CN114779134B - Method and system for calibrating magnetic moment of magnetic torquer - Google Patents

Abstract

The present invention relates to the technical field of magnetic moment calibration, and in particular to a method and system for calibrating the magnetic moment of a magnetic torquer. The method comprises: obtaining the magnetic induction intensity at a first preset position and along the axial direction of a winding of the magnetic torquer to be calibrated, and obtaining the magnetic moment of the magnetic torquer to be calibrated according to a first formula; only the magnetic induction intensity at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated is required to calibrate the magnetic moment of the magnetic torquer to be calibrated, that is, to obtain the magnetic moment of the magnetic torquer to be calibrated, without requiring multiple measurements, and the process is simple, and in combination with a target correction coefficient, the accuracy of the magnetic moment of the magnetic torquer to be calibrated is further improved.

Description

A method and system for calibrating magnetic torque of a magnetic torquer

Technical Field

The present invention relates to the technical field of magnetic moment calibration, and in particular to a method and system for calibrating the magnetic moment of a magnetic torquer.

Background Art

The magnetic torquer is one of the actuators of satellite attitude control, including windings and magnetic cores. The windings are wound on the magnetic cores. By controlling the current passed into the magnetic torquer, specifically controlling the current passed into the windings, the size and direction of the magnetic moment generated by the magnetic torquer can be controlled. As shown in Figure 1, it interacts with the Earth's magnetic field during on-orbit operation to generate the required control torque and implement attitude control, including damping of the initial rotation of the satellite after entering orbit, momentum wheel unloading, and precession control and nutation damping in the three-axis directions.

Each magnetic torquer must be calibrated before leaving the factory to give the relationship between its magnetic moment and current. The traditional method for calibrating the magnetic moment of a magnetic torquer is the equatorial plot method, and the process is as follows:

The magnetic torquer to be tested is placed at the center of the rotating platform. Three or four three-component magnetometers are placed in the equatorial plane of the test piece at a certain distance from the center of the rotating platform. The magnetic torquer to be tested is rotated 360° horizontally. The magnetic field value is measured every certain angle, such as 10°, so as to obtain a set of angle and magnetic field measurement values, and then the magnetic moment is inverted by the company. This method has a relatively complicated test process, low efficiency, and is easily interfered by environmental magnetic field fluctuations.

Summary of the invention

The technical problem to be solved by the present invention is to provide a method and system for calibrating the magnetic moment of a magnetic torquer in view of the deficiencies in the prior art.

The technical solution of a method for calibrating the magnetic moment of a magnetic torquer of the present invention is as follows:

Acquire a magnetic induction intensity B _x1 at a first preset position and along the axial direction of the magnetic torquer to be calibrated, wherein the magnetic torquer to be calibrated comprises a magnetic core and a winding, and the winding is wound on the magnetic core;

The magnetic moment M of the magnetic torquer to be calibrated is obtained according to the first formula, and the first formula is: Wherein, μ ₀ represents the vacuum magnetic permeability, x ₁ represents: the distance between the first preset position and the center point position of the magnetic torquer to be calibrated, L represents the length of the magnetic core, Indicates the target correction factor.

The beneficial effects of the method for calibrating the magnetic moment of a magnetic torquer of the present invention are as follows:

It is only necessary to obtain the magnetic induction intensity at the first preset position and along the axial direction of the magnetic torquer to be calibrated, so as to quickly calibrate the magnetic moment of the magnetic torquer to be calibrated, that is, to quickly obtain the magnetic moment of the magnetic torquer to be calibrated, without the need for multiple measurements. The process is simple, and combined with the target correction coefficient, the accuracy of the magnetic moment of the magnetic torquer to be calibrated can be further improved.

On the basis of the above scheme, the method for calibrating the magnetic moment of a magnetic torquer of the present invention can also be improved as follows.

Furthermore, it also includes:

When the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained by using the second formula The second formula is: Wherein, k _c =L/ _rc1 , γ ₁ =x ₁ /L, k _c represents the characteristic size of the cylindrical magnetic core, _rc1 represents the radius of the cylindrical magnetic core, and γ ₁ represents the target distance factor.

