CN111056045A

CN111056045A - Control method and device of three-axis magnetic torquer

Info

Publication number: CN111056045A
Application number: CN201911370817.7A
Authority: CN
Inventors: 晏也绘; 许铃健; 李奎; 周易
Original assignee: Aerospace Xingyun Technology Co ltd
Current assignee: Aerospace Xingyun Technology Co ltd
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2020-04-24
Anticipated expiration: 2039-12-26
Also published as: CN111056045B

Abstract

The embodiment of the application provides a control method and a control device of a triaxial magnetic torquer, which are used for providing a new control mode of the triaxial magnetic torquer for controlling the attitude of a satellite, and can complete the control of the magnetic torquer without using a magnetometer, so as to complete the magnetic damping and the attitude adjustment of the satellite. When the current first triaxial state data of the triaxial magnetic torquer is acquired, second triaxial state data can be generated based on the first triaxial state data, and the triaxial magnetic torquer is instructed to generate corresponding magnetic moments according to the second triaxial state data, so that the angular momentum data of the satellite changes, at the moment, the correct magnetic moment direction for reducing the angular momentum of the satellite can be judged according to the front and back first triaxial state data, the second triaxial state data, the first angular momentum data and the second angular momentum data, the corresponding target triaxial state data is generated, the triaxial magnetic torquer is instructed to generate the corresponding magnetic moments according to the target triaxial state data, and the angular momentum of the satellite can be effectively reduced.

Description

Control method and device of three-axis magnetic torquer

Technical Field

The application relates to the field of satellites, in particular to a control method and device of a three-axis magnetic torquer.

Background

For micro and small satellites, a magnetic torquer is generally adopted as an executing mechanism for attitude control.

The magnetic torquer, which may be called a three-axis magnetic torquer, is composed of three magnetic rods externally wound with coils and a control circuit, and is installed at a position parallel to the three attitude axes according to attitude axes X, Y, Z preset in three directions, respectively. When the satellite works, the coils of each axis generate expected magnetic moments by applying working currents in certain current magnitude and current direction, so that the expected magnetic moments interact with the orbit geomagnetic field, the satellite can obtain corresponding moments and rotate along with the moments to correct the self attitude of the satellite.

In the prior art, magnetic field information of a satellite in a spatial position is collected through a magnetometer to calculate a magnetic moment required to be generated by a magnetic torquer based on the magnetic field information, which means that the control of the magnetic torquer depends on the magnetometer, and for some satellites with limited equipment quantity or limited space, the magnetometer occupies certain space and cost obviously.

Disclosure of Invention

The embodiment of the application provides a control method and a control device of a triaxial magnetic torquer, which are used for providing a new control mode of the triaxial magnetic torquer for controlling the attitude of a satellite, and can complete the control of the magnetic torquer without using a magnetometer, thereby completing the adjustment of the attitude of the satellite.

In a first aspect, an embodiment of the present application provides a method for controlling a three-axis magnetic torquer, where the method includes:

acquiring first triaxial state data of a triaxial magnetic torquer and first angular velocity data of a gyroscope, wherein the triaxial magnetic torquer and the gyroscope are respectively configured on a satellite, the triaxial magnetic torquer is used for generating corresponding magnetic moments according to received state variable values, and the gyroscope is used for acquiring angular velocity data of the satellite;

generating second triaxial state data in the triaxial direction corresponding to the triaxial magnetic torquer on the basis of the current first triaxial state data;

sending a first magnetic moment control instruction to the triaxial magnetic torquer, wherein the first magnetic moment control instruction is used for indicating the triaxial magnetic torquer to generate magnetic moment according to second triaxial state data;

acquiring second angular velocity data of the gyroscope;

on the basis of the rotational inertia data of the satellite, calculating to obtain first angular momentum data and second angular momentum data corresponding to the satellite according to the first angular velocity data and the second angular velocity data;

determining target triaxial state data for reducing the angular momentum of the satellite according to the first angular momentum data, the second angular momentum data, the first triaxial state data and the second triaxial state data;

and sending a second magnetic moment control instruction to the triaxial magnetic torquer, wherein the second magnetic moment control instruction is used for indicating the triaxial magnetic torquer to generate magnetic moment according to second triaxial state data.

For example, on the basis of the first triaxial state data, generating second triaxial state data in the triaxial direction corresponding to the triaxial magnetic torquer includes:

respectively extracting state data in the X-axis direction, the Y-axis direction and the Z-axis direction in the first triaxial state data;

respectively adjusting preset unit state data in a forward direction on the basis of state data in the X-axis direction, the Y-axis direction and the Z-axis direction in sequence to obtain first sub-triaxial state data, second sub-triaxial state data and third sub-triaxial state data, and taking three groups of state data including the first sub-triaxial state data, the second sub-triaxial state data and the third sub-triaxial state data as second triaxial state data;

the second angular momentum data comprises first sub-angular momentum data corresponding to the first sub-triaxial state data, second sub-angular momentum data corresponding to the second sub-triaxial state data and third sub-angular momentum data corresponding to the third sub-triaxial state data, and the determining of the target triaxial state data for reducing the angular momentum of the satellite according to the first angular momentum data, the second angular momentum data, the first triaxial state data and the second triaxial state data comprises:

calculating a first difference in magnitude between the first sub angular momentum data and the first angular momentum data, a second difference in magnitude between the second sub angular momentum data and the first sub angular momentum data, and a third difference in magnitude between the third sub angular momentum data and the second sub angular momentum data;

when the first difference is smaller than a negative difference threshold, taking the state data of the first sub-triaxial state data in the X-axis direction as the state data of the target triaxial state data in the X-axis direction, and when the first difference is larger than the negative difference threshold, reversely adjusting the state data of the first sub-triaxial state data in the X-axis direction by preset unit state data and taking the state data as the state data of the target triaxial state data in the X-axis direction;

when the second difference is smaller than the negative difference threshold, taking the state data of the second sub-triaxial state data in the Y-axis direction as the state data of the target triaxial state data in the Y-axis direction, and when the second difference is larger than the negative interpolation threshold, reversely adjusting the state data of the second sub-triaxial state data in the Y-axis direction by preset unit state data and taking the state data as the state data of the target triaxial state data in the Y-axis direction;

and when the third difference is larger than the negative interpolation threshold, reversely adjusting the state data of the third sub-triaxial state data in the Z-axis direction by preset unit state data and using the preset unit state data as the state data of the target triaxial state data in the Z-axis direction.

