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CN116280274B - Control method and device for automatic management of GEO satellite angular momentum - Google Patents

Control method and device for automatic management of GEO satellite angular momentum Download PDF

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Publication number
CN116280274B
CN116280274B CN202310473618.9A CN202310473618A CN116280274B CN 116280274 B CN116280274 B CN 116280274B CN 202310473618 A CN202310473618 A CN 202310473618A CN 116280274 B CN116280274 B CN 116280274B
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angular momentum
target
satellite
momentum
thruster
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CN116280274A (en
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李志涛
王学梅
王桢
赵斌
郭磊
刘准
黄霄腾
韩宝玲
张文雅
付伟
郭蕴欣
胡文静
钟福贵
商贺
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32039 Unit Of Chinese Pla
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/26—Guiding or controlling apparatus, e.g. for attitude control using jets

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  • Chemical & Material Sciences (AREA)
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  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a control method and a device for automatically managing GEO satellite angular momentum, which relate to the technical field of satellite attitude control and comprise the following steps: acquiring an actual yaw angle, an actual momentum wheel rotating speed, actual satellite angular momentum of a GEO satellite to be managed and control efficiency of angular momentum unloading of the GEO satellite to be managed last time; respectively judging whether the actual yaw angle, the actual momentum wheel rotating speed and the actual satellite angular momentum are out of limit; if the target parameter exceeds the limit, determining the target angular momentum to be controlled based on the control efficiency, the actual value of the target parameter and a corresponding threshold value; determining a target thruster for performing angular momentum discharge and ignition pulse width and number of times when performing angular momentum discharge; and controlling the state recovery time of the target thruster at the end of the communication service of the GEO satellite to be managed to execute angular momentum unloading according to the ignition pulse width and the times. The technical problem that the stability of the satellite attitude cannot be guaranteed in the GEO satellite angular momentum unloading method in the prior art is solved.

Description

Control method and device for automatic management of GEO satellite angular momentum
Technical Field
The invention relates to the technical field of satellite attitude control, in particular to a control method and device for automatically managing GEO satellite angular momentum.
Background
GEO (The geostationary orbit, geostationary orbit) satellites are generally triaxial stable earth satellites, and due to the influence of solar pressure disturbance moment and the like, the whole satellite angular momentum is accumulated continuously over time, and the satellite attitude stability is affected, if the disturbance moment is not eliminated, the earth pointing cannot be realized by the satellite, so that the rolling and yaw angular momentums of the satellite must be controlled through external moment (thruster), namely, angular momentum management is performed.
The GEO satellite aims at a high dynamic target in real time through a rotatable load installed on the satellite, establishes a communication link and develops business. In order to ensure accurate pointing to a target, the GEO satellite needs to keep higher pitching, rolling and yawing gesture precision, and meanwhile, the thruster is automatically forbidden to work when communication service is carried out, so that the satellite gesture is prevented from vibrating due to the operation of the thruster. That is, the thruster is only used to unload angular momentum when idle, if communication service is continuously developed for a long time, the thruster may not work to overrun the angular momentum of the whole satellite, and thus the yaw attitude of the satellite is greatly deviated, which affects the accurate direction of the target.
Disclosure of Invention
The invention aims to provide a control method and a device for automatically managing GEO satellite angular momentum, which are used for solving the technical problem that the GEO satellite angular momentum unloading method in the prior art cannot guarantee the stable satellite attitude.
In a first aspect, the present invention provides a control method for automatically managing angular momentum of a GEO satellite, including: acquiring an actual yaw angle, an actual momentum wheel rotating speed and an actual satellite angular momentum of a GEO satellite to be managed, and acquiring control efficiency of angular momentum unloading of the GEO satellite to be managed last time; respectively judging whether the actual yaw angle, the actual momentum wheel rotating speed and the actual satellite angular momentum exceed limits or not based on a preset angular momentum management threshold; wherein the preset angular momentum management threshold comprises: a yaw angle threshold, a momentum wheel rotational speed threshold, and a satellite angular momentum threshold; determining a target angular momentum to be controlled based on the control efficiency, an actual value of the target parameter and a corresponding threshold value under the condition that the target parameter is determined to be out of limit; wherein the target parameter comprises one of the following: yaw angle, momentum wheel rotational speed, and satellite angular momentum; determining a target thruster for performing angular momentum unloading in a preset thruster selection comparison table based on the target parameter and the target angular momentum, and determining an ignition pulse width and an ignition frequency when the target thruster performs angular momentum unloading based on the target angular momentum; and controlling the state recovery time of the target thruster when the communication service of the GEO satellite to be managed is finished, and executing angular momentum unloading according to the ignition pulse width and the ignition times.
In an alternative embodiment, in case of determining that the yaw angle exceeds the limit, determining the target angular momentum to be controlled based on the control efficiency, the actual value of the target parameter and the corresponding threshold value comprises: acquiring the angular momentum of the GEO satellite to be managed on the Y axis in a satellite body coordinate system; calculating the angular momentum to be controlled on the X axis of the GEO satellite to be managed in a satellite body coordinate system based on the angular momentum on the Y axis, the actual yaw angle and the yaw angle threshold; and correcting the angular momentum to be controlled on the X axis based on the control efficiency to obtain the target angular momentum.
In an alternative embodiment, in case of determining that the momentum wheel speed exceeds the limit, determining the target angular momentum to be controlled based on the control efficiency, the actual value of the target parameter and the corresponding threshold value comprises: acquiring the reference angular momentum of the momentum wheel of the GEO satellite to be managed and the included angle between the momentum wheel and the Z axis of the GEO satellite to be managed in a satellite body coordinate system; calculating the angular momentum to be controlled on the Y axis of the GEO satellite to be managed in a satellite body coordinate system based on the reference angular momentum of the momentum wheel, the included angle between the momentum wheel and the Z axis, the actual momentum wheel rotating speed and the momentum wheel rotating speed threshold; and correcting the angular momentum to be controlled on the Y axis based on the control efficiency to obtain the target angular momentum.
In an alternative embodiment, in case of determining that the satellite angular momentum exceeds the limit, determining the target angular momentum to be controlled based on the control efficiency, the actual value of the target parameter and the corresponding threshold value comprises: calculating the angular momentum to be controlled on a Z axis of the GEO satellite to be managed in a satellite body coordinate system based on the actual satellite angular momentum and the satellite angular momentum threshold; and correcting the angular momentum to be controlled on the Z axis based on the control efficiency to obtain the target angular momentum.