Furthermore, the process of obtaining the second formula includes:

Obtaining the magnetic induction intensity at the second preset position and along the axial direction of the first magnetic torquer and obtaining the magnetic induction intensity at the third preset position and along the axial direction of the second magnetic torquer The magnetic moment of the first magnetic torquer is the same as the magnetic moment of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer. When x ₂ =x ₃ , the current correction coefficient β is obtained by the third formula, and the current distance factor γ is calculated by the fourth formula, and the characteristic size k of the cylindrical core of the second magnetic torquer is calculated by the fifth formula to obtain a data group including β, γ and k, until multiple data groups are obtained, and the functional relationship of β with respect to γ and k is obtained based on the multiple data groups: β=f(k,γ), wherein the third formula is: The fourth formula is γ=x ₃ /L ₁ , the fifth formula is k=L ₁ / _rc2 , x ₂ represents the distance between the second preset position and the center point of the first magnetic torquer, x ₃ represents the distance between the third preset position and the center point of the second magnetic torquer, L ₁ represents the length of the cylindrical magnetic core of the second magnetic torquer, and _rc2 represents the radius of the cylindrical magnetic core of the second magnetic torquer;

Substituting the characteristic dimension _kc of the cylindrical magnetic core and the radius _rc1 of the cylindrical magnetic core into the functional relationship, the second formula is obtained.

Further, the magnetic induction intensity at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated is obtained. include:

Supplying forward power to the magnetic torquer to be calibrated for a first preset time to obtain a first magnetic induction intensity A ₁ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

Cut off the power supply for a second preset time, and obtain a second magnetic induction intensity A ₂ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

Reversely supply power to the magnetic torquer to be calibrated for a third preset time period to obtain a third magnetic induction intensity A ₃ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

Cut off the power supply for a fourth preset time, and obtain a fourth magnetic induction intensity A ₄ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

The first calculated magnetic induction intensity _B1 or the second calculated magnetic induction intensity _B2 is determined as the magnetic induction intensity _Bx1 , wherein,

Furthermore, it also includes:

The time interval between the end of the first preset time length and the moment corresponding to the preset magnetic induction intensity _B3 is determined as the time constant of the magnetic torquer to be calibrated, wherein:

The technical solution of a system for calibrating the magnetic moment of a magnetic torquer of the present invention is as follows:

It includes a first acquisition module and a second acquisition module;

The first acquisition module is used to: acquire the magnetic induction intensity at the first preset position and along the axial direction of the magnetic torquer to be calibrated Wherein, the magnetic torquer to be calibrated comprises a magnetic core and a winding, and the winding is wound on the magnetic core;

The second acquisition module is used to obtain the magnetic moment M of the magnetic torquer to be calibrated according to a first formula, wherein the first formula is: Wherein, μ ₀ represents the vacuum magnetic permeability, x ₁ represents: the distance between the first preset position and the center point position of the magnetic torquer to be calibrated, L represents the length of the magnetic core, Indicates the target correction factor.

The beneficial effects of a system for calibrating the magnetic moment of a magnetic torquer of the present invention are as follows:

It is only necessary to obtain the magnetic induction intensity at the first preset position and along the axial direction of the magnetic torquer to be calibrated, so as to quickly calibrate the magnetic moment of the magnetic torquer to be calibrated, that is, to quickly obtain the magnetic moment of the magnetic torquer to be calibrated, without the need for multiple measurements. The process is simple, and combined with the target correction coefficient, the accuracy of the magnetic moment of the magnetic torquer to be calibrated can be further improved.

Based on the above solution, the system for calibrating the magnetic moment of a magnetic torquer of the present invention can also be improved as follows.

Furthermore, the method further comprises a third acquisition module, wherein the third acquisition module is used for:

When the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained by using the second formula The second formula is: Wherein, k _c =L/ _rc1 , γ ₁ =x ₁ /L, k _c represents the characteristic size of the cylindrical magnetic core, _rc1 represents the radius of the cylindrical magnetic core, and γ ₁ represents the target distance factor.

Further, the third acquisition module is specifically used for:

Obtaining the magnetic induction intensity at the second preset position and along the axial direction of the first magnetic torquer and obtaining the magnetic induction intensity at the third preset position and along the axial direction of the second magnetic torquer The magnetic moment of the first magnetic torquer is the same as the magnetic moment of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer. When x ₂ =x ₃ , the current correction coefficient β is obtained by the third formula, and the current distance factor γ is calculated by the fourth formula, and the characteristic size k of the cylindrical magnetic core of the second magnetic torquer is calculated by the fifth formula to obtain a data group including β, γ and k, until multiple data groups are obtained, and the functional relationship of β with respect to γ and k is obtained based on the multiple data groups: β=f(k,γ), wherein the third formula is: The fourth formula is γ=x ₃ /L ₁ , the fifth formula is k=L ₁ / _rc2 , x ₂ represents the distance between the second preset position and the center point of the first magnetic torquer, x ₃ represents the distance between the third preset position and the center point of the second magnetic torquer, L ₁ represents the length of the cylindrical magnetic core of the second magnetic torquer, and _rc2 represents the radius of the cylindrical magnetic core of the second magnetic torquer;

Substituting the characteristic dimension _kc of the cylindrical magnetic core and the radius _rc1 of the cylindrical magnetic core into the functional relationship, the second formula is obtained.

