CN107300861B - Distributed computing method for spacecraft dynamics - Google Patents

Distributed computing method for spacecraft dynamics Download PDF

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CN107300861B
CN107300861B CN201710476444.6A CN201710476444A CN107300861B CN 107300861 B CN107300861 B CN 107300861B CN 201710476444 A CN201710476444 A CN 201710476444A CN 107300861 B CN107300861 B CN 107300861B
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time
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CN107300861A (en
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李明明
蔺玥
郎燕
乔德治
张迎发
于丹
范松涛
蒋金哲
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Beijing Institute of Control Engineering
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Abstract

一种航天器动力学分布式计算方法，属于控制与仿真技术领域。该方法利用分布式计算策略，将多个航天器的动力学仿真工作分布于不同仿真计算机中进行，每个仿真计算机仅针对一个航天器进行动力学解算，再通过不同仿真计算机间的数据交换获得其他航天器的动力学数据，完成多航天器联合仿真测试任务。本发明解决了现有集中式仿真技术在多目标动力学集中仿真时(如航天器编队飞行)遇到的仿真计算机计算能力不足，重复建模等缺点，提高了仿真的计算效率。

Figure 201710476444

A distributed computing method for spacecraft dynamics belongs to the technical field of control and simulation. The method uses distributed computing strategy to distribute the dynamic simulation work of multiple spacecraft in different simulation computers. Each simulation computer only performs dynamic calculation for one spacecraft, and then exchanges data between different simulation computers. Obtain the dynamics data of other spacecraft and complete the multi-spacecraft co-simulation test task. The invention solves the shortcomings of insufficient simulation computer computing capability and repeated modeling encountered by the existing centralized simulation technology in the multi-object dynamic centralized simulation (such as spacecraft formation flight), and improves the simulation computing efficiency.

Figure 201710476444

Description

Distributed computing method for spacecraft dynamics
Technical Field
The invention relates to a distributed computing method for spacecraft dynamics, in particular to a distributed computing method for multi-target dynamics joint simulation, and belongs to the technical field of control and simulation.
Background
For the design and verification of a spacecraft GNC system, spacecraft dynamics simulation is an indispensable link and runs through the whole project. The simulation system simulates the space environment of the spacecraft and the orbit and attitude motion of the spacecraft, and provides a mathematical simulation environment for the design of a spacecraft control system. And the control system calculates control information according to attitude and orbit information and sensor information generated by the dynamics simulation system and feeds the control information back to the dynamics simulation system, so that the effectiveness of the control system is verified.
When the spacecraft is used for ground physical simulation experiments, the requirement on the dynamics calculation efficiency is very strict, and all dynamics calculation and sensor excitation work needs to be completed in one control period. However, because no distributed computing method exists at present, the spacecraft dynamics simulation is to establish a specific dynamics simulation model aiming at a task, and all dynamics calculations are carried out in the same simulation computer in a centralized manner. When a plurality of spacecrafts need to be jointly tested (such as tasks of formation flight of the spacecrafts and the like), the test work is difficult to complete by using the current dynamic simulation means. The problems encountered are mainly as follows:
1) due to the fact that the number and the types of the spacecrafts related to different tasks and different formation configurations are different, the same spacecraft can be repeatedly modeled in different simulation tasks, and a dynamic model or a simulation calculation structure needs to be redesigned.
2) Because the computing power of a single simulation computer is limited, when a plurality of spacecrafts needing to be simulated simultaneously exist, the simulation computing tasks of the plurality of spacecrafts cannot be completed in the same control period.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a distributed computation method of spacecraft dynamics, and solves the problem of distributed computation of dynamics during joint simulation of multiple spacecrafts.