In an alternative embodiment, determining a target thruster for performing angular momentum unloading in a preset thruster selection look-up table based on the target parameter and the target angular momentum comprises: determining the direction of the target angular momentum in a satellite body coordinate system based on the target parameter and the positive and negative attributes of the target angular momentum; and matching the target thruster in a preset thruster selection comparison table by utilizing the direction of the target angular momentum in the satellite body coordinate system.
In an alternative embodiment, determining the ignition pulse width and the number of times of ignition when the target thruster performs angular momentum discharge based on the target angular momentum includes: acquiring the thrust and the arm length of the target thruster; calculating the ignition total pulse width to be controlled of the target thruster based on the target angular momentum, the thrust and the arm length; calculating the remainder of the ignition total pulse width and the designated ignition pulse width, and taking the preset ignition pulse width with the smallest remainder as the ignition pulse width when the target thruster executes angular momentum unloading; wherein the designated ignition pulse width represents any one of a plurality of preset ignition pulse widths; and calculating the ignition times when the target thruster performs angular momentum unloading based on the ignition total pulse width and the ignition pulse width.
In an alternative embodiment, after controlling the state recovery time of the target thruster at the end of the communication service of the GEO satellite to be managed, performing angular momentum unloading according to the ignition pulse width and the ignition times, the method further includes: acquiring an updated value of the target parameter of the GEO satellite to be managed after completing angular momentum unloading; calculating the actual unloaded angular momentum of the target thruster based on the updated value of the target parameter and the actual value of the target parameter before performing the angular momentum unloading; and calculating the control efficiency of angular momentum unloading of the GEO satellite to be managed at this time based on the actually unloaded angular momentum and the target angular momentum to be controlled determined before the angular momentum unloading is executed.
In a second aspect, the present invention provides a control device for automatically managing angular momentum of a GEO satellite, including: the first acquisition module is used for acquiring the actual yaw angle, the actual momentum wheel rotating speed and the actual satellite angular momentum of the GEO satellite to be managed and acquiring the control efficiency of angular momentum unloading of the GEO satellite to be managed last time; the judging module is used for respectively judging whether the actual yaw angle, the actual momentum wheel rotating speed and the actual satellite angular momentum exceed the limit or not based on a preset angular momentum management threshold value; wherein the preset angular momentum management threshold comprises: a yaw angle threshold, a momentum wheel rotational speed threshold, and a satellite angular momentum threshold; the first determining module is used for determining target angular momentum to be controlled based on the control efficiency, the actual value of the target parameter and a corresponding threshold value under the condition that the target parameter is determined to be out of limit; wherein the target parameter comprises one of the following: yaw angle, momentum wheel rotational speed, and satellite angular momentum; the second determining module is used for determining a target thruster for performing angular momentum unloading in a preset thruster selection comparison table based on the target parameter and the target angular momentum, and determining an ignition pulse width and an ignition frequency when the target thruster performs angular momentum unloading based on the target angular momentum; and the control module is used for controlling the state recovery time of the target thruster when the communication service of the GEO satellite to be managed is finished, and executing angular momentum unloading according to the ignition pulse width and the ignition times.
In a third aspect, the present invention provides an electronic device, including a memory, and a processor, where the memory stores a computer program that can be executed on the processor, and the processor executes the computer program to implement the steps of the control method for automatically managing GEO satellite angular momentum according to any of the foregoing embodiments.
In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement a control method for GEO satellite angular momentum automatic management according to any of the foregoing embodiments.
The control method for automatically managing the angular momentum of the GEO satellite realizes the organic combination of the angular momentum management and the development of the communication service, fully utilizes the state recovery time when the communication service is finished to finish the angular momentum management, and greatly shortens the execution interval of the angular momentum unloading compared with the prior method, thereby improving the satellite attitude maintenance precision, further improving the aiming precision of the satellite on the target and effectively solving the technical problem that the angular momentum unloading method of the GEO satellite in the prior art cannot ensure the stable satellite attitude. And the concept of subsequent control is introduced, so that the technical problem of larger control error caused by larger change of the performance of the thruster along with the continuous increase of the satellite running time is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a control method for automatically managing angular momentum of a GEO satellite according to an embodiment of the invention;
FIG. 2 is a schematic view of a momentum wheel installation provided by an embodiment of the present invention;
FIG. 3 is a schematic view of a satellite thruster installation provided in an embodiment of the present invention;
FIG. 4 is a flow chart of another control method for automatic management of angular momentum of satellites according to an embodiment of the present invention;
FIG. 5 is a functional block diagram of a control device for automatically managing angular momentum of a GEO satellite according to an embodiment of the invention;
fig. 6 is a schematic diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
The GEO satellite is a three-axis stable earth satellite generally, the whole satellite angular momentum is accumulated continuously along with time due to the influence of solar light pressure interference moment and the like, the satellite attitude stability is influenced, if the interference moment is not eliminated, the satellite cannot realize earth pointing, the momentum wheel is suitable for absorbing the influence of periodic interference, meanwhile, the external interference moment can be absorbed, the three-axis attitude stability of the satellite is realized by combining momentum wheel control and angular momentum management, the early GEO satellite attitude control usually adopts a V-shaped wheel scheme, and the control momentum direction is arranged on a yaw axis, so that better rolling control precision can be obtained. However, under the action of solar interference torque, the rolling and yaw attitude errors of the wheel control system are increased continuously, the single-degree-of-freedom offset momentum system cannot control long-period motion, the satellite has an unattenuated oscillation component in the attitude motion all the time, and the yaw attitude errors are increased gradually under the action of solar interference torque orbit period items, so that the requirements of task use are hardly met, and the rolling and yaw angular momentums of the satellite are controlled through an external torque (thruster), namely angular momentum management is performed.
The GEO satellite aims at a high dynamic target in real time through a rotatable load installed on the satellite, establishes a communication link and develops business. In order to ensure accurate pointing to a target, the GEO satellite needs to keep higher pitching, rolling and yawing gesture precision, meanwhile, the operation of a thruster is automatically forbidden when the communication service is carried out, the phenomenon that the satellite gesture oscillates due to the operation of the thruster is avoided, the thruster is only used for angular momentum unloading when the satellite gesture is idle, if the communication service is continuously carried out for a long time, the thruster can not work to cause the whole satellite angular momentum to overrun, and further, the yawing gesture of the satellite is caused to deviate greatly, so that the accurate pointing to the target is influenced.
