CN106586034A - Self-compensating method for dynamic and still unbalancing disturbance moment of satellite rotating part - Google Patents

Abstract

The invention discloses a self-compensating method for a dynamic and still unbalancing disturbance moment of a satellite rotating part. The dynamic and still unbalancing disturbance moment produced by quick rotating of the rotating part on a satellite can influence the stability of the satellite and reduce the control precision of the satellite. A traditional method for eliminating a dynamic and still unbalancing disturbance moment of a rotating part comprises the steps that the rotating part is subjected to dynamic balancing, and then, active control over dynamic and still unbalancing disturbance is conducted through a satellite attitude control system. The traditional method has limitation to application of rotating parts which are large in inertia, high in rotating speed and irregular in shape. According to the self-compensating method for the dynamic and still unbalancing disturbance moment of the satellite rotating part, two small bias momentum wheels are arranged on the rotating part of the satellite, and the rotating speed of the two bias momentum wheels is set according to the on-orbit calibration result of dynamic and still unbalancing disturbance so that the dynamic and still unbalancing disturbance moment produced during rotating of the rotating part can be eliminated. The self-compensating method is simple, obvious in effect and low in cost, and engineer achieving can be facilitated.

Description

Self-compensation method for dynamic and static unbalance disturbance torque of satellite rotating parts

technical field

The invention belongs to the technical field of spacecraft attitude control, and relates to a method for eliminating dynamic and static unbalanced disturbance moments of a satellite with rotating parts.

Background technique

With the continuous expansion of the application field of modern satellites, the loads on the star, especially the loads of the detection application, have an increasing demand for the rotating mechanism, and there are more and more rotating parts on the star, and the inertia requirements of the rotating parts are getting larger and larger. , the rotational speed requirement is getting faster and faster.

When the rotating parts on the star rotate, they will form the interference torque and angular momentum in the axial direction of the rotation axis, which can be offset by configuring the balance wheel on the satellite body and synchronously counter-rotating. However, the center of mass deviation and uneven mass distribution of the rotating parts will cause dynamic and static unbalanced interference (static unbalanced interference and dynamic unbalanced interference) in the rotating plane when the rotating parts rotate rapidly.

As shown in Figure 1(a) and Figure 1(b), the rotating part rotates around the axis of rotation z'z", and the rotational angular velocity is ω ₀ . O _c is the center of mass of the entire star, and the reference coordinates of the rotating part are established with O _c as the origin The system O _c XYZ, the O _c Z axis is parallel to the rotation axis z'z", the O _c X axis is in the plane perpendicular to the O _c Z axis, pointing to the zero position of the rotating part, and the O _c Y axis is consistent with the other two axes Right-hand rule, the coordinate system O _c XYZ does not rotate with the rotating part.

Ideally, the mass distribution of the rotating parts is uniform, and the center of mass is on the rotation axis (point Ox in Figure ₁ ), so there will be no static or dynamic unbalance interference.

The center of mass of the actual rotating part deviates from the O _x point, but is in the same rotation plane as the O _x point, which is equivalent to the presence of a mass m _s at a distance of O _x point r _s , as shown in Figure 1(a) . When the rotating part rotates, m _s produces centripetal force F _s , which acts on the center of mass O _c of the whole star, and produces static unbalanced disturbance torque T _s , whose magnitude is:

T _s = F _s · r _sc = m _s ω ² r _s · r _sc

T _s is in the O _c XY plane, and the direction changes periodically with the rotation of the rotating part. When the rotating part is in the zero position, the angle between T _s and O _c X is defined as α ₀ .