The technical scheme of the invention is as follows: a distributed computing method for spacecraft dynamics comprises the following steps:
(1) respectively arranging each spacecraft model to be simulated simultaneously on each simulation computer, selecting one simulation computer as the simulation computer, and arranging the spacecraft on the simulation computer as the spacecraft;
(2) initializing physical parameters of the spacecraft which is arranged by the spacecraft and other jointly simulated spacecrafts on each simulation computer, wherein the physical parameters to be initialized of the spacecraft which is arranged by the spacecraft comprise mass, rotational inertia, a mass center position, a sailboard flexible model, a butt joint position, an actuating mechanism and a sensor mounting position, and the physical parameters of the other jointly simulated spacecrafts comprise the mass center position, a relative navigation sensor mounting position, the rotational inertia and the mass;
(3) at the T simulation moment, the simulation computer obtains dynamics data of other spacecrafts except the spacecraft at the T-1 simulation moment through data exchange, and performs extended calculation on the obtained dynamics data of the other spacecrafts to obtain dynamics parameters of the other spacecrafts at the T-1 simulation moment;
(4) performing relative navigation calculation among multiple spacecrafts by using the dynamic data of other spacecrafts at the T-1 simulation moment, the dynamic parameters calculated by expansion and the dynamic data of the spacecraft at the T-1 simulation moment to obtain the relative relation between the spacecraft and other spacecrafts at the T-1 simulation moment;
(5) calculating excitation data of the relative navigation sensor and the non-relative navigation sensor of the spacecraft at the T-1 simulation moment by utilizing the dynamic data of the T-1 simulation moment of the spacecraft and the relative relation between the spacecraft obtained in the step (4) and other spacecrafts;
(6) judging the butt joint state of the spacecraft and other spacecrafts according to the relative relation between the spacecraft and other spacecrafts obtained in the step (4);
(7) calculating dynamic data of the spacecraft T at the simulation moment according to the butt joint state;
(8) and outputting the dynamics data of the spacecraft at the T simulation moment to other spacecrafts according to a communication protocol, so as to realize the distributed computation of the multi-target dynamics joint simulation at the T simulation moment.
In the step (3), the simulation computer obtains dynamic data of other spacecraft T-1 at the simulation moment in the following structure:
{
numbering the spacecraft;
a time system;
a spacecraft inertial system position;
the velocity of the spacecraft inertial system;
acceleration of the inertial system of the spacecraft;
attitude quaternion of the inertial system of the spacecraft;
projecting the angular velocity of the spacecraft system relative to the inertial system on the spacecraft system;
projecting the angular acceleration of the spacecraft main body system relative to the inertial system on the main body system;
specific force acceleration of the spacecraft;
a spacecraft flight state;
}。
in the step (6), when the relative relationship between the spacecraft and the other spacecraft satisfies any one of the following conditions, it is determined that the spacecraft is in butt joint with the other spacecraft:
① the relative distance between the spacecraft and other spacecraft in the flying direction is equal to 0;
② the relative distance between the flying direction of the spacecraft and other spacecraft is equal to 0, and the relative attitude angle is less than 1 degree.
The implementation method of the step (7) is as follows:
(4.1) if the spacecraft is not connected with other spacecrafts in an abutting mode, directly calculating dynamic data of the spacecraft at the T simulation moment by using physical parameters of the spacecraft;
(4.2) if the spacecraft is butted with other spacecrafts, judging whether the spacecraft is a main control spacecraft, if so, directly calculating the dynamic data of the spacecraft at the T simulation moment by using the physical parameters of the butted assembly, and otherwise, entering the step (4.3);
(4.3) determining master control spacecrafts in other spacecrafts according to the flight states of the spacecrafts in the T-1 simulation time dynamic data of the other spacecrafts, extrapolating the T-1 simulation time dynamic data of the master control spacecrafts to obtain the dynamic parameters of the master control spacecrafts at the T simulation time, and entering the step (4.4);
and (4.4) calculating the dynamic data of the spacecraft at the T simulation moment according to the relative relation between the spacecraft and the main control spacecraft.