Illustratively, acquiring first triaxial state data of the triaxial magnetic torquer comprises:

initializing triaxial state data of a triaxial magnetic torquer;

and identifying the three-axis state data after the three-axis magnetic torquer is initialized as first three-axis state data.

Exemplarily, the magnetic moments of the three-axis state data after initialization of the three-axis magnetic torquer in the directions of the X axis, the Y axis and the Z axis are respectively zero, and the method further includes:

and extracting the single-axis maximum output magnetic moment value of the three-axis magnetic torquer as preset unit state data.

For example, before acquiring the first three-axis state data of the three-axis magnetic torquer, the method further includes:

when the satellite is out of the rocket and/or enters the orbit, detecting the working state of a magnetometer configured on the satellite, wherein the magnetometer is used for detecting the magnetic field information of the position of the satellite;

and when the magnetometer is detected to be in an abnormal state, triggering to acquire first triaxial state data of the triaxial magnetic torquer.

In a second aspect, an embodiment of the present application provides a control device for a three-axis magnetic torquer, where the device includes:

the acquisition unit is used for acquiring first triaxial state data of the triaxial magnetic torquer and first angular velocity data of the gyroscope, the triaxial magnetic torquer and the gyroscope are respectively configured on the satellite, the triaxial magnetic torquer is used for generating corresponding magnetic moments according to received state variable values, and the gyroscope is used for acquiring angular velocity data of the satellite;

the generating unit is used for generating second triaxial state data in the triaxial direction corresponding to the triaxial magnetic torquer on the basis of the current first triaxial state data;

the transmitting unit is used for transmitting a first magnetic moment control instruction to the triaxial magnetic torquer, and the first magnetic moment control instruction is used for indicating the triaxial magnetic torquer to generate magnetic moment according to second triaxial state data;

the acquisition unit is also used for acquiring second angular velocity data of the gyroscope;

the computing unit is used for respectively obtaining first angular momentum data and second angular momentum data corresponding to the satellite through computing according to the first angular velocity data and the second angular velocity data on the basis of the rotational inertia data of the satellite;

the determining unit is used for determining target triaxial state data for reducing the angular momentum of the satellite according to the first angular momentum data, the second angular momentum data, the first triaxial state data and the second triaxial state data;

and the sending unit is further used for sending a second magnetic moment control instruction to the triaxial magnetic torquer, and the second magnetic moment control instruction is used for indicating the triaxial magnetic torquer to generate a magnetic moment according to second triaxial state data.

Illustratively, the generating unit is specifically configured to:

the second angular momentum data includes first sub angular momentum data corresponding to the first sub triaxial state data, second sub angular momentum data corresponding to the second sub triaxial state data, and third sub angular momentum data corresponding to the third sub triaxial state data, and the determining unit is specifically configured to:

Illustratively, the obtaining unit is specifically configured to:

initializing triaxial state data of a triaxial magnetic torquer;

Exemplarily, the magnetic moments of the three-axis state data after initialization of the three-axis magnetic torquer in the X-axis, Y-axis and Z-axis directions are respectively zero, and the generating unit is further configured to:

Illustratively, the apparatus further comprises a triggering unit configured to:

when the magnetometer is detected to be in an abnormal state, the acquisition unit is triggered to acquire first triaxial state data of the triaxial magnetic torquer.

In a third aspect, an embodiment of the present application provides a control device for a magnetic torquer, including a processor, configured to implement any one of the steps of the first aspect as described above when the processor executes a computer program stored in a memory.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement any one of the steps of the first aspect as described above.

According to the technical scheme, the embodiment of the application has the following advantages:

when the current first triaxial state data of the triaxial magnetic torquer is acquired, second triaxial state data can be generated based on the first triaxial state data, and the triaxial magnetic torquer is instructed to generate corresponding magnetic moments according to the second triaxial state data, so that the angular momentum data of the satellite changes, at the moment, the correct magnetic moment direction for reducing the angular momentum of the satellite can be judged according to the front and back first triaxial state data, the second triaxial state data, the first angular momentum data and the second angular momentum data, and the corresponding target triaxial state data is generated, so that the triaxial magnetic torquer is instructed to generate corresponding magnetic moments according to the target triaxial state, the angular momentum of the satellite can be effectively reduced, the magnetic damping of the satellite can be adjusted, and the rotation or the attitude of the satellite can be adjusted, thereby overcoming the defect of relying on a magnetometer in the prior related technology to a certain extent, under the condition of neglecting the magnetometer, the attitude adjustment of the satellite can be effectively finished, and the stability of the satellite control system is further improved.

Drawings

Fig. 1 is a schematic flowchart of a control method of a three-axis magnetic torquer according to an embodiment of the present application;

FIG. 2 is a schematic flow chart illustrating a control method of a three-axis magnetic torquer according to an embodiment of the present application;

fig. 3 is a schematic view of a scene of a control method of a three-axis magnetic torquer according to an embodiment of the present application;

FIG. 4 is a graph illustrating the variation of angular velocity in the X-axis, Y-axis and Z-axis directions according to the embodiment of the present application;

FIG. 5 is a schematic diagram of an angular momentum variation curve of a satellite according to an embodiment of the present invention;

FIG. 6 is a magnetic moment direction curve of the three-axis magnetic torquer of the present invention;

FIG. 7 is a schematic diagram of a triaxial magnetic control output torque curve of the triaxial magnetic torquer according to the embodiment of the present application;

FIG. 8 is a schematic structural diagram of a control device of a three-axis magnetic torquer according to an embodiment of the present application;

fig. 9 is a diagram illustrating a result of a control device of a three-axis magnetic torquer according to an embodiment of the present application.

Detailed Description

The embodiment of the application provides a control method and a control device of a triaxial magnetic torquer, which are used for providing a new control mode of the triaxial magnetic torquer for controlling the attitude of a satellite, and can complete the control of the magnetic torquer without using a magnetometer, so as to complete the magnetic damping and the attitude adjustment of the satellite.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Moreover, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus. The naming or numbering of the steps appearing in the present application does not mean that the steps in the method flow have to be executed in the chronological/logical order indicated by the naming or numbering, and the named or numbered process steps may be executed in a modified order depending on the technical purpose to be achieved, as long as the same or similar technical effects are achieved.