At the same time, the mass distribution of the rotating part along the direction of the rotation axis is uneven, which is equivalent to the existence of a mass at a symmetrical position relative to the point O _x (distance r _d from the rotation axis) in the upper and lower rotation planes at the distance O _x point h is the quality block of m _d , as shown in Fig. 1(b). When the rotating part rotates, a pair of centrifugal forces F _d generated by the two mass blocks form a dynamic unbalanced disturbance torque T _d , whose magnitude is:

T _d ＝F _d 2h＝m _d ω ² r _d 2h

T _d is in the O _c XY plane, and its direction changes periodically with the rotation of the rotating part. When the rotating part is in the zero position, the angle between the dynamic unbalanced disturbance torque T _d and is defined as β ₀ .

The static unbalanced disturbance torque and the dynamic unbalanced disturbance torque are superimposed to form the dynamic and static unbalanced disturbance torque T _sd . According to the characteristics of T _s and T _d , the size of T _sd is defined as A, when T _s is in the same direction as T _d , the maximum value of A is (m _s r _s r _sc +2m _d r _d h)ω ² ; T _sd is also in the O _c XY plane, and the direction changes periodically with the rotation of the rotating part. When the rotating part is in the zero position, the angle between T _sd and O _c X is defined as γ ₀ (-180°≤γ ₀ ≤180 °).

In response to this interference, the traditional method is to dynamically balance and trim the rotating parts, reduce the center of mass deviation and couple unbalance of the rotating parts, reduce the interference of static unbalance and dynamic unbalance from the source, and at the same time through the satellite attitude control system Actively control static and dynamic unbalanced disturbances. For rotating parts with small size and regular shape, the above method has a certain effect due to the small amplitude of dynamic and static unbalanced disturbance. However, for rotating parts with large inertia, fast speed and irregular shape, it is very difficult to trim the structure. After trimming, there will still be a large dynamic and static unbalance interference in the rotating surface. If the satellite attitude control system is used to actively suppress it, for The configuration and control performance requirements of the attitude control system are very high.

In order to break the limitations of traditional methods, solve the problem of dynamic and static unbalanced interference when the rotating parts on the satellite rotate, and improve the satellite control performance, a new research idea and solution are needed.

Contents of the invention

The technical problem to be solved by the present invention is to provide a dynamic and static unbalanced interference compensation technology for satellite rotating parts, to eliminate the interference to the satellite when the rotating parts on the satellite rotate, and to improve the control accuracy of the satellite.

In order to solve the above problems, the present invention provides a self-compensation method for dynamic and static unbalanced disturbance moments of satellite rotating parts, including:

Step 1. Arranging at least two offset momentum wheels in or on the surface of the rotating component, the rotation axis of the offset momentum wheels is perpendicular to the rotation axis of the rotating component, and the mutual angle is not equal to 0° or 180°;

Step 2. Obtain dynamic and static unbalanced disturbance torque;

Step 3: Configure the rotational speed of the bias momentum wheel according to the dynamic and static unbalanced disturbance torque to realize on-orbit self-compensation of the dynamic and static unbalanced disturbance torque.

Further, the first offset momentum wheel and the second offset momentum wheel are configured in the first step, the maximum angular momentum index H _1max of the first offset momentum wheel, and the maximum angular momentum index H of the second offset momentum wheel _2max meets the following conditions:

H _1max ≥A _max /|ω ₀ |, H _2max ≥A _max /|ω ₀ |

In the above formula, ω ₀ represents the rotational speed of the rotating component, and A _max is the maximum value of the dynamic and static unbalanced disturbance torque T _sd , which is calculated according to the center of mass deviation and inertia characteristic measurements of the rotating component.

Further, the second step uses the on-orbit angular velocity of the satellite to perform on-orbit calibration of the dynamic and static unbalanced disturbance torque, or obtains the dynamic and static unbalanced disturbance torque according to the ground test results of the dynamic and static unbalanced disturbance torque.