Further, the first acquisition module is specifically used for:

Supplying forward power to the magnetic torquer to be calibrated for a first preset time to obtain a first magnetic induction intensity A ₁ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

Cut off the power supply for a second preset time, and obtain a second magnetic induction intensity A ₂ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

Reversely supply power to the magnetic torquer to be calibrated for a third preset time period to obtain a third magnetic induction intensity A ₃ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

Cut off the power supply for a fourth preset time, and obtain a fourth magnetic induction intensity A ₄ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

The first calculated magnetic induction intensity _B1 or the second calculated magnetic induction intensity _B2 is determined as the magnetic induction intensity in,

Furthermore, a determination module is included, wherein the determination module is used to:

The time interval between the end of the first preset time length and the moment corresponding to the preset magnetic induction intensity _B3 is determined as the time constant of the magnetic torquer to be calibrated, wherein:

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the working principle of a fixed magnetic torquer;

FIG2 is a schematic flow chart of a method for calibrating the magnetic moment of a magnetic torquer according to an embodiment of the present invention;

FIG3 is a schematic diagram of the structure of an auxiliary measurement device;

FIG4 is a schematic diagram of the magnetic moment of a solenoid;

FIG. 5 is a schematic diagram of the structure of a system for calibrating the magnetic moment of a magnetic torquer according to an embodiment of the present invention.

DETAILED DESCRIPTION

As shown in FIG2 , a method for calibrating the magnetic moment of a magnetic torquer according to an embodiment of the present invention includes the following steps:

S1. Obtain the magnetic induction intensity at the first preset position and along the axial direction of the magnetic torquer to be calibrated. Specifically: Obtain the magnetic induction intensity at the first preset position and along the axial direction of the magnetic torquer to be calibrated. Wherein, the magnetic torquer to be calibrated comprises a magnetic core and a winding, and the winding is wound on the magnetic core;

S2. Obtain the magnetic moment M of the magnetic torquer to be calibrated: Specifically:

The magnetic moment M of the magnetic torquer to be calibrated is obtained according to the first formula, and the first formula is: Wherein, μ ₀ represents the vacuum magnetic permeability, x ₁ represents: the distance between the first preset position and the center point position of the magnetic torquer to be calibrated, L represents the length of the magnetic core, Indicates the target correction factor.

Among them, the center point position of the magnetic torquer to be calibrated refers to: the position of the geometric center point of the magnetic core of the magnetic torquer to be calibrated. Since the windings are mostly wound on the magnetic core in a symmetrical structure, the center point position of the winding of the magnetic torquer to be calibrated can also be understood as the position of the geometric center point of the magnetic core of the magnetic torquer to be calibrated, that is, the position of the geometric center point of the magnetic core of the magnetic torquer to be calibrated coincides with the position of the geometric center point of the winding of the magnetic torquer to be calibrated.

The first preset position is located in the axial direction of the winding of the magnetic torquer to be calibrated.

Among them, the target correction coefficient can be determined by the following method Specifically:

1) When the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained using the second formula: The second formula is: Wherein, k _c =L/ _rc1 , γ ₁ =x ₁ /L, k _c represents the characteristic size of the cylindrical magnetic core, _rc1 represents the radius of the cylindrical magnetic core, and γ ₁ represents the target distance factor. In this case, the first formula is specifically: The process of obtaining the second formula includes:

S30, obtaining the magnetic induction intensity B _x2 at the second preset position and along the axial direction of the first magnetic torquer, and obtaining the magnetic induction intensity B _x3 at the third preset position and along the axial direction of the second magnetic torquer, wherein the magnetic moment of the first magnetic torquer is the same as the magnetic moment of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer, when x ₂ =x ₃ , obtaining the current correction coefficient β by the third formula, calculating the current distance factor γ by the fourth formula, and calculating the characteristic size k of the cylindrical core of the second magnetic torquer by the fifth formula, obtaining a data group including β, γ and k, until obtaining multiple data groups, and obtaining the functional relationship of β with respect to γ and k based on the multiple data groups: β=f(k,γ), wherein the third formula is: The fourth formula is γ=x ₃ /L ₁ , the fifth formula is k=L ₁ / _rc2 , x ₂ represents the distance between the second preset position and the center point of the first magnetic torquer, x ₃ represents the distance between the third preset position and the center point of the second magnetic torquer, L ₁ represents the length of the cylindrical magnetic core of the second magnetic torquer, and _rc2 represents the radius of the cylindrical magnetic core of the second magnetic torquer;

S31. Substitute the characteristic dimension _kc of the cylindrical magnetic core and the radius _rc1 of the cylindrical magnetic core into the functional relationship to obtain the second formula.