The method for calculating the dynamic data of the spacecraft T at the simulation moment in the step (4.1) comprises the following steps:
(5.1) calculating a sailboard corner of the spacecraft according to a sailboard control instruction at the T simulation moment, and calculating a flexible moment and a plume at the T simulation moment of the spacecraft according to the sailboard corner and control force, moment, environmental disturbance force and disturbance moment applied to the T simulation moment of the spacecraft;
(5.2) calculating the specific force acceleration of the spacecraft T at the simulation moment according to the control force and moment, the environmental disturbance force, the disturbance moment, the flexible moment and the plume which are applied to the spacecraft T at the simulation moment;
(5.3) calculating the position, the speed and the acceleration of the spacecraft T at the simulation moment under an inertial system by using a numerical integration algorithm according to the physical parameters and the specific force acceleration of the spacecraft T at the simulation moment;
(5.4) carrying out iterative computation on the attitude quaternion by utilizing the moment and physical parameters received by the spacecraft T at the simulation time to obtain the attitude of the spacecraft T at the simulation time;
(5.5) updating the simulation time;
(5.6) acquiring six orbits according to the position of the inertial system of the spacecraft T at the simulation moment;
(5.7) solving an attitude rotation matrix of the spacecraft body system relative to the orbit system and the inertia system according to the position and the attitude of the inertia system at the simulation time of the spacecraft T, and calculating to obtain the attitude angular velocity at the simulation time of the spacecraft T;
and (5.8) obtaining the attitude and attitude angular velocity of the inertial system and the orbital system of the spacecraft at the T simulation moment through conversion.
The method for calculating the dynamic data of the spacecraft T at the simulation moment in the step (4.2) is as follows:
(6.1) calculating a sailboard corner of the butted assembly according to a sailboard control instruction at the T simulation moment, and calculating a flexible moment and a plume at the T simulation moment of the assembly according to the sailboard corner, and a control force, a moment, an environmental disturbance force and an interference moment which are applied to the assembly at the T simulation moment;
(6.2) calculating the specific force acceleration of the simulation moment of the combination T according to the control force and moment, the environmental disturbance force and disturbance moment, the flexible moment and the plume which are applied to the simulation moment of the combination T;
(6.3) calculating the position, the speed and the acceleration of the simulation moment of the combination body T under an inertial system by using a numerical integration algorithm according to the physical parameters and the specific force acceleration of the simulation moment of the combination body T;
(6.4) carrying out iterative computation on the attitude quaternion by utilizing the moment and physical parameters received by the assembly T at the simulation time to obtain the attitude of the assembly T at the simulation time;
(6.5) updating the simulation time;
(6.6) acquiring six orbits according to the position of the inertia system of the assembly T at the simulation moment;
(6.7) solving an attitude rotation matrix of the spacecraft body system relative to the orbit system and the inertial system according to the position and the attitude of the inertial system at the simulation moment of the assembly T, and calculating to obtain the attitude angular velocity at the simulation moment of the assembly T;
and (6.8) obtaining the attitude and attitude angular velocity of the inertial system and the orbital system of the assembly T at the simulation moment through conversion, wherein the attitude and attitude angular velocity of the inertial system and the orbital system of the assembly T are the attitude and attitude angular velocity of the inertial system and the orbital system of the spacecraft.
Compared with the prior art, the invention has the advantages that:
1) each simulation computer only carries out simulation calculation aiming at the dynamics of a single spacecraft, so that the simulation calculation efficiency is improved, and the problem that the simulation calculation task cannot be completed in a control period due to the limitation of the calculation capacity of a single computer is fundamentally solved.
2) Aiming at the same spacecraft, only a dynamic model needs to be established once, so that the problems of high development cost and long period caused by the fact that the existing dynamic simulation system needs to repeatedly establish the simulation model aiming at different tasks or formation configurations are fundamentally solved.
Drawings
FIG. 1 is a timing diagram illustrating the operation of the present invention.
Detailed Description
The distributed computing method for spacecraft dynamics provided by the invention can be used for completing multi-spacecraft joint simulation.