Further, the methods for on-orbit calibration of dynamic and static unbalanced disturbance moments by using the satellite’s on-orbit angular velocity include:

Step 2.1, to ensure the stable attitude of the satellite, the rotating parts rotate at the initial rotational speed ω ₀ , and measure the angular velocity of the satellite on-orbit. The size A ₀ of the dynamic and static unbalanced disturbance torque T _sd0 is:

I _i is the moment of inertia of the reference axis corresponding to the satellite pair ω _i0 , ω _i0 is the component of satellite angular velocity in a direction of a reference axis perpendicular to the rotation axis of the rotating part, and ω _i0,pp is the peak value of the sinusoidal change of ω _i0 .

Said step 2 also includes:

Step 2.2. The rotating parts keep rotating at the initial speed _ω0 , the first bias momentum wheel rotates at a constant speed, and the absolute value of the angle θ _{h1_sd} between the dynamic and static unbalanced disturbance torque T _sd0 and the first momentum wheel rotation axis is:

Wherein, A ₁ =|ω ₀ |×|h ₁₀ | is the size of the first control torque generated by the first bias momentum wheel, h ₁₀ is the first bias angular momentum; A ₂ is the first control torque T ₁₀ and The magnitude of the _resultant torque T _{sd_10} of the dynamic and static unbalanced disturbance torque T sd0;

Step 2.3, the rotating part keeps rotating at the initial speed ω ₀ , the first bias momentum wheel stops rotating, and the second bias momentum wheel rotates at a constant speed; the angle θ between the dynamic and static unbalanced disturbance torque T _sd0 and the rotation axis of the second momentum wheel The absolute value of _{h2_sd} is:

_{A 3} is the size of the second control torque T20, _{A4 is the size of the resultant torque T sd_20 formed} after the second control torque _T20 and the resultant torque T sd0 of _the dynamic and static unbalanced disturbance torque are superimposed;

Step 2.4, the direction of the resultant torque T _sd0 of dynamic and static imbalance disturbance torque is:

Further, in step 2, the direction of the dynamic and static unbalanced disturbance torque is determined by the absolute value |θ _{h1_sd} | of the angle between T _sd0 and the rotational axis of momentum wheel 1 and the absolute value of the angle |θ _{h2_sd between} T sd0 and the rotational axis of momentum wheel 2 |OK:

Further, in step 3, the rotational speed r1 of the first biased momentum wheel and the rotational speed _{r2 of} the second biased momentum wheel are respectively:

In the formula, I ₁ and I ₂ are the moments of inertia of the first biased momentum wheel and the second biased momentum wheel with respect to their rotation axes; h ₁ is the angular momentum of the first biased momentum wheel and h ₂ is the second biased momentum wheel Set the angular momentum of the momentum wheel

The beneficial effects of the present invention include:

By configuring the offset momentum wheel and configuring the offset momentum wheel according to the dynamic and static unbalanced disturbance torque, the dynamic and static unbalanced disturbance torque generated when the rotating parts rotate can be effectively offset, and the attitude control performance of the satellite can be improved.

Furthermore, the compensation method for dynamic and static unbalance interference proposed by the present invention adopts an on-orbit self-compensation method, and the rotating parts do not need to perform dynamic balance and trim work on the ground, which simplifies the satellite development process; the self-compensation method for dynamic and static unbalance interference proposed by the present invention only uses It can be realized by installing two small offset momentum wheels, the method is simple and effective, the realization cost is low, and it is convenient for engineering realization.

The technical solution proposed by the invention has passed the ground simulation verification, and the verification result shows that the static and dynamic imbalance interference of the rotating parts is eliminated through the achievements of the invention, thereby improving the control performance of the attitude control system.

Description of drawings

Figure 1(a) is a schematic diagram of static unbalance interference of satellite rotating parts; Figure 1(b) is a schematic diagram of dynamic unbalance interference of satellite rotating parts;

Fig. 2 is a schematic diagram of the principle of the self-compensation method for dynamic and static unbalance disturbance torque of rotating parts provided by the embodiment of the present invention.

detailed description

The spirit and essence of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

In order to eliminate the dynamic and static unbalance disturbance torque generated by the rotation of the rotating component, the principle of the self-compensation method for the dynamic and static unbalance disturbance torque of the rotating component provided by the embodiment of the present invention is shown in FIG. 2 .