Among them, electromagnetic simulation software such as ANSYS and MAXWELL can be used to set conditions so that the magnetic moment of the first magnetic torquer is the same as the magnetic moment of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is evenly distributed along the axial direction of the first magnetic torquer, and then simulate and calculate

Calculate the magnetic induction intensity at the second preset position and along the axial direction of the preset hollow solenoid And the magnetic induction intensity B _x3 of the solenoid at the third preset position and along the inserted preset cylindrical magnetic core. After obtaining multiple data sets, β=f(k,γ) is obtained through data fitting.

The second preset position is located in the axial direction of the first magnetic torquer, and the third preset position is located in the axial direction of the second magnetic torquer.

A hollow solenoid may also be used as the first magnetic torquer.

2) Determine the target correction coefficient β _x1 artificially based on experience.

It is only necessary to obtain the magnetic induction intensity at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated, so as to quickly calibrate the magnetic moment of the magnetic torquer to be calibrated, that is, to quickly obtain the magnetic moment of the magnetic torquer to be calibrated, without the need for multiple measurements. The process is simple, and combined with the target correction coefficient, the accuracy of the magnetic moment of the magnetic torquer to be calibrated can be further improved.

Optionally, in the above technical solution, the magnetic induction intensity at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated is obtained. include:

S10, supplying forward power to the magnetic torquer to be calibrated for a first preset time, and obtaining a first magnetic induction intensity A ₁ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

S11, power off for a second preset time, and obtain a second magnetic induction intensity A ₂ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

S12, supplying reverse power to the magnetic torquer to be calibrated for a third preset time period, and obtaining a third magnetic induction intensity A ₃ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

S13, power off for a fourth preset time, and obtain a fourth magnetic induction intensity A ₄ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

The first calculated magnetic induction intensity _B1 or the second calculated magnetic induction intensity _B2 is determined as the magnetic induction intensity in,

In order to facilitate the execution of the above S11 to S13, auxiliary measurement equipment is used for auxiliary measurement, as shown in FIG3 , the auxiliary measurement equipment includes: a circuit control box 1, an azimuth shaft 2, a horizontal track 3, a slider 4, a magnetic torquer to be calibrated 5, a supporting slider 6, a one-dimensional magnetometer probe 7, a fixing screw 8 and a base;

One end of the azimuth rotating shaft 2 is fixed on the base so that the azimuth rotating shaft 2 is vertically arranged with the base, and the other end of the azimuth rotating shaft 2 is connected to the horizontal track 3, and the horizontal track 3 can rotate with the other end of the azimuth rotating shaft 2; two sliders 4 are arranged on the azimuth rotating shaft 2, and can only slide back and forth along the axial direction of the horizontal track 3, and can be locked relative to the horizontal track 3, that is, fixed at any position of the horizontal track 3, which can be specifically achieved by threaded fixing. The two sliders 4 are provided with simple clamps, which can fix various types of magnetic torquers 5 to be calibrated; simple clamp It can be selected according to actual conditions. A square hole adapted to the support slider 6 is opened on the left side of the horizontal track 3 and in the vertical direction. Specifically, the cross section of the support slider 6 can be slightly smaller than the square hole, so as to support the support slider 6 to slide vertically along the square hole, and the position can be fixed by screws. A one-dimensional magnetometer probe 7 is installed on the support slider 4, and the magnetic axis of the one-dimensional magnetometer probe 7 is parallel to the horizontal track 3. That is, the first magnetic induction intensity A1, the second magnetic induction intensity _A2 , the third magnetic induction intensity _A3 and the fourth magnetic induction intensity _A4 at the first preset position and along the axial direction of the winding of the magnetic torquer 5 to be calibrated are obtained by the one-dimensional magnetometer probe 7. A scale is processed on the horizontal track ₃ , and the zero point position is aligned with the center of the one-dimensional magnetometer probe 7. The distance between the center point positions of the winding of the magnetic torquer 5 to be calibrated at the first preset position can be directly read.

Among them, the circuit control box 1 integrates the driving circuit and analog-to-digital conversion circuit of the one-dimensional magnetometer probe 7, and also integrates a programmable DC power supply to power the magnetic torquer 5 to be calibrated. It also integrates an interface that can communicate with a computer, and reads and records the magnetic induction intensity collected by the one-dimensional magnetometer probe 7 through the computer, and can also control the voltage and direction of the power supply to achieve "forward power supply to the magnetic torquer 5 to be calibrated for a first preset time, power off for a second preset time, reverse power supply to the magnetic torquer 5 to be calibrated for a third preset time, and power off for a fourth preset time".