The method comprises the steps of firstly, respectively arranging each spacecraft model to be simulated simultaneously on each simulation computer.
Each simulation computer only carries out dynamics calculation aiming at one spacecraft, and the dynamics data of other spacecrafts are obtained through data exchange among different simulation computers, so that the distributed joint calculation of the multi-spacecraft dynamics is completed. As shown in fig. 1, the dynamic calculation of each simulation computer includes the following steps:
(1) power initialization
Initializing physical parameters of a spacecraft (called the spacecraft) with self layout, wherein the physical parameters comprise mass, moment of inertia, a mass center position, a sailboard flexible model, a butt joint position (only a rendezvous and butt joint function), sensor installation and actuator characteristics. And initializing physical parameters of other spacecrafts to be subjected to combined simulation, wherein the physical parameters comprise a centroid position, a relative navigation sensor mounting position, rotational inertia and mass. For subsequent relative navigation calculations and dynamics calculations in the docked mode.
And performing relative navigation calculation among the multiple spacecrafts by using the relative data at the time T-1.
(2) Obtaining other spacecraft dynamics data
In order to complete the joint simulation of the dynamics of the multiple spacecrafts, the dynamics data of other spacecrafts need to be obtained. According to a data exchange protocol, the simulation computer obtains dynamic data of T-1 simulation moments of other spacecrafts except the spacecraft, and the dynamic data mainly comprises information such as position, speed and attitude of an inertial system. And performing extended calculation on the obtained dynamic data of other spacecrafts to obtain the parameters of six orbits, attitude rotation matrix, orbital angular velocity and the like of the other spacecrafts at the T-1 simulation time for subsequent relative navigation resolving or one-step extrapolation.
(3) Calculating the relative relation among the spacecrafts at the T-1 moment
And calculating relative information such as relative positions and relative attitudes between the spacecraft and other spacecrafts at the T-1 simulation moment by utilizing the dynamic data of other spacecrafts at the T-1 simulation moment, the expanded and calculated dynamic parameters and the dynamic data of the spacecraft at the T-1 moment obtained by the current simulation computer.
(4) Sensor excitation
And (4) calculating the excitation data (theoretical output value) of the spacecraft relative to the relative navigation sensors such as radar and the like and the excitation data (theoretical output value) of the non-relative navigation sensors such as gyroscope, star sensor and the like at the T-1 simulation moment by utilizing the dynamic data of the spacecraft and the calculation result of the step (3).
(5) Docking state determination
And (4) judging the butt joint state of the spacecraft and other spacecrafts at the T-1 simulation moment according to the relative relation between the spacecraft and other spacecrafts obtained in the step (3).
When the relative relation between the spacecraft and other spacecrafts meets any one of the following conditions, judging that the spacecraft is in butt joint with other spacecrafts:
① the relative distance between the spacecraft and other spacecraft in the flying direction is equal to 0;
② the relative distance between the flying direction of the spacecraft and other spacecraft is equal to 0, and the relative attitude angle is less than 1 degree.
In actual operation, other docking judgment principles can be set according to specific engineering requirements, and are not limited to the two types.
And (3) calling different dynamics resolving branches by the simulation computer according to the judgment result in the step (5), entering the step (6) if the docking is not completed, and entering the step (7) if the docking is not completed, and beginning to resolve dynamics data of the spacecraft at the T simulation moment:
(6) in single spacecraft mode (incomplete docking): and (8) calculating the dynamic data of the spacecraft at the T simulation moment by using the physical parameters of the spacecraft.