The self-compensation method for dynamic and static unbalance disturbance torque of rotating parts provided by the embodiment of the present invention includes:

Step 1. Install the first offset momentum wheel 11 and the second offset momentum wheel 22 inside or on the surface of the rotating component 10. In other embodiments of the present invention, multiple offset momentum wheels can also be used, and the principle is similar. The rotation axis of the first offset momentum wheel 11 and the rotation axis of the second offset momentum wheel 22 are both perpendicular to the rotation axis of the rotating component 10, and the angle between the rotation axes of the two offset momentum wheels is not zero, as shown in the figure 2 (in Figure 2, for ease of illustration, the coordinate system is translated to the rotating part). In Fig. 2, the angle between the rotation axis of the first offset momentum wheel and _OcZ is 90°, and the angle between _OcX and OcX is φ, and the angle between the rotation axis of the offset momentum wheel 2 and _OcZ is 90°, the included angle with O _c X is ψ, and ϕ and ψ satisfy the following conditions:

(1) 0≤φ≤360°, 0≤ψ≤360°;

(2) φ≠ψ;

Condition (1) shows that as long as the rotation axis of the two offset momentum wheels is perpendicular to the rotation axis of the rotating component, and the condition (2) is satisfied at the same time, the installation positions of the two offset momentum wheels can be arbitrary according to the structure of the rotating component. select.

Satisfying the condition (2) can ensure that the rotation axes of the two offset momentum wheels are not parallel, so that by adjusting the offset angular momentum h ₁ and h ₂ of the two offset momentum wheels, a synthetic deviation in any direction in the rotation plane of the rotating part can be generated. The angular momentum h _c is generally set to be |φ-ψ|=90° in order to achieve the best synthesis effect. Therefore, this embodiment takes ψ-ψ=90° as an example for illustration.

The maximum angular momentum index H _1max of the first biased momentum wheel and the maximum angular momentum index H _2max of the second biased momentum wheel meet the following conditions:

H _1max ≥A _max /|ω ₀ |, H _2max ≥A _max /|ω ₀ |

In the above formula, A _max is the maximum value of dynamic and static unbalanced disturbance torque T _sd , which can be calculated according to the center of mass deviation and inertia characteristic measurement value of rotating parts.

H _1max and H _2max satisfy the above conditions, which can ensure that the synthetic angular momentum h _c in any direction is large enough, and when the rotating part rotates at an angular velocity ω ₀ , the coupling torque T _c generated can offset the dynamic and static unbalanced disturbance torque T _sd . Considering the margin, H _1max and H _2max generally take 2 to 3 times of A _max /|ω ₀ |.

Step 2: Perform on-orbit calibration of the dynamic and static unbalance disturbance according to the on-orbit angular velocity of the satellite to obtain the dynamic and static unbalance disturbance torque; or obtain the dynamic and static unbalance disturbance torque according to the ground test results of the dynamic and static unbalance disturbance torque. The method of obtaining the dynamic and static unbalanced disturbance torque based on the ground test results of the dynamic and static unbalanced disturbance torque is well known to those skilled in the art. Here, only the on-orbit calibration of the dynamic and static unbalanced disturbance based on the on-orbit angular velocity of the satellite is described to obtain the dynamic and static unbalanced disturbance. Moment, the method to obtain the magnitude and direction of dynamic and static imbalance disturbance torque. The specific calibration process is implemented as follows:

Step 2.1. Under the premise of ensuring the stable attitude of the satellite, the rotating part rotates at a certain initial speed ω _0. After the rotational speed is stable and the satellite's three-axis attitude is stable, the satellite attitude control system stops implementing control, so that the satellite is under the action of dynamic and static unbalanced disturbance torque The downward free movement lasts for 2 to 3 rotation periods T ₀ (T ₀ =2π/ω ₀ ).