After the one-dimensional magnetometer probe 7 and the magnetic torque device 5 to be calibrated are installed, the height of the one-dimensional magnetometer probe 7 is adjusted so that the one-dimensional magnetometer probe 7 is located on the axis of the magnetic torque device 5 to be calibrated, and the position of the slider 4 is adjusted so that the distance between the center point of the magnetic torque device 5 to be calibrated and the one-dimensional magnetometer probe 7 is twice the distance of the magnetic torque device 5 to be calibrated, and then fixed; then:

The azimuth shaft 2 is rotated so that the reading of the one-dimensional magnetometer probe 7 does not exceed 100nT. In this way, the magnetization influence of the ambient magnetic field on the magnetic torquer to be calibrated 5 can be ignored, and the test accuracy is improved. The control circuit control box 1 supplies power to the magnetic torquer to be calibrated 5 to execute S10 to S13, wherein the first preset time, the second preset time, the third preset time and the fourth preset time can be set according to actual conditions. For example, the first preset time, the second preset time, the third preset time and the fourth preset time are all 1 second. The circuit control box 1 supplies power (rated voltage) to the magnetic torquer for 1 second; the power is cut off for 1 second; the reverse power supply lasts for 1 second. Since the time constant of the magnetic torquer to be calibrated 5 is in the order of 100ms, at the end of 1 second, it can be considered that the magnetometer is in a stable state. The power is cut off for 1 second, and the reading of the one-dimensional magnetometer probe 7 within these 4 seconds is recorded to obtain the first magnetic induction intensity _A1 , the second magnetic induction intensity _A2 , the third magnetic induction intensity _A3 and the fourth magnetic induction intensity _A4. ,So:

Assume that the ambient magnetic field along the axial direction of the winding of the magnetic torquer 5 to be calibrated during the test is B ₀ , and B ₀ is stable in a short time, the magnetic field generated at the one-dimensional magnetometer probe 7 after the magnetic torquer 5 to be calibrated is the first calculated magnetic induction intensity B ₁ , the magnetic field generated at the one-dimensional magnetometer probe 7 by the residual magnetic moment after power failure is the second calculated magnetic induction intensity B ₂ , the magnetic field generated at the one-dimensional magnetometer probe 7 by powering on in the reverse direction is -B ₁ , and the magnetic field generated at the probe by the residual magnetic moment in the reverse direction after power failure is -B ₂ ; then:

A ₁ =B ₁ +B ₀ , A ₂ =B ₂ +B ₀ , A ₃ =-B ₁ +B ₀ , A ₄ =-B ₂ +B ₀ , thus we get

Optionally, in the above technical solution, further comprising:

The time interval between the end of the first preset time length and the moment corresponding to the preset magnetic induction intensity _B3 is determined as the time constant of the magnetic torquer to be calibrated, wherein:

The principle of a method for calibrating the magnetic moment of a magnetic torquer in the present application is as follows:

As shown in Figure 4, through the formula The magnetic moment _M1 of a closely wound solenoid can be calculated, where i represents the current, _rw is the average radius of the coil of the closely wound solenoid, and N is the number of turns of the coil of the closely wound solenoid. The magnetic moment of the closely wound solenoid is evenly distributed in the direction of the axis length _L2 . The direction of the magnetic induction intensity _Bx at a point P on its axis is parallel to the axis. _Bx can be calculated according to Calculated, where x is the distance from point P to the center point O of the solenoid, then: Conversely, by measuring the magnetic induction intensity at point P, the magnetic moment M ₁ of the solenoid can also be inferred:

The core parts of the magnetic torquer are the magnetic core and the winding. The winding is wound on the magnetic core. The winding is equivalent to a solenoid. When current is passed through it, a magnetic moment is generated. The magnetic core is made of slender high magnetic permeability soft magnetic material. The magnetic moment _M0 generated by the hollow coil, i.e. the winding, is amplified to obtain the magnetic moment _M2 of the magnetic torquer: _M2 = _aM0 , where a is the amplification factor. The amplification factor a is related to the relative magnetic permeability and characteristic size of the magnetic core. When the relative magnetic permeability is large, such as 5000 (the relative magnetic permeability of commonly used magnetic cores is much larger than 5000), the amplification factor a mainly depends on the characteristic size of the magnetic core. The larger the characteristic size, the larger the amplification factor a. However, the larger the characteristic size, the thinner the magnetic core and the lower the fundamental frequency, which is not conducive to the vibration index requirements, and the magnetic core is prone to saturation. In engineering, the characteristic size is usually in the range of 30 to 80.

Due to the existence of the core demagnetization factor, within the linear working range of the magnetic torquer, the magnetization intensity inside the core is distributed differently along the axial direction, with three characteristics:

1) The magnetization intensity is the largest at the center point of the axis of the magnetic core. The farther away from the center point, the smaller the magnetization intensity. It is symmetrically distributed around the center point, which causes the magnetic moment of the magnetic torquer to be unevenly distributed on its axis. Therefore, it cannot be used directly. Calibrate the magnetic moment of the magnetic torquer;

2) The relative ratio of the magnetization intensity at each position on the axis of the magnetic core remains unchanged. For example, if the coil current doubles, the magnetization intensity at each position inside the magnetic core will also double as a whole, but the ratio of magnetization intensity to current remains unchanged;

3) The ratio of magnetization intensity to current at each position inside the core depends only on the characteristic size of the core.