The division of the modules presented in this application is a logical division, and in practical applications, there may be another division, for example, multiple modules may be combined or integrated into another system, or some features may be omitted, or not executed, and in addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some interfaces, and the indirect coupling or communication connection between the modules may be in an electrical or other similar form, which is not limited in this application. The modules or sub-modules described as separate components may or may not be physically separated, may or may not be physical modules, or may be distributed in a plurality of circuit modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present disclosure.

Before specifically describing the control method of the three-axis magnetic torquer provided by the embodiment of the present application, relevant background contents related thereto are briefly described.

It is easy to understand that when a satellite is launched into space along with a rocket and performs satellite-rocket separation, the satellite obtains an initial angular velocity and is in a corresponding rotation state, and because the satellite is in a weightless state in the space environment, if the satellite is not controlled, the satellite enters into random rotation without purpose, and cannot complete the in-orbit task, the attitude of the satellite needs to be controlled, so that the satellite establishes the attitude in the task execution state.

For a general triaxial stable control satellite, in order to realize attitude control thereof, rate damping control is first performed to reduce the angular velocity of the satellite, so as to perform acquisition and directional control of the satellite attitude. The velocity damping generally adopts an attitude control thruster or a magnetic torquer to provide control torque, for a micro-satellite, a propulsion system is not usually provided, and a magnetic damping form is commonly adopted, and the angular velocity or the angular momentum of the satellite is reduced to a certain range by using the magnetic torquer. The magnetic damping process is a precondition for establishing attitude control capability of the satellite and plays a crucial role in the design of a control system.

The magnetic torquer is used as an actuating mechanism for satellite magnetic damping control, can be called as a three-axis magnetic torquer, consists of three magnetic rods with coils wound outside and a control circuit, and is respectively arranged at the positions parallel to the three attitude axes according to the attitude axes X, Y, Z with three preset directions. When the satellite works, the coils of each axis generate expected magnetic moments by applying working currents in certain current magnitude and current direction, so that the expected magnetic moments interact with the orbit geomagnetic field, and the satellite can obtain corresponding moments and rotate along with the moments to correct the self postures.

In the working process of the triaxial magnetic torquer, the magnetic moment required to be generated by the magnetic torquer is calculated by combining the magnetic field information of the current space position of the satellite, and the working state of the triaxial magnetic torquer is adjusted to generate the magnetic moment.

In the related art, the satellite may rely on a magnetometer carried by the satellite to measure the current magnetic field information of the satellite, and the magnetometer is used to measure the magnetic induction intensity and measure the magnitude and direction of the magnetic field at the current spatial position of the satellite.

When the satellite and the satellite are separated and in the orbit entering stage, the magnetic field information of the current space position of the satellite is obtained under the condition of no satellite attitude prior information, and the only way adopted is to measure the magnetic field information by using a magnetometer. When the magnetometer is in a problem or works abnormally, obviously, the magnetometer lacks magnetic field information which can be measured by the magnetometer, the three-axis magnetic torquer cannot be normally controlled, and in this case, if the angular momentum of the satellite (the larger the angular momentum is, the larger the angular velocity of the satellite is, the faster the rotation is) fails to fall within a normal controllable range, the satellite is likely to completely lose the attitude control capability, and finally the satellite has a series of irreversible results.

Based on the above-mentioned drawbacks of the related art, the embodiments of the present application provide a new method for controlling a magnetic torquer, or a new method for damping satellite magnetic, which can overcome the above-mentioned drawbacks of the related art to a certain extent.

In the new method for controlling a magnetic torquer provided in the embodiment of the present application, the execution main body may be the control device of the magnetic torquer provided in the embodiment of the present application, or a server or a physical host integrated with the control device of the magnetic torquer, and the like, where the control device of the magnetic torquer may be implemented in a hardware or software manner.

The control equipment of the magnetic torquer can adopt a working mode of independent operation or a working mode of equipment cluster, and further can be part of equipment of a satellite; or, the control device of the magnetic torquer may also be a ground device, and the ground device controls the satellite in a remote control manner and realizes the control method of the three-axis magnetic torquer provided by the embodiment of the application; or, the control device of the magnetic torquer may include ground devices in addition to a part of devices of the satellite, and the control method of the three-axis magnetic torquer provided by the embodiment of the present application is implemented through information interaction between the devices.

In addition, the control method of the triaxial magnetic torquer provided by the embodiment of the application is obviously applicable to not only separation of satellites and arrows and in an orbit-in stage, but also relevant application scenes related to control of the triaxial magnetic torquer, such as orbit change of the satellite, maintenance of an orbit position after the satellite is in orbit, angular momentum unloading of the satellite, and off-orbit, or relevant abnormal conditions, such as error in single-machine polarity configuration, lack of a magnetometer, and abnormal work of the magnetometer.

Next, a method for controlling a three-axis magnetic torquer according to an embodiment of the present application will be described.

Based on the above related background, referring to fig. 1, a flowchart of a control method of a three-axis magnetic torquer according to an embodiment of the present invention, as shown in fig. 1, may include the following steps:

step S101, acquiring first triaxial state data of a triaxial magnetic torquer and first angular velocity data of a gyroscope, wherein the triaxial magnetic torquer and the gyroscope are respectively configured on a satellite, the triaxial magnetic torquer is used for generating corresponding magnetic moments according to received state variable values, and the gyroscope is used for acquiring angular velocity data of the satellite;

step S102, generating second triaxial state data in the triaxial direction corresponding to the triaxial magnetic torquer on the basis of the current first triaxial state data;

step S103, sending a first magnetic moment control instruction to the triaxial magnetic torquer, wherein the first magnetic moment control instruction is used for indicating the triaxial magnetic torquer to generate a magnetic moment according to second triaxial state data;

step S104, acquiring second angular velocity data of the gyroscope;

step S105, on the basis of the rotational inertia data of the satellite, calculating to obtain first angular momentum data and second angular momentum data corresponding to the satellite according to the first angular velocity data and the second angular velocity data;

step S106, determining target triaxial state data for reducing the angular momentum of the satellite according to the first angular momentum data, the second angular momentum data, the first triaxial state data and the second triaxial state data;

and S107, sending a second magnetic moment control instruction to the triaxial magnetic torquer, wherein the second magnetic moment control instruction is used for indicating the triaxial magnetic torquer to generate magnetic moment according to second triaxial state data.