Under the action of dynamic and static unbalanced disturbance torque, the angular velocity of the satellite changes sinusoidally, with a period of T ₀ . According to the on-orbit measurement data of satellite angular velocity, the size A ₀ of the dynamic and static unbalanced disturbance torque T _sd0 at ω ₀ speed can be calculated inversely. The calculation formula as follows:

In the formula, ω ₀ is the initial rotational angular velocity of the rotating part.

ω _i0 is the component of satellite angular velocity in the direction of a certain reference axis (generally O _c X axis or O _c Y axis) perpendicular to the rotation axis of the rotating part, which can be calculated according to the satellite angular velocity measurement results and the position of the reference axis, ω _i0,pp is the peak-to-peak value of ω _i0 sinusoidal change.

I _i is the moment of inertia of the reference axis corresponding to the satellite pair ω _i0 , which can be calculated according to the measured value of the satellite inertia characteristic and the position of the reference axis.

Step 2.2. On the basis of step 2.1, turn on the first biased momentum wheel, maintain a certain constant speed, and form a biased angular momentum h ₁₀ in the direction of the rotation axis of the first biased momentum wheel. The biased angular momentum h ₁₀ is related to The angular velocity ω ₀ of the rotating part acts to form the control torque T ₁₀ .

The magnitude of the control torque T ₁₀ is A ₁ , and the calculation formula is as follows:

A ₁ =|ω ₀ |×|h ₁₀ |

_The direction of T ₁₀ is in the rotation plane of the rotating component, and the direction of rotation of the rotating component and the direction of the first bias angular momentum h ₁₀ conforms to the right-hand rule. The balance disturbance torque T _{sd0 is} superimposed to form a resultant torque T _{sd_10} , which is the same as the principle of measuring A ₀ in step 2.1, and the amplitude A ₂ of T _{sd_10} can be obtained.

According to the amplitudes of T ₁₀ , T _sd and T _{sd_10} , using the law of cosines, the absolute value of the angle θ _{h1_sd} between the static and dynamic unbalanced disturbance torque T _sd0 and the rotation axis of the first bias momentum wheel can be obtained, and the calculation formula is as follows:

Step 2.3, on the basis of step 2.2, close the first bias momentum wheel, start the second bias momentum wheel, maintain a constant speed, and form a bias angular momentum h ₂₀ , which is related to _the rotation The component angular velocity ω ₀ acts to form the control torque T ₂₀ , and the magnitude of the control torque T ₂₀ is A ₃ .

Similarly, the direction of T ₂₀ is in the rotation plane of the rotating component, and the direction of rotation of the rotating component and the direction of the offset angular momentum h ₂₀ conform to the right-hand rule, and the control moment T ₂₀ generated by the second offset momentum wheel and the static and dynamic imbalance The resultant torque T sd0 of the disturbance torque is superimposed to form the _{resultant torque T sd_20 ,} which is the same principle as measuring A ₀ in step 2.1, and the amplitude A ₄ of T _{sd_20} can be obtained.

According to the amplitudes of T ₂₀ , T _sd and T _{sd_20} , using the law of cosines, the absolute value of the angle θ _{h2_sd} between the static and dynamic unbalanced disturbance torque T _sd0 and the rotational axis of momentum wheel 2 can be obtained, and the calculation formula is as follows:

Sub-step 4, according to the absolute value of the included angle between T _sd0 and the rotational axis of momentum wheel 1, and the absolute value of the included angle between T _sd0 and the rotational axis of momentum wheel 2, determine the direction of the dynamic and static imbalance disturbance torque, the method is as follows:

Thus, the on-orbit calibration of the satellite dynamic and static unbalanced disturbance moment is completed, and the magnitude and direction of the dynamic and static unbalanced disturbance moment are obtained.