In the existing control mode, firstly, because the satellite performs tasks with high intensity for a long time, a thruster is probably caused to have no time window to work, so that the angular momentum of the whole satellite is overrun, and the yaw attitude of the satellite has larger deviation, thereby affecting the capture and tracking of the satellite to a target; secondly, the on-satellite yaw angle measurement is obtained in a yaw estimation mode, the value of the yaw angle is estimated through yaw angle momentum estimation, and a certain estimation error exists; in the existing mode, the control effect is not analyzed and evaluated, subsequent control is not introduced, and the performance of the thruster can be changed greatly along with the continuous increase of the satellite running time, so that the control error is large. In view of the above, the embodiments of the present invention provide a control method for automatically managing angular momentum of GEO satellites, which is used for alleviating the technical problems set forth above.
Example 1
Fig. 1 is a flowchart of a control method for automatically managing GEO satellite angular momentum according to an embodiment of the present invention, as shown in fig. 1, the method specifically includes the following steps:
step S102, obtaining an actual yaw angle, an actual momentum wheel rotating speed and an actual satellite angular momentum of the GEO satellite to be managed, and obtaining control efficiency of angular momentum unloading of the GEO satellite to be managed last time.
In the prior art, a yaw angle used when the GEO satellite performs angular momentum unloading is obtained on the satellite through a yaw estimation mode, and in order to avoid errors caused by the yaw estimation, the method provided by the invention is as follows: and the attitude data, the momentum wheel rotating speed and the satellite angular momentum change condition of the GEO satellite to be managed are monitored in real time, and then the ground operation control system performs analysis and calculation according to the received telemetry data to obtain the accurate actual yaw angle, the accurate actual momentum wheel rotating speed and the accurate actual satellite angular momentum of the GEO satellite to be managed.
In addition, the embodiment of the invention also needs to acquire the control efficiency of unloading the angular momentum of the GEO satellite to be managed last time, so as to adjust the angular momentum to be controlled this time according to the control efficiency, that is, introduce the concept of subsequent control, so as to avoid the technical problem that the performance of the thruster changes greatly along with the continuous increase of the satellite running time, thereby causing larger control error. If the angular momentum is unloaded for the first time, the control efficiency is set to 100%.
Step S104, based on the preset angular momentum management threshold, whether the actual yaw angle, the actual momentum wheel rotating speed and the actual satellite angular momentum are out of limit is respectively judged.
Wherein the preset angular momentum management threshold comprises: yaw angle threshold, momentum wheel speed threshold, satellite angular momentum threshold.
Because which parameter of yaw angle, momentum wheel rotating speed and satellite angular momentum exceeds the corresponding management threshold value affects the satellite attitude, the embodiment of the invention sets the corresponding management threshold value for the yaw angle, momentum wheel rotating speed and satellite angular momentum respectively, and the management threshold values are respectively as follows: after the actual yaw angle, the actual momentum wheel rotating speed and the actual satellite angular momentum of the GEO satellite to be managed are acquired, the yaw angle threshold, the momentum wheel rotating speed threshold and the satellite angular momentum threshold are respectively compared and judged by utilizing corresponding thresholds so as to confirm whether the condition of overrun exists. The embodiment of the invention does not specifically limit the values of the yaw angle threshold value, the momentum wheel rotating speed threshold value and the satellite angular momentum threshold value, and a user needs to set according to actual conditions, for example, when the momentum wheel rotating speed exceeds 2000 revolutions per minute (namely 2000 revolutions per minute is a control target rotating speed), angular momentum management is needed; when the yaw attitude of the actual yaw angle of the satellite relative to the yaw angle of the control target exceeds 0.5 degrees, angular momentum management is required.
Step S106, in the case that the target parameter is determined to be out of limit, the target angular momentum to be controlled is determined based on the control efficiency, the actual value of the target parameter and the corresponding threshold value.
If the actual yaw angle, the actual momentum wheel rotating speed and the actual satellite angular momentum do not exceed the corresponding management threshold values, the angular momentum unloading of the GEO satellite to be managed is not needed; however, as long as there is an overrun in one of the actual yaw angle, the actual momentum wheel rotational speed, and the actual satellite angular momentum, the target angular momentum to be controlled should be determined according to the control efficiency, the actual value of the target parameter, and the corresponding threshold value. Wherein the target parameter comprises one of the following: yaw angle, momentum wheel rotational speed, and satellite angular momentum.
It should be noted that if there are a plurality of over-limit parameters in the yaw angle, the momentum wheel rotational speed, and the satellite angular momentum, it is necessary to calculate a corresponding target angular momentum to be controlled for each parameter, respectively, and then perform angular momentum unloading in a specified order. For example, if it is determined that both the current yaw angle and the momentum wheel rotational speed are overrun, it is necessary to determine a first target angular momentum to be controlled due to the overrun of the yaw angle based on the control efficiency, the actual yaw angle and the yaw angle threshold value, and it is necessary to determine a second target angular momentum to be controlled due to the overrun of the momentum wheel rotational speed based on the control efficiency, the actual momentum wheel rotational speed and the momentum wheel rotational speed threshold value, and then to complete the unloading of the first target angular momentum to be controlled and the unloading of the second target angular momentum to be controlled, respectively. In the embodiment of the invention, taking the execution of single angular momentum unloading as an example, the steps after the target angular momentum to be controlled is determined are specifically described.
Step S108, determining a target thruster for performing angular momentum unloading in a preset thruster selection comparison table based on the target parameter and the target angular momentum, and determining an ignition pulse width and an ignition frequency when the target thruster performs angular momentum unloading based on the target angular momentum.
After determining the target angular momentum, determining the direction of the target angular momentum to be controlled in a satellite body coordinate system according to the specific category (yaw angle/momentum wheel rotating speed/satellite angular momentum) of the target parameter and the specific value of the target angular momentum, and then determining a target thruster for performing angular momentum unloading by querying a preset thruster selection comparison table, wherein the preset thruster selection comparison table is a comparison table between the number of thrusters and the direction of the angular momentum in the satellite body coordinate system, and in the embodiment of the invention, the number of thrusters is 6 and is used for controlling the angular momentums of an X axis, a Y axis, a Z axis, -an X axis, -a Y axis and a Z axis respectively. After the target thruster is determined, the corresponding ignition pulse width and ignition times when the target thruster is subjected to angular momentum unloading are further calculated according to the target angular momentum to be controlled by the target thruster.