The method for calculating the dynamic data of the spacecraft T at the simulation moment comprises the following steps:
1) calculating a sailboard corner of the spacecraft according to a sailboard control instruction at the T simulation moment, and calculating a flexible moment and a plume at the T simulation moment according to the sailboard corner and a control force, a moment, an environmental disturbance force and an interference moment applied to the spacecraft at the T simulation moment;
2) calculating the specific force acceleration at the T simulation moment according to the control force and moment, the environmental disturbance force, the disturbance moment, the flexible moment and the plume which are borne by the spacecraft at the T simulation moment;
3) calculating the position, the speed and the acceleration of the spacecraft under an inertial system at the T simulation moment by utilizing the physical parameters and the specific acceleration of the spacecraft at the T simulation moment and utilizing a numerical integration algorithm (such as a Runge Kutta method);
4) carrying out iterative computation on the attitude quaternion by utilizing the moment and the physical parameters borne by the spacecraft at the T simulation moment to obtain the attitude of the spacecraft at the T simulation moment;
5) updating the simulation time and the corresponding julian day time;
6) acquiring six orbits according to the position of the inertial system of the spacecraft at the T simulation moment;
7) solving the attitude rotation matrix of the spacecraft body system relative to the orbit system and the inertia system according to the position and the attitude of the spacecraft inertia system at the T simulation moment, and calculating to obtain the attitude angular velocity of the spacecraft at the T simulation moment;
8) and obtaining the attitude and attitude angular velocity of the inertial system and the orbital system of the spacecraft at the T simulation moment through conversion.
(7) The butt-joint mode has already been formed,
1) if the spacecraft is a following spacecraft (a non-active control spacecraft), extrapolating the dynamic data of the main control spacecraft at the T-1 moment obtained in the step (2) to obtain dynamic parameters of the main control spacecraft at the T simulation moment, and then obtaining the dynamic data of the spacecraft at the T simulation moment according to the relations of the relative position, the relative attitude and the like obtained in the step (3);
2) and if the spacecraft is the main control spacecraft, performing orbit dynamics and attitude dynamics calculation on the spacecraft by using the physical parameters of the butted assembly to obtain the dynamics data of the spacecraft at the T simulation moment.
The implementation method of the step 2) is similar to the calculation method when the docking is not completed, but only the physical parameters of the spacecraft are replaced by the physical parameters of the docked assembly, and finally the attitude and the attitude angular velocity of the assembly are obtained by solving, namely the attitude and the attitude angular velocity of the spacecraft.
(8) The simulation computer outputs the dynamics data of the spacecraft at the T simulation moment to other spacecrafts according to a communication protocol to complete data exchange.
After the steps are completed, the current simulation computer completes all the work of distributed dynamics calculation at the time of T simulation. And (5) repeating the steps (2) to (8) when the T +1 simulation moment comes.
It should be noted that, if only a single spacecraft needs to be subjected to dynamics simulation, only the steps (1), (4) and (6) need to be performed in sequence.
In order to complete the distributed relative navigation solution of multiple spacecrafts and the solution of the relative position and attitude of the spacecrafts in a docking mode, the invention provides the following minimum dynamic data structure needing to be exchanged among simulation computers:
{
numbering the spacecraft;
a time system;
a spacecraft inertial system position;
the velocity of the spacecraft inertial system;
acceleration of the inertial system of the spacecraft;
attitude quaternion of the inertial system of the spacecraft;
projecting the angular velocity of the spacecraft system relative to the inertial system on the spacecraft system;
projecting the angular acceleration of the spacecraft main body system relative to the inertial system on the main body system;
specific force acceleration of the spacecraft;
a spacecraft flight state;
}
the spacecraft number is used for representing the dynamic data of a spacecraft of several numbers, a time system such as julian days and the like, and the flight state of the spacecraft refers to whether butt joint is completed or not, whether the spacecraft is a main control aircraft or not and the like.
In the invention, a distributed computing strategy is utilized to distribute the dynamics simulation work of a plurality of spacecrafts among different simulation computers, each simulation computer only carries out dynamics calculation aiming at one spacecraft, and then the dynamics data of other spacecrafts is obtained through data exchange among different simulation computers, thereby completing the task of multi-spacecraft joint simulation test.