In the technical solution of the above embodiment, it can be seen that when the current first triaxial state data of the triaxial magnetic torquer is acquired, the second triaxial state data can be generated based on the first triaxial state data, and the triaxial magnetic torquer is instructed to generate a corresponding magnetic moment according to the second triaxial state data, so that the angular momentum data of the satellite changes accordingly, at this time, the correct magnetic moment direction for reducing the angular momentum of the satellite can be judged according to the front and rear first triaxial state data, second triaxial state data, first angular momentum data and second angular momentum data, and the corresponding target triaxial state data can be generated, so that the triaxial magnetic torquer is instructed to generate a corresponding magnetic moment according to the target triaxial state data, so that the angular momentum of the satellite can be effectively reduced, the magnetic damping of the satellite can be adjusted, and the rotation or attitude of the satellite can be adjusted, thereby overcoming the defect of relying on a magnetometer in the related art to a certain extent, under the condition of neglecting the magnetometer, the attitude adjustment of the satellite can be effectively finished, and the stability of the satellite control system is further improved.

The embodiment shown in fig. 1 will be described in detail below.

In an exemplary embodiment, the second three-axis state data described above may further subdivide the sets of three-axis state data to determine the correct magnetic moment directions of the three-axis magnetic torquers about the X-axis, Y-axis, and Z-axis, respectively, i.e., directions that may reduce the angular momentum of the satellite.

Correspondingly, as a specific implementation manner of step S102 in the embodiment corresponding to fig. 1, the another flowchart of the method for controlling a three-axis magnetic torquer in the embodiment of the present application as shown in fig. 2 may include:

step S201, respectively extracting state data in the directions of an X axis, a Y axis and a Z axis in the first triaxial state data;

step S202, respectively adjusting preset unit state data in a forward direction on the basis of state data in the X-axis direction, the Y-axis direction and the Z-axis direction in sequence to obtain first sub-triaxial state data, second sub-triaxial state data and third sub-triaxial state data, and taking three groups of state data including the first sub-triaxial state data, the second sub-triaxial state data and the third sub-triaxial state data as second triaxial state data;

in this case, in the control of the three-axis magnetic torquer in step S103, a magnetic moment control command may be sent to the three-axis magnetic torquer, or respectively sending three magnetic moment control instructions to enable the triaxial magnetic torquer to respectively generate three magnetic moments according to the three sub-triaxial state data, the satellite can form three angular velocities and angular momentum thereof under the influence of the three magnetic moments, correspondingly, the second angular velocity data measured by the gyroscope comprises first sub angular velocity data corresponding to the first sub triaxial state data, second sub angular velocity data corresponding to the second sub triaxial state data and third sub angular velocity data corresponding to the third sub triaxial state data, furthermore, the calculated second angular momentum data includes first sub angular momentum data corresponding to the first sub triaxial state data, second sub angular momentum data corresponding to the second sub triaxial state data, and third sub angular momentum data corresponding to the third sub triaxial state data.

Meanwhile, as a specific implementation manner of step S106 in the embodiment corresponding to fig. 1, the method may include:

step S203, calculating a first difference value of the first sub angular momentum data and the first angular momentum data, a second difference value of the second sub angular momentum data and the first sub angular momentum data, and a third difference value of the third sub angular momentum data and the second sub angular momentum data;

step S204, when the first difference is smaller than a negative difference threshold, taking the state data of the first sub-triaxial state data in the X-axis direction as the state data of the target triaxial state data in the X-axis direction, and when the first difference is larger than the negative difference threshold, reversely adjusting the state data of the first sub-triaxial state data in the X-axis direction by preset unit state data and taking the state data as the state data of the target triaxial state data in the X-axis direction;

step S205, when the second difference is smaller than the negative difference threshold, using the state data of the second sub-triaxial state data in the Y-axis direction as the state data of the target triaxial state data in the Y-axis direction, and when the second difference is larger than the negative interpolation threshold, reversely adjusting the state data of the second sub-triaxial state data in the Y-axis direction by preset unit state data and using the preset unit state data as the state data of the target triaxial state data in the Y-axis direction;

step S206, when the third difference is smaller than the negative difference threshold, using the state data of the third sub-triaxial state data in the Z-axis direction as the state data of the target triaxial state data in the Z-axis direction, and when the third difference is larger than the negative interpolation threshold, reversely adjusting the state data of the third sub-triaxial state data in the Z-axis direction by a preset unit state data and using the preset unit state data as the state data of the target triaxial state data in the Z-axis direction.

The difference threshold may be specifically understood as a positive value set for the measurement noise condition of the gyroscope, and when the magnitude of the angular momentum data is reduced, the direction of adjusting the magnetic moment of the X-axis, the Y-axis, or the Z-axis may be considered to be a desired correct direction, which is beneficial to reducing the angular momentum of the satellite and slowing down the rotation of the satellite.

Further, in yet another exemplary embodiment, as an implementation manner of step S101 in the corresponding embodiment in fig. 1, the method may include:

initializing triaxial state data of a triaxial magnetic torquer;

It can be understood that, in practical applications, the first triaxial state data may be, in addition to real-time triaxial state data of the triaxial magnetic torquer when the control method of the triaxial magnetic torquer provided in the embodiment of the present application is triggered, triaxial state data obtained by adjusting the control method of the triaxial magnetic torquer provided in the embodiment of the present application.

Specifically, the triaxial state data of the triaxial magnetic torquer can be initialized, and the triaxial state data of the triaxial magnetic torquer can be the triaxial state data of the default initialization state of the triaxial magnetic torquer itself, or can also be the triaxial state data of the initialization state configured in advance or in real time according to actual requirements.

For example, the three-axis state data of the initialization state may be represented as: m_x＝0，M_y＝0，M _z0; or, M_x＝1，M_y＝1，M _z1, wherein M_x、M_{y is in the order of}And M_zRespectively representing the magnetic moments required to be generated by the three-axis magnetic torquer in the directions of an X axis, a Y axis and a Z axis.