Step S110, controlling the state recovery time of the target thruster at the end of the communication service of the GEO satellite to be managed, and executing angular momentum unloading according to the ignition pulse width and the ignition times.
After the target thruster and the ignition pulse width and the ignition times thereof are determined, the ground operation control system needs to convert the parameters into a satellite remote control instruction sequence, and the satellite remote control instruction sequence is sent to the satellite for execution through ground remote control instruction software. Compared with the prior art that the special time window is used for performing angular momentum unloading, the embodiment of the invention provides the technical scheme that the state recovery time of the target thruster is controlled when the communication service of the GEO satellite to be managed is finished, and the angular momentum unloading is performed according to the ignition pulse width and the ignition times, so that the flexibility of the angular momentum unloading time window is improved, the execution interval of the angular momentum unloading is shortened, and the satellite attitude maintaining precision is further improved.
The control method for automatically managing the angular momentum of the GEO satellite provided by the embodiment of the invention realizes the organic combination of the angular momentum management and the development of the communication service, fully utilizes the state recovery time when the communication service is finished to finish the angular momentum management, and greatly shortens the execution interval of the angular momentum unloading compared with the prior method, thereby improving the satellite attitude maintenance precision, further improving the aiming precision of the satellite on the target and effectively solving the technical problem that the angular momentum unloading method of the GEO satellite in the prior art cannot ensure the stable satellite attitude. And the concept of subsequent control is introduced, so that the technical problem of larger control error caused by larger change of the performance of the thruster along with the continuous increase of the satellite running time is avoided.
In an alternative embodiment, in the case of determining that the yaw angle exceeds the limit, in the step S106, the target angular momentum to be controlled is determined based on the control efficiency, the actual value of the target parameter and the corresponding threshold value, and specifically includes the following steps:
step S1061, obtaining the angular momentum of the GEO satellite to be managed in the satellite body coordinate system on the Y axis.
In step S1062, based on the angular momentum on the Y-axis, the actual yaw angle, and the yaw angle threshold, the angular momentum of the GEO satellite to be managed in the satellite body coordinate system to be controlled on the X-axis is calculated.
When the yaw angle of the GEO satellite to be managed exceeds the limit, yaw angle control needs to be performed, and in the embodiment of the present invention, angular momentum unloading is performed specifically in the X-axis or-X-axis direction of the satellite body coordinate system, so that the angular momentum to be controlled on the X-axis needs to be calculated.
After the ground operation control center receives the telemetry data, the yaw angle psi of the satellite and the angular momentum h of the GEO satellite to be managed in the satellite body coordinate system on the Y axis can be accurately calculated y And establishing a relation between a yaw angle and satellite angular momentum according to gesture dynamics, wherein the angular momentum corresponding to the yaw angle psi is as follows: h is a x ＝h y * sin psi, wherein the angleMomentum h x Is in the X-axis direction of the satellite body, and is in the +x-axis direction when psi is greater than 0 and in the-X-axis direction when psi is less than 0.
Thus, the control target yaw angle ψ of a GEO satellite to be managed is known e Acquiring an actual yaw angle psi of the GEO satellite to be managed s And after determining that the actual yaw angle exceeds the limit, calculating the angular momentum to be controlled of the GEO satellite to be managed on the X axis in the satellite body coordinate system according to the following formula: Δh x ＝h y *(sinψ e -sinψ s )。
In step S1063, the angular momentum to be controlled on the X-axis is corrected based on the control efficiency to obtain the target angular momentum.
As can be seen from the above description, in order to alleviate the problem of control error accumulation, the control method provided by the embodiment of the present invention introduces the concept of subsequent control, specifically, determines the angular momentum Δh to be controlled by the GEO satellite to be managed on the X axis x Then, further carrying out angular momentum correction according to the control efficiency eta of angular momentum unloading of the GEO satellite to be managed last time, specifically: by means of arithmeticCalculating the angular momentum delta h of the target x ′。
In an alternative embodiment, in the case of determining that the rotational speed of the momentum wheel exceeds the limit, in the step S106, the target angular momentum to be controlled is determined based on the control efficiency, the actual value of the target parameter and the corresponding threshold value, and specifically includes the following steps:
step S106a, obtaining the reference angular momentum of the momentum wheel of the GEO satellite to be managed and the included angle between the momentum wheel of the GEO satellite to be managed and the Z axis in the satellite body coordinate system.
Fig. 2 is a schematic diagram of installation of a momentum wheel according to an embodiment of the present invention, wherein the momentum wheel is a reference angular momentum h of a GEO satellite to be managed Imw And the included angles alpha between the (two) momentum wheels and the Z axis of the GEO satellite to be managed in the satellite body coordinate system are known quantities after the momentum wheels are installed.
And step S106b, calculating the angular momentum of the GEO satellite to be controlled on the Y axis in the satellite body coordinate system based on the reference angular momentum of the momentum wheel, the included angle between the momentum wheel and the Z axis, the actual momentum wheel rotating speed and the momentum wheel rotating speed threshold.
When the rotational speed of the momentum wheel of the GEO satellite to be managed exceeds the limit, the momentum wheel rotational speed control needs to be implemented, and in the embodiment of the present invention, the angular momentum unloading is implemented in the Y-axis or-Y-axis direction of the satellite body coordinate system, so that the angular momentum to be controlled on the Y-axis needs to be calculated.
The ground operation center is at the reference angular momentum h of the known momentum wheel Imw And the included angle alpha between the momentum wheel and the Z axis, the rotating speeds upsilon of the two momentum wheels are obtained mw1 ，υ mw2 Then, the angular momentum h of the GEO satellite to be managed in the satellite body coordinate system on the Y axis can be calculated y Wherein h is y ＝(υ mw1 *sinα+υ mw2 *sinα)*h Imw 。
Thus, at a control target rotational speed (i.e., momentum wheel rotational speed threshold) v of two momentum wheels of a known GEO satellite to be managed e mw1 And v e mw2 Acquiring the actual momentum wheel rotating speed v of the GEO satellite to be managed s mw1 And v s mw2 And after the moment wheel rotating speed is determined to be out of limit, calculating the angular momentum to be controlled on the Y axis of the GEO satellite to be managed in the satellite body coordinate system according to the following formula: Δh y ＝(υ e mw1 -υ s mw1 +υ e mw2 -υ s mw2 )*sinα*h Imw 。
And step S106c, correcting the angular momentum to be controlled on the Y axis based on the control efficiency to obtain the target angular momentum.