By distributed computation, the invention can solve the dynamics calculation tasks of a plurality of spacecrafts and can complete the simulation of two working modes of rendezvous and docking and non-rendezvous and docking spacecrafts.
The method can also be applied to the non-aerospace fields such as industrial automation (such as multi-robot joint control) and the like, and the multi-target dynamic distributed simulation calculation is realized.
The invention overcomes the defects of insufficient computational power, repeated modeling and the like of the simulation computer in the multi-target dynamics centralized simulation (such as spacecraft formation flight) of the existing centralized simulation technology, and improves the computational efficiency of the simulation.
Those skilled in the art will appreciate that the details of the invention not described in detail in the specification are within the skill of those skilled in the art.

Claims (6)

1.一种航天器动力学分布式计算方法，其特征在于步骤如下：1. a method for distributed computing of spacecraft dynamics, characterized in that the steps are as follows: (1)将需要同时仿真的各个航天器模型分别布局在各自的仿真计算机上，选择一台仿真计算机作为本仿真计算机，其上布局的航天器作为本航天器；(1) Layout each spacecraft model that needs to be simulated at the same time on their respective simulation computers, select a simulation computer as the simulation computer, and the spacecraft laid out on it as the spacecraft; (2)在每台仿真计算机上，对自身布局的航天器以及联合仿真的其他航天器物理参数进行初始化，其中自身布局的航天器要初始化的物理参数包括质量、转动惯量、质心位置、帆板柔性模型、对接口位置、执行机构及敏感器安装位置，联合仿真的其他航天器物理参数包括质心位置、相对导航敏感器安装位置、转动惯量、质量；(2) On each simulation computer, initialize the physical parameters of the spacecraft of its own layout and other spacecraft that are co-simulated. The physical parameters to be initialized for the spacecraft of its own layout include mass, moment of inertia, center of mass position, windsurfing board The flexible model, the position of the interface, the installation position of the actuator and the sensor, and other physical parameters of the co-simulated spacecraft include the position of the center of mass, the installation position of the relative navigation sensor, the moment of inertia, and the mass; (3)T仿真时刻，本仿真计算机通过数据交换获得本航天器以外其它航天器T-1仿真时刻的动力学数据，并对获得的其它航天器动力学数据进行扩展计算，得到其它航天器T-1仿真时刻的动力学参数；(3) At T simulation time, the simulation computer obtains the dynamics data of other spacecraft T-1 simulation time other than this spacecraft through data exchange, and performs extended calculation on the obtained dynamic data of other spacecraft to obtain other spacecraft T -1 Dynamic parameters at the time of simulation; (4)利用其它航天器T-1仿真时刻的动力学数据、扩展计算出的动力学参数，以及本航天器T-1仿真时刻的动力学数据，进行多航天器间相对导航解算，得到T-1仿真时刻本航天器与其他航天器间的相对关系；(4) Using the dynamic data of other spacecraft T-1 simulation time, the dynamic parameters calculated by extension, and the dynamic data of this spacecraft T-1 simulation time, the relative navigation solution between multiple spacecraft is obtained, and the result is obtained The relative relationship between this spacecraft and other spacecraft at the T-1 simulation time; (5)利用本航天器T-1仿真时刻动力学数据、步骤(4)得到的与其它航天器间的相对关系，计算出T-1仿真时刻本航天器相对导航敏感器和非相对导航敏感器的激励数据；(5) Using the dynamic data of the spacecraft at the T-1 simulation time and the relative relationship between the spacecraft and other spacecraft obtained in step (4), calculate the relative navigation sensor and non-relative navigation sensitivity of the spacecraft at the T-1 simulation time. the excitation data of the device; (6)根据步骤(4)得到的本航天器与其它航天器间的相对关系，判断本航天器与其它航天器的对接状态；(6) According to the relative relationship between this spacecraft and other spacecraft obtained in step (4), determine the docking state of this spacecraft and other spacecraft; (7)根据对接状态计算本航天器T仿真时刻的动力学数据；(7) Calculate the dynamics data of the spacecraft T at the time of simulation according to the docking state; (8)将本航天器T仿真时刻的动力学数据依据通讯协议输出给其它航天器，实现T仿真时刻多目标动力学联合仿真的分布式计算。