Step 3. According to the on-orbit calibration results of the dynamic and static unbalance disturbance torque obtained in step 2, or according to the ground test results of the dynamic and static unbalance disturbance torque, set the rotational speeds of the two offset momentum wheels to realize the resultant dynamic and static unbalance torque. on-orbit self-compensation.

Step 3.1. According to the determined dynamic and static unbalanced disturbance torque, set the angular momentum _h1 and h2 of the _two offset momentum wheels. The setting method is as follows:

In the formula, ω ₀ is the working speed of the rotating parts, A ₀ is the magnitude of the dynamic and static unbalance disturbance torque calibrated in step 2, and θ _{h1_sd} is the direction of the dynamic and static unbalance disturbance torque determined in step 2.

Step 3.1. According to Step 3.1, set the rotational speed r ₁ and r ₂ of the bias momentum wheel to realize the on-orbit self-compensation of the dynamic and static imbalance disturbance torque:

In the formula, I ₁ and I ₂ are the moments of inertia of the first biased momentum wheel and the second biased momentum wheel with respect to their rotational axes, respectively.

example

This example describes the specific implementation of the embodiment of the present invention for a specific type of satellite.

The structure of the satellite includes rotating parts. When the satellite is in orbit, the working speed of the rotating part is 20rpm, that is, the rotational angular velocity is ω ₀ =2π/3rad/s. Rotating components are balanced using a dynamic balancing machine.

According to the technology of the present invention, through the following steps, the dynamic and static unbalanced disturbance moment of the satellite rotating parts is self-compensated.

Step 1, install the first offset momentum wheel and the second offset momentum wheel on the surface of the rotating component, the rotation axes of the two offset momentum wheels are all perpendicular to the rotation axis of the rotating component, and the rotation axis of the first offset momentum wheel is in line with O The included angle of _c X is φ=0°, and the included angle of the rotation axis of the second bias momentum wheel and O _c X is ψ=90°.

The configuration of the two offset momentum wheels is the same, and the moment of inertia along the direction of their rotation axis is:

I ₁ =I ₂ =0.0007kg·m ²

The maximum speed is:

r _1max = r _2max = 4000rmp

The corresponding maximum angular momentum index of the two biased momentum wheels is:

H _1max ＝H _2max ≈0.29Nms

Step 2: Carry out on-orbit calibration of the dynamic and static unbalanced disturbance according to the satellite's on-orbit angular velocity, and obtain the magnitude and direction of the dynamic and static unbalanced disturbance moment at the zero moment. The specific calibration process is implemented as follows:

Step 2.1. Under the premise of ensuring the stable attitude of the satellite, the rotating part rotates at the initial rotational speed ω ₀ =2π/3rad/s. After the rotational speed is stable and the satellite’s three-axis attitude is stable, the satellite attitude control system stops implementing control, so that the satellite is in motion and static. Free movement under the action of unbalanced disturbance torque lasts for 9s.

Under the action of the dynamic and static unbalanced disturbance torque, the angular velocity of the satellite changes sinusoidally, with a period of 3s. At a certain moment in the selected period, according to the on-orbit measurement data of the satellite angular velocity, the dynamic and static unbalanced disturbance torque can be inversely calculated under the rotational speed ω ₀ Size A ₀ of T _sd0 :

A ₀ =0.3Nm

Step 2.2. On the basis of sub-step 1, turn on the momentum wheel 1, maintain a constant speed of 2000rpm, and form a bias angular momentum in the direction of the rotation axis of the first bias momentum wheel, which is related to the angular velocity ω of the rotating component ₀ acts to form the control torque T ₁₀ , the magnitude of the control torque T ₁₀ is A ₁ , the control torque T ₁₀ is superimposed with the dynamic and static unbalanced disturbance torque T sd0 to form the _{resultant torque T sd_10 ,} repeat sub-step 1, and obtain the magnitude A ₂ of T _{sd_10} .