In the same way as in the above step S1061, the angular momentum Δh of the GEO satellite to be managed on the Y-axis is determined y Then, angular momentum correction is further needed according to the control efficiency eta of angular momentum unloading of the GEO satellite to be managed last time, specifically: by means of arithmeticCalculating the angular momentum delta h of the target y ′。
In an alternative embodiment, in the case of determining that the angular momentum of the satellite exceeds the limit, in the step S106, the target angular momentum to be controlled is determined based on the control efficiency, the actual value of the target parameter and the corresponding threshold, and specifically includes the following steps:
step S106A, based on the actual satellite angular momentum and the satellite angular momentum threshold, calculating the angular momentum of the GEO satellite to be managed in the satellite body coordinate system to be controlled on the Z axis.
When the satellite angular momentum of the GEO satellite to be managed exceeds the limit, the satellite angular momentum control needs to be implemented, and in the embodiment of the present invention, the angular momentum unloading is implemented in the Z-axis or-Z-axis direction of the satellite body coordinate system, so that the angular momentum to be controlled on the Z-axis needs to be calculated.
The ground operation center acquires the actual satellite angular momentum h z s and control of target angular momentum(i.e., a satellite angular momentum threshold), and after determining that the satellite angular momentum is out of limit, in the satellite body coordinate system, the angular momentum of the GEO satellite to be managed to be controlled on the Z-axis is calculated according to the following equation: />
And S106B, correcting the angular momentum to be controlled on the Z axis based on the control efficiency to obtain the target angular momentum.
In the same way as in the above step S1061, the angular momentum Δh of the GEO satellite to be managed on the Z axis is determined z Then, angular momentum correction is further needed according to the control efficiency eta of angular momentum unloading of the GEO satellite to be managed last time, specifically: by means of arithmeticCalculating the angular momentum delta h of the target z ′。
In an optional embodiment, in step S108, the target thruster for performing the angular momentum unloading is determined in the preset thruster selection map based on the target parameter and the target angular momentum, and specifically includes the following steps:
step S108a, determining the direction of the target angular momentum in the satellite body coordinate system based on the target parameter and the positive and negative attributes of the target angular momentum.
Specifically, as can be seen from the foregoing description, the embodiments of the present invention relate to three modes of yaw angle control, momentum wheel rotational speed control and satellite angular momentum control, in each control mode, the direction of the angular momentum to be controlled in the satellite body coordinate system needs to be determined according to the target parameter and the positive and negative attributes of the target angular momentum, and in particular, when the yaw angle is over-limited, the direction needs to be determined according to the target angular momentum Δh x ' Positive and negative to determine its direction in the satellite body coordinate system, Δh x The direction is on the X-axis when' is greater than 0, delta h x The direction is on the-X axis when' less than 0; when the rotation speed of the momentum wheel exceeds the limit, the momentum delta h is needed to be controlled according to the target angular momentum delta h y ' Positive and negative to determine its direction in the satellite body coordinate system, Δh y The direction is on the Y axis when' is greater than 0, deltah y The direction is on the-Y axis when' less than 0; when the angular momentum of the satellite exceeds the limit, the angular momentum delta h of the satellite needs to be calculated according to the target angular momentum delta h z ' Positive and negative to determine its direction in the satellite body coordinate system, Δh z The direction is in the Z axis when' is greater than 0, delta h z The direction is in the-Z axis when' less than 0.
In step S108b, the target angular momentum is used to match the target thruster in the preset thruster selection reference table.
Fig. 3 is a schematic installation diagram of a satellite thruster provided in the embodiment of the present invention, as shown in fig. 3, angular momentum controls in six directions of X, Y, Z, -X, -Y, -Z in a satellite body coordinate system correspond to 6 thrusters, the thruster 1 controls-Z angular momentum, the thruster 2 controls Z angular momentum, the thruster 3 controls X angular momentum, the thruster 4 controls-X angular momentum, the thruster 5 controls Y angular momentum, and the thruster 6 controls-Y angular momentum. The corresponding relation between the number of the thruster and the direction of the angular momentum in the satellite body coordinate system is pre-stored in a preset thruster selection comparison table.
Therefore, after the direction of the target angular momentum in the satellite body coordinate system is determined, the target thruster which needs to execute angular momentum unloading can be matched by selecting a comparison table according to the preset thruster. Assuming that the direction of the target angular momentum to be controlled in the satellite body coordinate system is the-Z axis, the thruster 1 is determined to be the target thruster.
In an optional embodiment, in the step S108, the ignition pulse width and the number of ignition times when the target thruster performs the angular momentum unloading are determined based on the target angular momentum, and specifically includes the following steps:
in step S1081, the thrust and the arm length of the target thruster are obtained.
In step S1082, the ignition total pulse width to be controlled by the target thruster is calculated based on the target angular momentum, the thrust and the arm length.
In the embodiment of the present invention, the calculation formula of the ignition total pulse width Δt to be controlled by the target thruster is:wherein F is 0 Representing thrust of target thruster, L 0 Representing the arm length of the target thruster, Δh 'representing the target angular momentum, when the yaw angle of the GEO satellite to be managed is over-limited, Δh' =Δh x 'A'; when the momentum wheel rotation speed of the GEO satellite to be managed exceeds the limit, Δh' =Δh y 'A'; when the satellite angular momentum of the GEO satellite to be managed exceeds the limit, Δh' =Δh z ′。
In step S1083, the remainder of the ignition total pulse width and the specified ignition pulse width is calculated, and the preset ignition pulse width with the smallest remainder is used as the ignition pulse width when the target thruster performs angular momentum unloading.
Wherein the designated ignition pulse width represents any one of a number of preset ignition pulse widths.
In step S1084, the number of ignitions when the target thruster performs angular momentum discharge is calculated based on the ignition total pulse width and the ignition pulse width.