(8) Output the dynamics data of the spacecraft at the T simulation time to other spacecraft according to the communication protocol, so as to realize the distributed computing of the multi-objective dynamic co-simulation at the T simulation time. 2.根据权利要求1所述的一种航天器动力学分布式计算方法，其特征在于，所述步骤(3)中，本仿真计算机获得其它航天器T-1仿真时刻动力学数据的结构如下：2. a kind of spacecraft dynamics distributed computing method according to claim 1, is characterized in that, in described step (3), the structure that this simulation computer obtains other spacecraft T-1 simulation time dynamics data is as follows : {{ 航天器编号；spacecraft number; 时间系统；time system; 航天器惯性系位置；The position of the spacecraft inertial frame; 航天器惯性系速度；The speed of the spacecraft inertial system; 航天器惯性系加速度；Spacecraft inertial system acceleration; 航天器惯性系姿态四元数；The attitude quaternion of the spacecraft inertial frame; 航天器本体系相对于惯性系的角速度在本体系投影；The angular velocity of the spacecraft's body system relative to the inertial system is projected on the body system; 航天器本体系相对于惯性系的角加速度在本体系投影；The angular acceleration of the spacecraft's body system relative to the inertial system is projected on the body system; 航天器比力加速度；Spacecraft specific acceleration; 航天器飞行状态；spacecraft flight status; }。}. 3.根据权利要求1所述的一种航天器动力学分布式计算方法，其特征在于，所述步骤(6)中当本航天器与其它航天器相对关系满足如下条件时，判定本航天器与其它航天器对接上：3. a kind of spacecraft dynamics distributed computing method according to claim 1 is characterized in that, in described step (6), when this spacecraft and other spacecraft relative relationship satisfies the following conditions, it is determined that this spacecraft Docking with other spacecraft: 本航天器与其它航天器飞行方向相对距离等于0。The relative distance between the flight direction of this spacecraft and other spacecraft is equal to 0. 4.根据权利要求1所述的一种航天器动力学分布式计算方法，其特征在于，所述步骤(7)的实现方法如下：4. a kind of spacecraft dynamics distributed computing method according to claim 1, is characterized in that, the realization method of described step (7) is as follows: (4.1)如果本航天器与其它航天器未对接上，则利用本航天器物理参数直接计算本航天器T仿真时刻的动力学数据；(4.1) If this spacecraft is not docked with other spacecraft, use the physical parameters of this spacecraft to directly calculate the dynamics data of this spacecraft at the time of simulation T; (4.2)如果本航天器与其它航天器对接上，则判断本航天器是否为主控航天器，如果为主控航天器，则利用对接后组合体的物理参数直接计算本航天器T仿真时刻的动力学数据，否则进入步骤(4.3)；(4.2) If this spacecraft is docked with other spacecraft, it is judged whether this spacecraft is the main control spacecraft. If it is the main control spacecraft, the physical parameters of the combination after docking are used to directly calculate the T simulation time of this spacecraft. The kinetic data, otherwise go to step (4.3); (4.3)根据其它航天器T-1仿真时刻动力学数据中的航天器飞行状态，确定其他航天器中的主控航天器，将主控航天器T-1仿真时刻动力学数据外推，得到T仿真时刻主控航天器的动力学参数，进入步骤(4.4)；(4.3) According to the flight status of the spacecraft in the dynamic data at the T-1 simulation time of other spacecraft, determine the main control spacecraft in the other spacecraft, and extrapolate the dynamic data of the main control spacecraft at the time T-1 simulation time to obtain The dynamic parameters of the main control spacecraft at the time of T simulation, enter step (4.4); (4.4)根据本航天器与主控航天器间的相对关系，计算本航天器T仿真时刻的动力学数据。