Using the law of cosines, the absolute value of the angle θ _{h1_sd} between the static and dynamic unbalanced disturbance torque and the rotation axis of the first bias momentum wheel can be obtained:

|θ _{h1_sd} |=π/6rad

Step 2.3. On the basis of sub-step 2, close the first biased momentum wheel, start the second biased momentum wheel, maintain a constant speed of 2000rpm, and form a biased angular momentum in the direction of the second biased momentum wheel's rotation axis. The bias angular momentum and the angular velocity ω ₀ of the rotating part form the control torque T ₂₀ , the magnitude of the control torque T ₂₀ is equal to A ₁ , the control torque T ₂₀ is superimposed with the dynamic and static unbalance disturbance torque T sd0 to form the _{resultant torque T sd_20 ,} repeat the steps 2.1, get the size A ₄ of T _{sd_20} .

Using the law of cosines, the absolute value of the angle θ _{h2_sd} between the dynamic and static unbalanced disturbance torque and the second bias momentum wheel rotation axis can be obtained:

|θ _{h2_sd} |=2π/3rad.

Step 2.4, according to the results of step 2.2 and step 2.3, determine the direction of the dynamic and static unbalanced disturbance torque at the same moment in the cycle:

θ _{h1_sd} = -π/6rad

Step 3. According to the on-orbit calibration result of the dynamic and static unbalanced disturbance moment obtained in step 2, the rotational speeds of the two offset momentum wheels are set.

Step 3.1, first set the angular momentum h ₁ and h ₂ of the two offset momentum wheels:

Step 3.2, according to the obtained angular momentum of the two offset momentum wheels, set the rotational speeds _r1 and _r2 of the two offset momentum wheels:

Wherein, the positive and negative of the rotating speed represent the forward rotation and reverse rotation of the bias momentum wheel.

Combined with the on-orbit calibration results of the satellite's dynamic and static unbalanced disturbance torque, the rotational speed configurations of the first biased momentum wheel and the second biased momentum wheel at other times can also be obtained in this way.

The description and application of the invention herein is illustrative and is not intended to limit the scope of the invention to the above-described embodiments. Variations and changes to the embodiments disclosed herein are possible, and substitutions and equivalents for various components of the embodiments are known to those of ordinary skill in the art. It should be clear to those skilled in the art that the present invention can be realized in other forms, structures, arrangements, proportions, and with other components, materials and components without departing from the spirit or essential characteristics of the present invention. Other modifications and changes may be made to the embodiments disclosed herein without departing from the scope and spirit of the invention.

Claims (7)