Based on the second and third points above, for a given magnetic torquer, the characteristic size of the magnetic core is fixed, so the distribution of the magnetic moment of the magnetic torquer on the axis of the magnetic core is also determined. Therefore, a correction coefficient relative to the formula can be obtained by numerical calculation or finite element analysis. Specifically:

Obtaining the magnetic induction intensity at the second preset position and along the axial direction of the first magnetic torquer and obtaining the magnetic induction intensity at the third preset position and along the axial direction of the second magnetic torquer The magnetic moment of the first magnetic torquer is the same as the magnetic moment of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer. When x ₂ =x ₃ , the current correction coefficient β is obtained by the third formula, and the current distance factor γ is calculated by the fourth formula, and the characteristic size k of the cylindrical magnetic core of the second magnetic torquer is calculated by the fifth formula to obtain a data group including β, γ and k, until multiple data groups are obtained, and the functional relationship of β with respect to γ and k is obtained based on the multiple data groups: β=f(k,γ), wherein the third formula is: The fourth formula is γ=x ₃ /L ₁ , the fifth formula is k=L ₁ / _rc2 , x ₂ represents the distance between the second preset position and the center point of the first magnetic torquer, x ₃ represents the distance between the third preset position and the center point of the second magnetic torquer, L ₁ represents the length of the cylindrical magnetic core of the second magnetic torquer, and _rc2 represents the radius of the cylindrical magnetic core of the second magnetic torquer;

The correction coefficients corresponding to the commonly used feature sizes and distance factors can be calculated in advance and formed into a table. Then, based on k _c and γ ₁ , the target correction coefficient β _x1 can be obtained from the table. Alternatively, k _c and γ ₁ can be directly substituted into f(k,γ) to calculate the target correction coefficient β _x1 .

In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given in the present application. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the scope of protection of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

As shown in FIG5 , a system 200 for calibrating the magnetic moment of a magnetic torquer according to an embodiment of the present invention includes a first acquisition module 210 and a second acquisition module 220 ;

The first acquisition module 210 is used to: acquire the magnetic induction intensity at a first preset position and along the axial direction of the magnetic torquer to be calibrated Wherein, the magnetic torquer to be calibrated comprises a magnetic core and a winding, and the winding is wound on the magnetic core;

The second acquisition module 220 is used to obtain the magnetic moment M of the magnetic torquer to be calibrated according to a first formula, wherein the first formula is: Wherein, μ ₀ represents the vacuum magnetic permeability, x ₁ represents: the distance between the first preset position and the center point position of the magnetic torquer to be calibrated, L represents the length of the magnetic core, Indicates the target correction factor.

It is only necessary to obtain the magnetic induction intensity at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated, so as to quickly calibrate the magnetic moment of the magnetic torquer to be calibrated, that is, to quickly obtain the magnetic moment of the magnetic torquer to be calibrated, without the need for multiple measurements. The process is simple, and combined with the target correction coefficient, the accuracy of the magnetic moment of the magnetic torquer to be calibrated can be further improved.

Optionally, in the above technical solution, a third acquisition module is further included, and the third acquisition module is used to:

When the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained by using the second formula The second formula is: Wherein, k _c =L/ _rc1 , γ ₁ =x ₁ /L, k _c represents the characteristic size of the cylindrical magnetic core, _rc1 represents the radius of the cylindrical magnetic core, and γ ₁ represents the target distance factor.

Optionally, in the above technical solution, the third acquisition module is specifically used to:

Obtain the magnetic induction intensity B _x2 at the second preset position and along the axial direction of the first magnetic torquer, and obtain the magnetic induction intensity B _x3 at the third preset position and along the axial direction of the second magnetic torquer, wherein the magnetic moment of the first magnetic torquer is the same as the magnetic moment of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer, when x ₂ =x ₃ , obtain the current correction coefficient β by the third formula, calculate the current distance factor γ by the fourth formula, and calculate the characteristic size k of the cylindrical core of the second magnetic torquer by the fifth formula, and obtain a data group including β, γ and k, until multiple data groups are obtained, and obtain the functional relationship of β with respect to γ and k based on the multiple data groups: β=f(k,γ), wherein the third formula is: The fourth formula is γ=x ₃ /L ₁ , the fifth formula is k=L ₁ / _rc2 , x ₂ represents the distance between the second preset position and the center point of the first magnetic torquer, x ₃ represents the distance between the third preset position and the center point of the second magnetic torquer, L ₁ represents the length of the cylindrical magnetic core of the second magnetic torquer, and _rc2 represents the radius of the cylindrical magnetic core of the second magnetic torquer;

Substituting the characteristic dimension _kc of the cylindrical magnetic core and the radius _rc1 of the cylindrical magnetic core into the functional relationship, the second formula is obtained.