In an alternative embodiment, the preset ignition pulse width of the thruster is set to an integer n×8ms (milliseconds), up to 32ms, i.e. the preset ignition pulse width comprises the following 4 durations: 8ms,16ms,24ms,32ms. Then after calculating the ignition total pulse width Δt, the remainder in selecting a different ignition pulse width is first calculated: r1=Δt8, r2=Δt16, r3=Δt24, r4=Δt32.
The preset ignition pulse width with the smallest remainder is then taken as the ignition pulse width R at which the target thruster performs angular momentum discharge, i.e., r=min (R1, R2, R3, R4). Assuming that r=r2, the ignition pulse width is determined to be 16ms, and the number of ignition times when the target thruster performs angular momentum discharge is:
or, when different ignition pulse widths are selected, various combination relations of the ignition times, the ignition pulse widths and the remainder can be calculated first: (N1, 8, R1), (N2, 16, R2), (N3, 24, R3), (N4, 32, R4). The ignition times required for different pulse widths are (integer): And then comparing the sizes of the remainder corresponding to the different combinations, and selecting the combination with the smallest remainder as the final control quantity. If r=r2, (N2, 16, R2) is selected, the number of ignition times is finally determined to be N2, and the ignition pulse width is 16ms.
In an alternative embodiment, after step S110 is performed: the method of the invention further comprises the following steps after controlling the state recovery time of the target thruster at the end of the communication service of the GEO satellite to be managed and performing angular momentum unloading according to the ignition pulse width and the ignition times:
step S201, obtaining updated values of target parameters of the GEO satellite to be managed after completing angular momentum unloading.
Step S202, calculating the angular momentum actually unloaded by the target thruster based on the updated value of the target parameter and the actual value of the target parameter before the angular momentum unloading is performed.
Step S203, calculating the control efficiency of angular momentum unloading of the GEO satellite to be managed at this time based on the angular momentum actually unloaded and the target angular momentum to be controlled determined before the angular momentum unloading is executed.
Fig. 4 is a flow chart of another control method for automatic management of angular momentum of a satellite according to an embodiment of the present invention, as shown in fig. 4, after each time angular momentum control is completed, telemetry data may be obtained again, and analysis and evaluation may be performed on the telemetry data, so as to readjust the control amount according to the actual change condition of the yaw angle posture/rotational speed of the momentum wheel/angular momentum of the satellite, and continuously iterate and optimize the control amount.
If yaw angle control is implemented at this time, firstly acquiring a yaw angle update value psi of the GEO satellite to be managed after angular momentum unloading is completed during evaluation s ' then combining the actual yaw angle ψ of the GEO satellite to be managed before angular momentum unloading is performed s By calculating Δh x Calculating the angular momentum deltah of the actual unloading of the target thruster by the calculation mode of (a) x "i.e. Δh x ″＝h y *(sinψ s ′-sinψ s ). Knowing that the target angular momentum to be controlled, which is determined before angular momentum unloading is performed, is Δh x ' the control efficiency of angular momentum unloading of the GEO satellite to be managed at this time is as follows:
if the moment wheel rotating speed control is implemented at this time, firstly acquiring a moment wheel rotating speed update value v of the GEO satellite to be managed after completing angular momentum unloading during evaluation s mw1 ' and v s mw2 ' then combining the actual momentum wheel rotational speed v of the GEO satellite to be managed prior to performing angular momentum unloading s mw1 And v s mw2 By calculating Δh y Calculating the angular momentum deltah of the actual unloading of the target thruster by the calculation mode of (a) y "i.e. Δh y ″＝(υ s mw1 ′-υ s mw1 +υ s mw2 ′-υ s mw2 )*sinα*h Imw . Knowing that the target angular momentum to be controlled, which is determined before angular momentum unloading is performed, is Δh y ' the control efficiency of angular momentum unloading of the GEO satellite to be managed at this time is as follows:
if the present implementation is satellite angular momentum control, firstly acquiring a satellite angular momentum update value of the GEO satellite to be managed after completing angular momentum unloading during evaluation Then combining the actual satellite angular momentum +.>By calculating Δh z Calculating the angular momentum deltah of the actual unloading of the target thruster by the calculation mode of (a) z ", i.e. < - >>Knowing that the target angular momentum to be controlled, which is determined before angular momentum unloading is performed, is Δh z ' the control efficiency of angular momentum unloading of the GEO satellite to be managed at this time is as follows: />
The control method for automatically managing the angular momentum of the GEO satellite, provided by the embodiment of the invention, establishes mathematical models in various control modes, can achieve a better angular momentum control effect, and ensures that the satellite attitude keeping precision, the momentum wheel rotating speed and the angular momentum change are in a normal range, and the safety influence on a satellite platform is small. In addition, aiming at the problem of performance degradation of the thruster caused by satellite operation time increase, the method continuously corrects the control error by introducing a subsequent control mode. The method also realizes the organic combination of angular momentum management and communication service development, fully utilizes the state recovery time when the communication service is finished to finish the angular momentum management, and greatly shortens the execution interval of angular momentum unloading compared with the prior method, thereby improving the satellite attitude maintenance precision and further improving the aiming precision of the satellite to the user.
Example two
The embodiment of the invention also provides a control device for automatically managing the angular momentum of the GEO satellite, which is mainly used for executing the control method for automatically managing the angular momentum of the GEO satellite provided by the first embodiment, and the control device for automatically managing the angular momentum of the GEO satellite provided by the embodiment of the invention is specifically introduced.
Fig. 5 is a functional block diagram of a control device for automatically managing GEO satellite angular momentum according to an embodiment of the present invention, as shown in fig. 5, the device mainly includes: the device comprises a first acquisition module 10, a judgment module 20, a first determination module 30, a second determination module 40 and a control module 50, wherein:
the first obtaining module 10 is configured to obtain an actual yaw angle, an actual momentum wheel rotation speed, and an actual satellite angular momentum of the GEO satellite to be managed, and obtain control efficiency of angular momentum unloading of the GEO satellite to be managed last time.
The judging module 20 is configured to respectively judge whether the actual yaw angle, the actual momentum wheel rotational speed and the actual satellite angular momentum exceed the limits based on a preset angular momentum management threshold; wherein the preset angular momentum management threshold comprises: yaw angle threshold, momentum wheel speed threshold, satellite angular momentum threshold.