1. The self-compensation method for dynamic and static unbalanced disturbance torque of satellite rotating parts, characterized in that it includes: Step 1. Arranging at least two offset momentum wheels in or on the surface of the rotating component, the rotation axis of the offset momentum wheels is perpendicular to the rotation axis of the rotating component, and the mutual angle is not equal to 0° or 180°; Step 2. Obtain dynamic and static unbalanced disturbance torque; Step 3: Configure the rotational speed of the bias momentum wheel according to the dynamic and static unbalanced disturbance torque to realize on-orbit self-compensation of the dynamic and static unbalanced disturbance torque. 2. The method for self-compensation of dynamic and static unbalance disturbance torque of satellite rotating parts according to claim 1, characterized in that: The first offset momentum wheel and the second offset momentum wheel are configured in the step 1, the maximum angular momentum index H _1max of the first offset momentum wheel, and the maximum angular momentum index H _2max of the second offset momentum wheel satisfy The following conditions: H _1max ≥A _max /|ω ₀ |, H _2max ≥A _max /|ω ₀ | In the above formula, ω ₀ represents the rotational speed of the rotating component, and A _max is the maximum value of the dynamic and static unbalanced disturbance torque T _sd , which is calculated according to the center of mass deviation and inertia characteristic measurements of the rotating component. 3. The self-compensation method for dynamic and static unbalanced disturbance torque of satellite rotating parts according to claim 1, characterized in that, said step 2 uses satellite on-orbit angular velocity to carry out on-orbit calibration for dynamic and static unbalanced disturbance torque, or according to the dynamic and static unbalance Disturbance torque ground test results to obtain dynamic and static unbalanced disturbance torque. 4. The self-compensation method for dynamic and static unbalanced disturbance torque of satellite rotating parts according to claim 3, characterized in that: the method for on-orbit calibration of dynamic and static unbalanced disturbance torque using satellite on-orbit angular velocity comprises: Step 2.1, to ensure the stable attitude of the satellite, the rotating parts rotate at the initial rotational speed ω ₀ , and measure the angular velocity of the satellite on-orbit. The size A ₀ of the dynamic and static unbalanced disturbance torque T _sd0 is: ${\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; |</span>}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; p</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; ;</span>$ I _i is the moment of inertia of the reference axis corresponding to the satellite pair ω _i0 , ω _i0 is the component of satellite angular velocity in a direction of a reference axis perpendicular to the rotation axis of the rotating part, and ω _i0,pp is the peak value of the sinusoidal change of ω _i0 . 5. The method for self-compensation of dynamic and static unbalance disturbance torque of satellite rotating parts according to claim 4, characterized in that: said step 2 also includes: Step 2.2. The rotating parts keep rotating at the initial speed _ω0 , the first bias momentum wheel rotates at a constant speed, and the absolute value of the angle θ _{h1_sd} between the dynamic and static unbalanced disturbance torque T _sd0 and the first momentum wheel rotation axis is: $<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>\frac{{{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ;</span>$ Wherein, A ₁ =|ω ₀ |×|h ₁₀ | is the size of the first control torque generated by the first bias momentum wheel, h ₁₀ is the first bias angular momentum; A ₂ is the first control torque T ₁₀ and The magnitude of the _resultant torque T _{sd_10} of the dynamic and static unbalanced disturbance torque T sd0; Step 2.3, the rotating part keeps rotating at the initial speed ω ₀ , the first bias momentum wheel stops rotating, and the second bias momentum wheel rotates at a constant speed; the angle θ between the dynamic and static unbalanced disturbance torque T _sd0 and the rotation axis of the second momentum wheel The absolute value of _{h2_sd} is: $<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\frac{{{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ;</span>$ _{A 3} is the size of the second control torque T20, _{A4 is the size of the resultant torque T sd_20 formed} after the second control torque _T20 and the resultant torque T sd0 of _the dynamic and static unbalanced disturbance torque are superimposed; Step 2.4, the direction of the resultant torque T _sd0 of dynamic and static imbalance disturbance torque is: 6. The method for self-compensation of dynamic and static unbalance disturbance torque of satellite rotating parts according to claim 5, characterized in that: In step 2, the direction of the dynamic and static unbalanced disturbance torque is determined by the absolute value |θ _{h1_sd} | of the included angle between T _sd0 and the rotational axis of momentum wheel 1 _and |θ _{h2_sd} | : 7. The method for self-compensation of dynamic and static unbalance disturbance torque of satellite rotating parts according to claim 5, characterized in that: In Step 3, the rotational speed r ₁ of the first biased momentum wheel and the rotational speed r ₂ of the second biased momentum wheel are respectively: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 30</span>}{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; \&pi;I</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}\\ {\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 30</span>}{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; \&pi;I</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}\end{array}\right.$ In the formula, I ₁ and I ₂ are the moments of inertia of the first biased momentum wheel and the second biased momentum wheel with respect to their rotation axes; h ₁ is the angular momentum of the first biased momentum wheel and h ₂ is the second biased momentum wheel Set the angular momentum of the momentum wheel $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; )</span>}{{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}}\\ {\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; )</span>}{{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}}\end{array}\right.<span\; class="notranslate">\; .</span>$