Optionally, in the above technical solution, the first acquisition module 210 is specifically used for:

Supplying forward power to the magnetic torquer to be calibrated for a first preset time to obtain a first magnetic induction intensity A ₁ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

Cut off the power supply for a second preset time, and obtain a second magnetic induction intensity A ₂ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

Reversely supply power to the magnetic torquer to be calibrated for a third preset time period to obtain a third magnetic induction intensity A ₃ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

Cut off the power supply for a fourth preset time, and obtain a fourth magnetic induction intensity A ₄ at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated;

The first calculated magnetic induction intensity _B1 or the second calculated magnetic induction intensity _B2 is determined as the magnetic induction intensity in,

Optionally, in the above technical solution, a determination module is further included, and the determination module is used to:

The time interval between the end of the first preset time length and the moment corresponding to the preset magnetic induction intensity _B3 is determined as the time constant of the magnetic torquer to be calibrated, wherein:

The above parameters in the system 200 for calibrating the magnetic moment of a magnetic torquer of the present invention and the steps for each unit module to implement the corresponding functions can refer to the parameters and steps in the embodiment of the method for calibrating the magnetic moment of a magnetic torquer mentioned above, and will not be repeated here.

An electronic device according to an embodiment of the present invention comprises a memory, a processor and a program stored in the memory and running on the processor, wherein when the processor executes the program, the steps of a method for calibrating the magnetic moment of a magnetic torquer implemented in any one of the above are implemented.

Among them, the electronic device can be a computer, a mobile phone, etc. Correspondingly, its program is computer software or a mobile phone APP, etc., and the above-mentioned parameters and steps in an electronic device of the present invention can refer to the parameters and steps in an embodiment of a method for calibrating the magnetic moment of a magnetic torquer mentioned above, which will not be repeated here.

Those skilled in the art will appreciate that the present invention may be implemented as a system, method or computer program product.

Therefore, the present disclosure may be specifically implemented in the following forms, namely: it may be completely hardware, it may be completely software (including firmware, resident software, microcode, etc.), or it may be a combination of hardware and software, generally referred to herein as a "circuit", "module" or "system". In addition, in some embodiments, the present invention may also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims (8)

1. A method of calibrating the magnetic moment of a magnetic torquer, comprising:

acquiring the magnetic induction intensity of a first preset position along the axial direction of the magnetic torquer to be calibrated The magnetic torquer to be calibrated comprises a magnetic core and a winding, wherein the winding is wound on the magnetic core;

The magnetic moment M of the magnetic torquer to be calibrated is obtained according to a first formula, wherein the first formula is as follows:

wherein μ ₀ denotes vacuum permeability, x ₁ denotes: the distance between the first preset position and the central point of the magnetic torquer to be calibrated, L represents the length of the magnetic core, Representing a target correction coefficient;

The magnetic induction intensity of the first preset position along the axial direction of the winding of the magnetic torquer to be calibrated is obtained Comprising the following steps:

Forward powering the magnetic torquer to be calibrated for a first preset time period, and obtaining a first magnetic induction intensity A ₁ of the first preset position along the axial direction of a winding of the magnetic torquer to be calibrated;

Powering off a second electric preset time period to obtain a second magnetic induction intensity A ₂ of the first preset position along the axial direction of the winding of the magnetic torquer to be calibrated;

reversely supplying power to the magnetic torquer to be calibrated for a third preset time period, and acquiring a third magnetic induction intensity A ₃ of the first preset position along the axial direction of the winding of the magnetic torquer to be calibrated;

Powering off a fourth electric preset time period to obtain a fourth magnetic induction intensity A ₄ of the first preset position along the axial direction of the winding of the magnetic torquer to be calibrated;

Determining the first calculated magnetic induction B ₁ or the second calculated magnetic induction B ₂ as the magnetic induction Wherein,

2. A method of calibrating a magnetic moment of a magnetic torquer as claimed in claim 1, further comprising:

When the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained by utilizing a second formula The second formula is: Where k _c＝L/r_c1,γ₁＝x₁/L,k_c denotes a characteristic dimension of the cylindrical core, r _c1 denotes a radius of the cylindrical core, and γ ₁ denotes a target distance factor.