A first determining module 30, configured to determine a target angular momentum to be controlled based on the control efficiency, an actual value of the target parameter, and a corresponding threshold value, in a case where it is determined that the target parameter exceeds the limit; wherein the target parameter comprises one of the following: yaw angle, momentum wheel rotational speed, and satellite angular momentum.
The second determining module 40 is configured to determine a target thruster for performing angular momentum unloading in a preset thruster selection map based on the target parameter and the target angular momentum, and determine an ignition pulse width and an ignition number when the target thruster performs angular momentum unloading based on the target angular momentum.
The control module 50 is used for controlling the state recovery time of the target thruster at the end of the communication service of the GEO satellite to be managed, and performing angular momentum unloading according to the ignition pulse width and the ignition times.
The control device for automatically managing the angular momentum of the GEO satellite provided by the embodiment of the invention realizes the organic combination of the angular momentum management and the development of the communication service, fully utilizes the state recovery time when the communication service is finished to finish the angular momentum management, and greatly shortens the execution interval of the angular momentum unloading compared with the prior art, thereby improving the satellite attitude maintenance precision, further improving the aiming precision of the satellite on the target and effectively solving the technical problem that the stability of the satellite attitude cannot be ensured in the GEO satellite angular momentum unloading method in the prior art. And the concept of subsequent control is introduced, so that the technical problem of larger control error caused by larger change of the performance of the thruster along with the continuous increase of the satellite running time is avoided.
Optionally, in case it is determined that the yaw angle exceeds the limit, the first determining module 30 is specifically configured to:
and acquiring the angular momentum of the GEO satellite to be managed in the satellite body coordinate system on the Y axis.
Based on the angular momentum on the Y axis, the actual yaw angle and the yaw angle threshold, the angular momentum of the GEO satellite to be managed in the satellite body coordinate system to be controlled on the X axis is calculated.
And correcting the angular momentum to be controlled on the X axis based on the control efficiency to obtain the target angular momentum.
Optionally, in the case of determining that the momentum wheel speed exceeds the limit, the first determining module 30 is specifically configured to:
and acquiring the reference angular momentum of the momentum wheel of the GEO satellite to be managed and the included angle between the momentum wheel and the Z axis of the GEO satellite to be managed in the satellite body coordinate system.
And calculating the angular momentum of the GEO satellite to be controlled on the Y axis in the satellite body coordinate system based on the reference angular momentum of the momentum wheel, the included angle between the momentum wheel and the Z axis, the actual momentum wheel rotating speed and the momentum wheel rotating speed threshold.
And correcting the angular momentum to be controlled on the Y axis based on the control efficiency to obtain the target angular momentum.
Optionally, in the case of determining that the angular momentum of the satellite exceeds the limit, the first determining module 30 is specifically configured to:
based on the actual satellite angular momentum and the satellite angular momentum threshold, calculating the angular momentum of the GEO satellite to be managed in the satellite body coordinate system to be controlled on the Z axis.
And correcting the angular momentum to be controlled on the Z axis based on the control efficiency to obtain the target angular momentum.
Optionally, the second determining module 40 is specifically configured to:
and determining the direction of the target angular momentum in the satellite body coordinate system based on the target parameters and the positive and negative attributes of the target angular momentum.
And matching the target thruster in a preset thruster selection comparison table by utilizing the direction of the target angular momentum in the satellite body coordinate system.
Optionally, the second determining module 40 is specifically configured to:
and obtaining the thrust and the arm length of the target thruster.
And calculating the ignition total pulse width to be controlled by the target thruster based on the target angular momentum, the thrust and the arm length.
Calculating the remainder of the ignition total pulse width and the designated ignition pulse width, and taking the preset ignition pulse width with the smallest remainder as the ignition pulse width when the target thruster executes angular momentum unloading; wherein the designated ignition pulse width represents any one of a number of preset ignition pulse widths.
The number of ignitions when the target thruster performs angular momentum discharge is calculated based on the ignition total pulse width and the ignition pulse width.
Optionally, the apparatus further comprises:
and the second acquisition module is used for acquiring the updated value of the target parameter of the GEO satellite to be managed after the angular momentum is unloaded.
And the first calculation module is used for calculating the actual unloaded angular momentum of the target thruster based on the updated value of the target parameter and the actual value of the target parameter before the angular momentum is unloaded.
The second calculation module is used for calculating the control efficiency of angular momentum unloading of the GEO satellite to be managed at this time based on the angular momentum actually unloaded and the target angular momentum to be controlled determined before the angular momentum unloading is executed.
Example III
Referring to fig. 6, an embodiment of the present invention provides an electronic device including: a processor 60, a memory 61, a bus 62 and a communication interface 63, the processor 60, the communication interface 63 and the memory 61 being connected by the bus 62; the processor 60 is arranged to execute executable modules, such as computer programs, stored in the memory 61.
The memory 61 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is achieved via at least one communication interface 63 (which may be wired or wireless), and may use the internet, a wide area network, a local network, a metropolitan area network, etc.
Bus 62 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 6, but not only one bus or type of bus.
The memory 61 is configured to store a program, and the processor 60 executes the program after receiving an execution instruction, and the method executed by the apparatus for defining a process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 60 or implemented by the processor 60.
The processor 60 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in the processor 60. The processor 60 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 61 and the processor 60 reads the information in the memory 61 and in combination with its hardware performs the steps of the method described above.
The computer program product of the control method and apparatus for automatically managing angular momentum of GEO satellites provided by the embodiments of the present invention includes a computer readable storage medium storing a non-volatile program code executable by a processor, where the program code includes instructions for executing the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments and will not be repeated herein.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. The control method for automatically managing the angular momentum of the GEO satellite is characterized by comprising the following steps of:
Acquiring an actual yaw angle, an actual momentum wheel rotating speed and an actual satellite angular momentum of a GEO satellite to be managed, and acquiring control efficiency of angular momentum unloading of the GEO satellite to be managed last time;
respectively judging whether the actual yaw angle, the actual momentum wheel rotating speed and the actual satellite angular momentum exceed limits or not based on a preset angular momentum management threshold; wherein the preset angular momentum management threshold comprises: a yaw angle threshold, a momentum wheel rotational speed threshold, and a satellite angular momentum threshold;
determining a target angular momentum to be controlled based on the control efficiency, an actual value of the target parameter and a corresponding threshold value under the condition that the target parameter is determined to be out of limit; wherein the target parameter comprises one of the following: yaw angle, momentum wheel rotational speed, and satellite angular momentum;
determining a target thruster for performing angular momentum unloading in a preset thruster selection comparison table based on the target parameter and the target angular momentum, and determining an ignition pulse width and an ignition frequency when the target thruster performs angular momentum unloading based on the target angular momentum;
and controlling the state recovery time of the target thruster when the communication service of the GEO satellite to be managed is finished, and executing angular momentum unloading according to the ignition pulse width and the ignition times.