Of course, the initialized three-axis state data may have different magnetic moments in each axis direction, that is, the magnetic moments in each axis direction may be configured independently.

In yet another exemplary embodiment, the three-axis state data of the initialized state of the three-axis magnetic torquer may be set to have zero magnetic moments in the directions of the X-axis, the Y-axis, and the Z-axis, respectively, and correspondingly, the magnetic moments of the initialized three-axis state data of the three-axis magnetic torquer in the directions of the X-axis, the Y-axis, and the Z-axis are zero, respectively, and the method further includes:

It can be understood that, for the convenience of adjustment, the second three-axis state data may be obtained by adjusting the magnetic moments output by the three-axis magnetic torquer in the X-axis, Y-axis or Z-axis directions to the maximum extent, so that the directions of the magnetic moment adjustment in the X-axis, Y-axis or Z-axis, which are helpful to reduce the angular momentum of the satellite, may be clearly determined.

Meanwhile, the three-axis state data of the initialized state of the three-axis magnetic torquer can be set to be zero respectively in the X-axis direction, the Y-axis direction and the Z-axis direction, so that the single-axis maximum output magnetic moment value of the three-axis magnetic torquer can be directly used as preset unit state data, the magnetic moments output by the three-axis magnetic torquer in the X-axis direction, the Y-axis direction or the Z-axis direction can be adjusted to the maximum degree, and therefore the adjustment of the magnetic moments output by the three-axis magnetic torquer in the X-axis direction, the Y-axis direction or the Z-axis direction can be completed conveniently.

In an exemplary practical application, the control method of the three-axis magnetic torquer provided by the embodiment of the present application may complete the adjustment of the angular velocity/attitude of the satellite through one or more control cycles.

If it is assumed that the control period is T, T is divided into 6 time segments, each time segment is T ═ T/6, there are 7 time points in sequence, which are 0, T, 2T, 3T, 4T, 5T and 6T, respectively, and the control flow is mainly expressed as "trial-compensation-enhancement control".

Recording the inherent rotational inertia of the satellite as I which can be measured in advance on the ground, and recording the angular speed data of the satellite measured by a gyroscope as omega_bRecording the maximum single-axis output magnetic moment of the three-axis magnetic torquer as M_maxThe magnetic moment output of the three-axis magnetic torquer in the X-axis, Y-axis and Z-axis directions is M_x、M_yAnd M_zDifference threshold or angleThe momentum change threshold parameter is TH, and the direction identifier of the triaxial state data of the triaxial magnetic torquer initialization state is X_Tag＝1、Y _Tag1 and Z_Tag＝1。

The control flow of a single control cycle, as shown in fig. 3, is a scene schematic diagram of a control method of a three-axis magnetic torquer according to an embodiment of the present application, and includes:

at the time of 0, the trial direction of the three-axis magnetic moment is assigned with an initial value a_x＝X_Tag、a_y＝Y_TagAnd a_z＝Z_TagCollecting angular velocity omega measured by gyroscope_b1＝[ω_b1xω_b1yω_b1z]^TFrom the moment of inertia I and the measured angular velocity ω_b1Calculating the angular momentum, denoted as H₁＝Iω_b1The magnitude of the angular momentum is H₁＝||H₁I, the magnetic moment required to be output by the subsequent triaxial magnetic torquer is M_x＝a_xM_max、M _y0 and M_zAnd (5) after the calculation is finished, sending the triaxial magnetic moment to a magnetic torquer through a magnetic moment control command to execute a control action.

At time t, the angular velocity ω measured by the gyroscope is acquired_b2Calculating the angular momentum and the increment thereof respectively as H₂＝Iω_b2，H₂＝||H₂||，ΔH₁＝H₂-H₁The magnetic moment required to be output by the subsequent triaxial magnetic torquer is M_x＝0、M_y＝a_yM_maxAnd M_zAnd (5) after the calculation is finished, sending the triaxial magnetic moment to a magnetic torquer through a magnetic moment control command to execute a control action.

At the time of 2t, the angular velocity omega measured by the gyroscope is collected_b3Calculating the angular momentum and the increment thereof respectively as H₃＝Iω_b3，H₃＝||H₃||，ΔH₂＝H₃-H₂The magnetic moment required to be output by the subsequent triaxial magnetic torquer is M_x＝0、M _y0 and M_z＝a_zM_maxAfter the calculation is finished, the triaxial magnetic moment is sent to a magnetic torquer to execute control action through a magnetic moment control instructionDo this.

At the 3t moment, the angular velocity omega measured by the gyroscope is collected_b4Calculating the angular momentum and the increment thereof respectively as H₄＝Iω_b4，H₄＝||H₄||，ΔH₃＝H₄-H₃And according to the increment value of the angular momentum, judging the correctness of the magnetic moment directions in three directions, enhancing the correct (angular momentum descending) magnetic moment direction, and compensating the incorrect (angular momentum changing is not obvious or ascending) magnetic moment direction, namely:

① when Δ H₁When < -TH, let a_x＝X_Tag(ii) a Otherwise, let a_x＝-X _Tag② when Δ H₂When < -TH, let a_y＝Y_Tag(ii) a Otherwise, let a_y＝-Y _Tag③ when Δ H₃When < -TH, let a_z＝Z_Tag(ii) a Otherwise, let a_z＝-Z_Tag(ii) a So that there are three directions with magnetic moment value M_x＝a_xM_max、M_y＝a_yM_max、M_z＝a_zM_maxAnd after the calculation is finished, sending the new triaxial magnetic moment to the magnetic torquer to execute the control action.

At the moment of 4t, according to the increment value of the angular momentum, finding out the direction of the damping enhancement of the angular momentum of the satellite, continuously enhancing the magnetic moment direction of the descending angular momentum, reversely enhancing the magnetic moment direction of the ascending angular momentum, and stopping and controlling the change of the angular momentum insignificantly, namely:

① when Δ H₁When < -TH, let a_x＝X_Tag(ii) a When Δ H₁>At TH, let a_x＝-X_Tag(ii) a Otherwise let a_x0, ② when Δ H₂When < -TH, let a_y＝Y_Tag(ii) a When Δ H₂When > TH, let a_y＝-Y_Tag(ii) a Otherwise let a_y0, ③ when Δ H₃When < -TH, let a_z＝Z_Tag(ii) a When Δ H₃>At TH, let a_z＝-Z_Tag(ii) a Otherwise let a_z0; so that there are three directions with magnetic moment value M_x＝a_xM_max、M_y＝a_yM_max、M_z＝a_zM_maxAnd after the calculation is finished, the triaxial magnetic moment is sent to the magnetic torquer to execute the control action.

