneous configuration of the flywheel;

the large moment flywheel exits the strategy control module: the large-torque flywheel quitting strategy control module determines a large-torque flywheel quitting strategy according to the heterogeneous configuration of the flywheel.

The specific embodiment is nine:

the difference between the ninth embodiment and the eighth embodiment is only that:

the invention provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the steps of the method in any one of the steps 1-3 when the computer program is executed.

The specific embodiment ten:

the difference between the tenth embodiment and the ninth embodiment is only that:

the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of any one of steps 1-3.

The above description is only a preferred embodiment of a method, a device, a computer device and a storage medium for accessing and exiting a flywheel configuration and a large-torque flywheel of a rapid satellite yaw maneuver, and the protection ranges of the method, the device, the computer device and the storage medium for accessing and exiting the flywheel configuration and the large-torque flywheel of the rapid satellite yaw maneuver are not limited to the above embodiments, and all technical solutions belonging to the idea belong to the protection range of the present invention. It should be noted that modifications and variations which do not depart from the gist of the invention will be those skilled in the art to which the invention pertains and which are intended to be within the scope of the invention.