2. The control method for GEO-satellite angular momentum automatic management according to claim 1, characterized in that in case of determining that the yaw angle exceeds the limit, determining the target angular momentum to be controlled based on the control efficiency, the actual value of the target parameter and the corresponding threshold value, comprises:
acquiring the angular momentum of the GEO satellite to be managed on the Y axis in a satellite body coordinate system;
calculating the angular momentum to be controlled on the X axis of the GEO satellite to be managed in a satellite body coordinate system based on the angular momentum on the Y axis, the actual yaw angle and the yaw angle threshold;
and correcting the angular momentum to be controlled on the X axis based on the control efficiency to obtain the target angular momentum.
3. The control method for GEO-satellite angular momentum automatic management according to claim 1, wherein in case of determining that the momentum wheel rotational speed exceeds the limit, determining the target angular momentum to be controlled based on the control efficiency, the actual value of the target parameter and the corresponding threshold value, comprises:
acquiring the reference angular momentum of the momentum wheel of the GEO satellite to be managed and the included angle between the momentum wheel and the Z axis of the GEO satellite to be managed in a satellite body coordinate system;
calculating the angular momentum to be controlled on the Y axis of the GEO satellite to be managed in a satellite body coordinate system based on the reference angular momentum of the momentum wheel, the included angle between the momentum wheel and the Z axis, the actual momentum wheel rotating speed and the momentum wheel rotating speed threshold;
And correcting the angular momentum to be controlled on the Y axis based on the control efficiency to obtain the target angular momentum.
4. The control method for GEO-satellite angular momentum automatic management according to claim 1, wherein in case of determining that the satellite angular momentum exceeds the limit, determining the target angular momentum to be controlled based on the control efficiency, the actual value of the target parameter and the corresponding threshold value, comprises:
calculating the angular momentum to be controlled on a Z axis of the GEO satellite to be managed in a satellite body coordinate system based on the actual satellite angular momentum and the satellite angular momentum threshold;
and correcting the angular momentum to be controlled on the Z axis based on the control efficiency to obtain the target angular momentum.
5. The control method of GEO-satellite angular momentum automatic management according to claim 1, wherein determining a target thruster for performing angular momentum unloading in a preset thruster selection map based on the target parameter and the target angular momentum, comprises:
determining the direction of the target angular momentum in a satellite body coordinate system based on the target parameter and the positive and negative attributes of the target angular momentum;
and matching the target thruster in a preset thruster selection comparison table by utilizing the direction of the target angular momentum in the satellite body coordinate system.
6. The control method for GEO-satellite angular momentum automatic management according to claim 1, wherein determining ignition pulse width and number of times of ignition when the target thruster performs angular momentum unloading based on the target angular momentum, comprises:
acquiring the thrust and the arm length of the target thruster;
calculating the ignition total pulse width to be controlled of the target thruster based on the target angular momentum, the thrust and the arm length;
calculating the remainder of the ignition total pulse width and the designated ignition pulse width, and taking the preset ignition pulse width with the smallest remainder as the ignition pulse width when the target thruster executes angular momentum unloading; wherein the designated ignition pulse width represents any one of a plurality of preset ignition pulse widths;
and calculating the ignition times when the target thruster performs angular momentum unloading based on the ignition total pulse width and the ignition pulse width.
7. The control method for GEO satellite angular momentum automatic management according to claim 1, wherein after controlling a state recovery time of the target thruster at the end of a communication service of the GEO satellite to be managed, angular momentum discharge is performed in accordance with the ignition pulse width and the number of ignition times, the method further comprises:
Acquiring an updated value of the target parameter of the GEO satellite to be managed after completing angular momentum unloading;
calculating the actual unloaded angular momentum of the target thruster based on the updated value of the target parameter and the actual value of the target parameter before performing the angular momentum unloading;
and calculating the control efficiency of angular momentum unloading of the GEO satellite to be managed at this time based on the actually unloaded angular momentum and the target angular momentum to be controlled determined before the angular momentum unloading is executed.
8. A GEO satellite angular momentum automatic management control device, comprising:
the first acquisition module is used for acquiring the actual yaw angle, the actual momentum wheel rotating speed and the actual satellite angular momentum of the GEO satellite to be managed and acquiring the control efficiency of angular momentum unloading of the GEO satellite to be managed last time;
the judging module is used for respectively judging whether the actual yaw angle, the actual momentum wheel rotating speed and the actual satellite angular momentum exceed the limit or not based on a preset angular momentum management threshold value; wherein the preset angular momentum management threshold comprises: a yaw angle threshold, a momentum wheel rotational speed threshold, and a satellite angular momentum threshold;
the first determining module is used for determining target angular momentum to be controlled based on the control efficiency, the actual value of the target parameter and a corresponding threshold value under the condition that the target parameter is determined to be out of limit; wherein the target parameter comprises one of the following: yaw angle, momentum wheel rotational speed, and satellite angular momentum;
The second determining module is used for determining a target thruster for performing angular momentum unloading in a preset thruster selection comparison table based on the target parameter and the target angular momentum, and determining an ignition pulse width and an ignition frequency when the target thruster performs angular momentum unloading based on the target angular momentum;
and the control module is used for controlling the state recovery time of the target thruster when the communication service of the GEO satellite to be managed is finished, and executing angular momentum unloading according to the ignition pulse width and the ignition times.
9. An electronic device comprising a memory, a processor, the memory having stored thereon a computer program executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the GEO satellite angular momentum auto-management control method according to any of the preceding claims 1 to 7.
10. A computer-readable storage medium storing computer instructions that, when executed by a processor, implement the GEO satellite angular momentum auto-management control method of any of the above claims 1 to 7.
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