At the time of 5t, the triaxial identification is updated ① when a_xWhen being-1, let X_TagIf not, let X be_Tag1, ② when a_yWhen being-1, let Y_TagIf not, let Y be_Tag1, ③ when a_zWhen being-1, let Z_TagIf not, Z is_TagWhen 1, the cycle ends.

For example, to facilitate understanding, fig. 4, fig. 5, fig. 6, and fig. 7 are respectively shown to illustrate graphs of an embodiment of the present application, and a set of example parameters will be described below, where fig. 4 shows a graph of an angular velocity change curve in the X-axis, Y-axis, and Z-axis directions, fig. 5 shows a graph of an angular momentum change curve of a satellite, fig. 6 shows a graph of a magnetic moment direction of a three-axis magnetic torquer of an embodiment of the present application, and fig. 7 shows a graph of a three-axis magnetron output torque curve of the three-axis magnetic torquer.

That is, the moment of inertia of the satellite X is:

the maximum single-axis magnetic moment of the triaxial magnetic torquer is M_max＝15Am²(ii) a Initial angular velocity set to ω_b＝[3.03.03.0]^TIn degrees/s, the threshold value TH of angular momentum increment is 0.00005Nms, the control period T is 6s,_t＝_1sthe direction identifier of the triaxial state data of the triaxial magnetic torquer initialization state is X_Tag＝1、Y _Tag1 and Z_Tag＝1。

The control flow of a single control period is as follows:

three-axis magnetic moment trial direction giving initial value a_x＝1、a_y1 and a_z＝1；

At time 0, the angular velocity ω of the gyro measurement is acquired_b1＝[3.03.03.0]^T；

According to the rotationDynamic inertia I and measured angular velocity omega_b1The angular momentum is calculated as:

H₁＝Iω_b1＝[0.293215314335047 0.208924289044131 0.413988607914551]^T；

the magnitude of the angular momentum is H₁＝||H¹||＝0.548644827366689；

The magnetic moment required to be output by the subsequent triaxial magnetic torquer is M_x＝a_xM_max＝15、M _y0 and M_zAnd (5) after the calculation is finished, sending the triaxial magnetic moment to a magnetic torquer through a magnetic moment control command to execute a control action.

At time t, the angular velocity ω measured by the gyroscope is acquired_b2＝[3.001 2.9881 2.9965]^T；

Calculating the angular momentum and the increment thereof, which are respectively:

H₂＝Iω_b2＝[0.293335567520510 0.207837826471686 0.413538203291046]^T；

H₂＝||H₂||＝0.547956351241813；

ΔH₁＝H₂-H₁＝-0.00068847612；

the magnetic moment required to be output by the subsequent triaxial magnetic torquer is M_x＝0、M_y＝a_yM_max15 and M_zAnd (5) after the calculation is finished, sending the triaxial magnetic moment to a magnetic torquer through a magnetic moment control command to execute a control action.

At the time of 2t, the angular velocity omega measured by the gyroscope is collected_b3＝[2.9998 2.9884 2.9967]^T；

H₃＝Iω_b3＝[0.293215663400898 0.207885286721344 0.413565414649601]^T；

H₃＝||H₃||＝0.547930716325650；

ΔH₂＝H₃-H₂＝-0.000025634916；

follow-up triaxial magnetic torquerMagnetic moment of desired output is M_x＝0、M _y0 and M_z＝a_zM_maxAnd 15, after the calculation is finished, sending the triaxial magnetic moment to a magnetic torquer through a magnetic moment control command to execute a control action.

At the 3t moment, the angular velocity omega measured by the gyroscope is collected_b4＝[3.0012 2.9934 2.9963]^T；

H₄＝Iω_b4＝[0.293346214028947 0.208317271349362 0.413489270542006]^T；

H₄＝||H₄||＝0.548107164413056；

ΔH₃＝H₄-H₃＝0.00017644808；

① due to Δ H₁-0.00068847612 < -TH ═ 0.00005, so that a_x＝

X

_Tag1, ② due to Δ H₂-0.000025634916 > -TH-0.00005, so a_y＝-Y_TagH is not 1, ③ is due to Delta₃0.00017644808 > -TH-0.00005, so a_z＝-Z_TagIs-1. Therefore, the magnetic moment values in three directions are M_x＝a_xM_max＝15、M_y＝a_yM_max＝-15、M_z＝a_zM_maxAnd 15, after the calculation is finished, the triaxial magnetic moment is sent to the magnetic torquer to execute the control action through a magnetic moment control command.

At time 4t, ① is due to Δ H₁-0.00068847612 < -TH ═ 0.00005, so that a_x＝X _Tag② is equal to 1 because TH is equal to 0.00005 ≧ Δ H₂-0.000025634916 > -TH-0.00005, so a_y0, ③ due to Δ H₃0.00017644808 > TH 0.00005, so a_z＝-Z_Tag-1; so that there are three directions with magnetic moment value M_x＝a_xM_max＝15、M_y＝a_yM_max＝0、M_z＝a_zM_max15, after the calculation is finished, the three-axis magnetic moment is sent to a magnetic torquer through a magnetic moment control commandPerforming a control action;

at time 5t, the three-axis ID is updated ① due to a_x1, so

X

_Tag1, ② due to a_yNot equal to 0, so

Y

_Tag1, ③ due to a_zIs-1, so Z_TagThe cycle ends with-1.

As a further exemplary embodiment, as mentioned above, when the satellite and the satellite are separated and in the orbit entering stage, and under the condition that there is no satellite attitude priori information, a problem or abnormal operation occurs in the magnetometer, which may cause that the three-axis magnetic torquer cannot be normally controlled, the control method of the three-axis magnetic torquer provided in the embodiment of the present application may be used as an auxiliary/second control scheme of the three-axis magnetic torquer, and is used to avoid or greatly reduce the influence of the problem or abnormal operation of the magnetometer under the condition.