3. A method of calibrating a magnetic moment of a magnetic torquer as claimed in claim 2, wherein the second formula acquisition process comprises:

acquiring the magnetic induction intensity of a second preset position along the axial direction of the first magnetic torquer Obtaining the magnetic induction intensity of a third preset position along the axial direction of the second magnetic torquerWhen x ₂＝x₃, the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer, the current correction coefficient beta is obtained through a third formula, the current distance factor gamma is calculated through a fourth formula, the characteristic dimension k of the cylindrical magnetic core of the second magnetic torquer is calculated through a fifth formula, a data set comprising beta, gamma and k is obtained until a plurality of data sets are obtained, and the functional relation of beta with respect to gamma and k is obtained based on the plurality of data sets: β=f (k, γ), wherein the third formula is: The fourth formula is γ=x ₃/L₁, the fifth formula is k=l ₁/r_c2,x₂, x ₃ is a distance between the second preset position and the center point position of the first magnetic torquer, L ₁ is a length of the cylindrical magnetic core of the second magnetic torquer, and r _c2 is a radius of the cylindrical magnetic core of the second magnetic torquer;

bringing the characteristic dimension k _c of the cylindrical core and the radius r _c1 of the cylindrical core into the functional relationship to obtain the second formula.

4. A method of calibrating a magnetic moment of a magnetic torquer as claimed in claim 1, further comprising:

Determining the time interval between the end time of the first preset duration and the time corresponding to the preset magnetic induction intensity B ₃ as the time constant of the magnetic torquer to be calibrated, wherein,

5. The system for calibrating the magnetic moment of the magnetic torquer is characterized by comprising a first acquisition module and a second acquisition module;

the first acquisition module is used for: acquiring the magnetic induction intensity of a first preset position along the axial direction of the magnetic torquer to be calibrated The magnetic torquer to be calibrated comprises a magnetic core and a winding, wherein the winding is wound on the magnetic core;

the second acquisition module is used for: the magnetic moment M of the magnetic torquer to be calibrated is obtained according to a first formula, wherein the first formula is as follows: wherein μ ₀ denotes vacuum permeability, x ₁ denotes: the distance between the first preset position and the central point of the magnetic torquer to be calibrated, L represents the length of the magnetic core, Representing a target correction coefficient;

The first obtaining module is specifically configured to:

Forward powering the magnetic torquer to be calibrated for a first preset time period, and obtaining a first magnetic induction intensity A ₁ of the first preset position along the axial direction of a winding of the magnetic torquer to be calibrated;

Powering off a second electric preset time period to obtain a second magnetic induction intensity A ₂ of the first preset position along the axial direction of the winding of the magnetic torquer to be calibrated;

reversely supplying power to the magnetic torquer to be calibrated for a third preset time period, and acquiring a third magnetic induction intensity A ₃ of the first preset position along the axial direction of the winding of the magnetic torquer to be calibrated;

Powering off a fourth electric preset time period to obtain a fourth magnetic induction intensity A ₄ of the first preset position along the axial direction of the winding of the magnetic torquer to be calibrated;

Determining the first calculated magnetic induction B ₁ or the second calculated magnetic induction B ₂ as the magnetic induction Wherein,

6. The system for calibrating a magnetic moment of a magnetic torquer of claim 5 further comprising a third acquisition module configured to:

When the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained by utilizing a second formula The second formula is: Where k _c＝Lδr_c1,γ₁＝x₁/L,k_c denotes a characteristic dimension of the cylindrical core, r _c1 denotes a radius of the cylindrical core, and γ ₁ denotes a target distance factor.

7. The system for calibrating a magnetic moment of a magnetic torquer of claim 6, wherein the third acquisition module is specifically configured to:

acquiring the magnetic induction intensity of a second preset position along the axial direction of the first magnetic torquer Obtaining the magnetic induction intensity of a third preset position along the axial direction of the second magnetic torquerWhen x ₂＝x₃, the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer, the current correction coefficient beta is obtained through a third formula, the current distance factor gamma is calculated through a fourth formula, the characteristic dimension k of the cylindrical magnetic core of the second magnetic torquer is calculated through a fifth formula, a data set comprising beta, gamma and k is obtained until a plurality of data sets are obtained, and the functional relation of beta with respect to gamma and k is obtained based on the plurality of data sets: β=f (k, γ), wherein the third formula is: The fourth formula is γ=x ₃/L₁, the fifth formula is k=l ₁/r_c2,x₂, x ₃ is a distance between the second preset position and the center point position of the first magnetic torquer, L ₁ is a length of the cylindrical magnetic core of the second magnetic torquer, and r _c2 is a radius of the cylindrical magnetic core of the second magnetic torquer;

bringing the characteristic dimension k _c of the cylindrical core and the radius r _c1 of the cylindrical core into the functional relationship to obtain the second formula.

8. The method of calibrating a magnetic moment of a magnetic torquer of claim 5 further comprising a determination module configured to:

Determining the time interval between the end time of the first preset duration and the time corresponding to the preset magnetic induction intensity B ₃ as the time constant of the magnetic torquer to be calibrated, wherein,