Therefore, for the embodiment corresponding to fig. 1, the method for controlling a three-axis magnetic torquer provided in the embodiment of the present application, before step S101, may further include:

when the magnetometer is detected to be in an abnormal state, the first triaxial state data of the triaxial magnetic torquer is triggered to be acquired, namely step S101 is triggered.

In order to better implement the control method of the three-axis magnetic torquer provided by the embodiment of the application, the embodiment of the application also provides a control device of the three-axis magnetic torquer.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a control device of a three-axis magnetic torquer according to an embodiment of the present application, where the control device 800 of the three-axis magnetic torquer may specifically include the following structure:

the acquisition unit 801 is configured to acquire first triaxial state data of a triaxial magnetic torquer and first angular velocity data of a gyroscope, where the triaxial magnetic torquer and the gyroscope are respectively configured on a satellite, the triaxial magnetic torquer is configured to generate corresponding magnetic moments according to received state variable values, and the gyroscope is configured to acquire angular velocity data of the satellite;

the generating unit 802 is configured to generate second triaxial state data in the triaxial direction corresponding to the triaxial magnetic torquer on the basis of the current first triaxial state data;

the sending unit 803 is configured to send a first magnetic moment control instruction to the triaxial magnetic torquer, where the first magnetic moment control instruction is used to instruct the triaxial magnetic torquer to generate a magnetic moment according to the second triaxial state data;

an obtaining unit 801, configured to obtain second angular velocity data of a gyroscope;

a calculating unit 804, configured to calculate, based on the rotational inertia data of the satellite, first angular momentum data and second angular momentum data corresponding to the satellite according to the first angular velocity data and the second angular velocity data, respectively;

a determining unit 805, configured to determine target triaxial state data for reducing angular momentum of the satellite according to the first angular momentum data, the second angular momentum data, the first triaxial state data, and the second triaxial state data;

the sending unit 803 is further configured to send a second magnetic moment control instruction to the three-axis magnetic torquer, where the second magnetic moment control instruction is used to instruct the three-axis magnetic torquer to generate a magnetic moment according to the second three-axis state data.

Illustratively, the generating unit 802 is specifically configured to:

the second angular momentum data includes first sub angular momentum data corresponding to the first sub triaxial state data, second sub angular momentum data corresponding to the second sub triaxial state data, and third sub angular momentum data corresponding to the third sub triaxial state data, and the determining unit 805 is specifically configured to:

Illustratively, the obtaining unit 801 is specifically configured to:

initializing triaxial state data of a triaxial magnetic torquer;

Exemplarily, the magnetic moments of the three-axis state data after initialization of the three-axis magnetic torquer in the X-axis, Y-axis, and Z-axis directions are respectively zero, and the generating unit 802 is further configured to:

Illustratively, the apparatus further comprises a triggering unit 806 for:

With continuing reference to fig. 9, fig. 9 is a schematic structural diagram of a control device of a three-axis magnetic torquer according to an embodiment of the present application, and specifically, the control device of the three-axis magnetic torquer according to the embodiment of the present application includes a processor 901, where the processor 901 is configured to implement, when executing a computer program stored in a memory 902, the steps of the control method of the three-axis magnetic torquer according to any embodiment corresponding to fig. 1 or fig. 2; alternatively, the processor 901 is configured to implement the functions of the units in the corresponding embodiment of fig. 8 when executing the computer program stored in the memory 902.

Illustratively, a computer program may be partitioned into one or more modules/units, which are stored in the memory 902 and executed by the processor 901 to accomplish the present application. One or more modules/units may be a series of computer program instruction segments capable of performing certain functions, the instruction segments being used to describe the execution of a computer program in a computer device.

The control device of the three-axis magnetic torquer may include, but is not limited to, a processor 901 and a memory 902. Those skilled in the art will appreciate that the illustration is merely an example of the control device of the three-axis magnetic torquer, and does not constitute a limitation of the control device of the three-axis magnetic torquer, and may include more or less components than those illustrated, or combine some components, or different components, for example, the control device of the three-axis magnetic torquer may further include an input/output device, a network access device, a bus, etc., and the processor 901, the memory 902, the input/output device, and the network access device, etc., are connected via the bus.

The Processor 901 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general processor can be a microprocessor or the processor can be any conventional processor and the like, the processor is a control center of the control equipment of the three-axis magnetic torquer, and various interfaces and lines are utilized to connect all parts of the control equipment of the whole three-axis magnetic torquer.

The memory 902 may be used for storing computer programs and/or modules, and the processor 901 may implement various functions of the computer apparatus by operating or executing the computer programs and/or modules stored in the memory 902 and calling data stored in the memory 902. The memory 902 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as an orbit entry function, an orbit position maintaining function, an angular momentum unloading function of a satellite, an orbit release function, etc.), and the like; the storage data area may store data (such as task execution state data, task reports, etc.) created according to the use of the control device of the three-axis magnetic torquer, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for controlling a three-axis magnetic torquer in any embodiment corresponding to fig. 1 or fig. 2 is implemented.

It will be appreciated that the integrated unit, if implemented as a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the control device, the device and the units of the three-axis magnetic torquer described above may refer to the description of the control method of the three-axis magnetic torquer in the embodiment corresponding to fig. 1 or fig. 2, and are not described herein again in detail.

In summary, the control method, apparatus, device and computer readable storage medium for a three-axis magnetic torquer provided by the present application, when acquiring the current first three-axis state data of the three-axis magnetic torquer, can generate the second three-axis state data based on the first three-axis state data, and instruct the three-axis magnetic torquer to generate the corresponding magnetic moment according to the second three-axis state data, so that the angular momentum data of the satellite changes accordingly, at this time, the correct magnetic moment direction for reducing the angular momentum of the satellite can be determined according to the front and back first three-axis state data, the second three-axis state data, the first angular momentum data and the second angular momentum data, and generate the corresponding target three-axis state data, so as to instruct the three-axis magnetic torquer to effectively reduce the angular momentum of the satellite, adjust the magnetic damping of the satellite and adjust the rotation or attitude of the satellite according to the target three-axis state data, therefore, the defect that the existing related technology depends on a magnetometer is overcome to a certain extent, the attitude adjustment of the satellite can be effectively finished under the condition that the magnetometer is ignored, and the stability of a satellite control system is further improved.

In the embodiments provided in the present application, it should be understood that the control device, the apparatus and the units thereof of the disclosed three-axis magnetic torquer can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A method of controlling a three-axis magnetic torquer, the method comprising:

acquiring first triaxial state data of a triaxial magnetic torquer and first angular velocity data of a gyroscope, wherein the triaxial magnetic torquer and the gyroscope are respectively configured on a satellite, the triaxial magnetic torquer is used for generating corresponding magnetic moments according to received state variable values, and the gyroscope is used for acquiring the angular velocity data of the satellite;

sending a first magnetic moment control instruction to the triaxial magnetic torquer, wherein the first magnetic moment control instruction is used for indicating the triaxial magnetic torquer to generate a magnetic moment according to the second triaxial state data;

acquiring second angular velocity data of the gyroscope;

and sending a second magnetic moment control instruction to the triaxial magnetic torquer, wherein the second magnetic moment control instruction is used for indicating the triaxial magnetic torquer to generate magnetic moment according to the second triaxial state data.

2. The method of claim 1, wherein generating second three-axis state data in three-axis directions corresponding to the three-axis magnetic torquer based on the first three-axis state data comprises:

respectively adjusting preset unit state data in a forward direction on the basis of the state data in the X-axis direction, the Y-axis direction and the Z-axis direction in sequence to obtain first sub-triaxial state data, second sub-triaxial state data and third sub-triaxial state data, and taking three groups of state data including the first sub-triaxial state data, the second sub-triaxial state data and the third sub-triaxial state data as the second triaxial state data;

the second angular momentum data includes first sub angular momentum data corresponding to the first sub triaxial state data, second sub angular momentum data corresponding to the second sub triaxial state data, and third sub angular momentum data corresponding to the third sub triaxial state data, and determining target triaxial state data for reducing angular momentum of the satellite according to the first angular momentum data, the second angular momentum data, the first triaxial state data, and the second triaxial state data includes:

when the first difference is smaller than a negative difference threshold, taking the state data of the first sub-triaxial state data in the X-axis direction as the state data of the target triaxial state data in the X-axis direction, and when the first difference is larger than the negative difference threshold, reversely adjusting the state data of the first sub-triaxial state data in the X-axis direction by using the preset unit state data as the state data of the target triaxial state data in the X-axis direction;

when the second difference is smaller than the negative difference threshold, using the state data of the second sub-triaxial state data in the Y-axis direction as the state data of the target triaxial state data in the Y-axis direction, and when the second difference is larger than the negative interpolation threshold, reversely adjusting the state data of the second sub-triaxial state data in the Y-axis direction by the preset unit state data and using the preset unit state data as the state data of the target triaxial state data in the Y-axis direction;

and when the third difference is smaller than the negative difference threshold, taking the state data of the third sub-triaxial state data in the Z-axis direction as the state data of the target triaxial state data in the Z-axis direction, and when the third difference is larger than the negative interpolation threshold, reversely adjusting the state data of the third sub-triaxial state data in the Z-axis direction by preset unit state data and taking the state data as the state data of the target triaxial state data in the Z-axis direction.

3. The method of claim 1 or 2, wherein the obtaining first three-axis state data of a three-axis magnetic torquer comprises:

initializing triaxial state data of the triaxial magnetic torquer;

and identifying the three-axis state data after the three-axis magnetic torquer is initialized as the first three-axis state data.

4. The method of claim 3, wherein the three-axis state data after initialization of the three-axis magnetic torquer has zero magnetic moments in the X-axis, Y-axis, and Z-axis directions, respectively, the method further comprising:

and extracting the single-axis maximum output magnetic moment value of the three-axis magnetic torquer as the preset unit state data.

5. The method of claim 4, wherein prior to obtaining the first three-axis state data for the three-axis magnetic torquer, the method further comprises:

when the satellite is out of rocket and/or in orbit, detecting the working state of a magnetometer configured on the satellite, wherein the magnetometer is used for detecting the magnetic field information of the position of the satellite;

6. A control apparatus for a three-axis magnetic torquer, the apparatus comprising:

the satellite positioning system comprises an acquisition unit, a positioning unit and a control unit, wherein the acquisition unit is used for acquiring first triaxial state data of a triaxial magnetic torquer and first angular velocity data of a gyroscope, the triaxial magnetic torquer and the gyroscope are respectively configured on a satellite, the triaxial magnetic torquer is used for generating corresponding magnetic moments according to received state variable values, and the gyroscope is used for acquiring the angular velocity data of the satellite;

the sending unit is used for sending a first magnetic moment control instruction to the triaxial magnetic torquer, and the first magnetic moment control instruction is used for indicating the triaxial magnetic torquer to generate a magnetic moment according to the second triaxial state data;

the acquisition unit is further used for acquiring second angular velocity data of the gyroscope;

the computing unit is used for respectively obtaining first angular momentum data and second angular momentum data corresponding to the satellite according to the first angular velocity data and the second angular velocity data on the basis of the rotational inertia data of the satellite;

a determining unit, configured to determine target triaxial state data for reducing angular momentum of the satellite according to the first angular momentum data, the second angular momentum data, the first triaxial state data, and the second triaxial state data;

the sending unit is further configured to send a second magnetic moment control instruction to the triaxial magnetic torquer, where the second magnetic moment control instruction is used to instruct the triaxial magnetic torquer to generate a magnetic moment according to the second triaxial state data.

7. The apparatus according to claim 6, wherein the generating unit is specifically configured to:

8. The method according to claim 6 or 7, wherein the obtaining unit is specifically configured to:

initializing triaxial state data of the triaxial magnetic torquer;

9. The apparatus of claim 8, wherein the magnetic moments of the three-axis state data after initialization of the three-axis magnetic torquer in the X-axis, Y-axis, and Z-axis directions are respectively zero, and the generating unit is further configured to:

10. The apparatus of claim 9, further comprising a triggering unit configured to:

and when the magnetometer is detected to be in an abnormal state, triggering the acquisition unit to acquire first triaxial state data of the triaxial magnetic torquer.