(4.4) According to the relative relationship between the spacecraft and the main control spacecraft, calculate the dynamic data of the spacecraft at the simulation time T. 5.根据权利要求4所述的一种航天器动力学分布式计算方法，其特征在于，所述步骤(4.1)中计算本航天器T仿真时刻动力学数据的方法如下：5. a kind of spacecraft dynamics distributed computing method according to claim 4, is characterized in that, in described step (4.1), the method for calculating this spacecraft T simulation time dynamics data is as follows: (5.1)根据T仿真时刻帆板控制指令计算本航天器的帆板转角，根据帆板转角以及本航天器T仿真时刻受到的控制力、力矩，环境干扰力、干扰力矩，计算本航天器T仿真时刻的挠性力矩和羽流；(5.1) Calculate the windsurfing angle of the spacecraft according to the windsurfing control command at the T simulation time, and calculate the spacecraft T according to the windsurfing angle and the control force, moment, environmental disturbance force and disturbance moment received by the spacecraft at the time of T simulation. Flexural moments and plumes at the moment of simulation; (5.2)根据本航天器T仿真时刻受到的控制力、力矩，环境干扰力、干扰力矩、挠性力矩和羽流，计算本航天器T仿真时刻的比力加速度；(5.2) Calculate the specific force acceleration of the spacecraft T at the simulation time according to the control force, moment, environmental disturbance force, disturbance moment, flexible moment and plume at the simulation time of this spacecraft T; (5.3)根据本航天器T仿真时刻的物理参数和比力加速度，利用数值积分算法计算本航天器T仿真时刻在惯性系下的位置、速度和加速度；(5.3) According to the physical parameters and specific acceleration of the spacecraft T at the simulation time, use the numerical integration algorithm to calculate the position, velocity and acceleration of the spacecraft T in the inertial frame at the simulation time; (5.4)利用本航天器T仿真时刻受到的力矩和物理参数，对姿态四元数进行迭代计算，得到本航天器T仿真时刻姿态；(5.4) Iteratively calculates the attitude quaternion using the moment and physical parameters received at the simulation time of the spacecraft T, and obtains the attitude of the spacecraft at the simulation time of T; (5.5)更新仿真时间；(5.5) Update the simulation time; (5.6)根据本航天器T仿真时刻惯性系位置获得轨道六根数；(5.6) Obtain the six numbers of orbits according to the position of the inertial system at the simulation time T of the spacecraft; (5.7)由本航天器T仿真时刻惯性系位置、姿态解算出航天器本体系相对于轨道系、惯性系的姿态旋转矩阵，并计算得到本航天器T仿真时刻的姿态角速度；(5.7) Calculate the attitude rotation matrix of the spacecraft's own system relative to the orbital system and inertial system from the position and attitude of the inertial system at the simulation time of the spacecraft T, and calculate the attitude angular velocity of the spacecraft at the simulation time of T; (5.8)经过转换，得到本航天器T仿真时刻惯性系及轨道系的姿态和姿态角速度。(5.8) After conversion, the attitude and attitude angular velocity of the inertial system and orbital system of the spacecraft T at the simulation time are obtained. 6.根据权利要求4所述的一种航天器动力学分布式计算方法，其特征在于，所述步骤(4.2)中计算本航天器T仿真时刻动力学数据的方法如下：6. a kind of spacecraft dynamics distributed computing method according to claim 4, is characterized in that, in described step (4.2), the method for calculating this spacecraft T simulation time dynamics data is as follows: (6.1)根据T仿真时刻帆板控制指令计算对接后组合体的帆板转角，根据帆板转角以及组合体T仿真时刻受到的控制力、力矩，环境干扰力、干扰力矩，计算组合体T仿真时刻的挠性力矩和羽流；(6.1) Calculate the windsurfing angle of the combined body after docking according to the windsurfing control command at the T simulation time, and calculate the combined body T simulation according to the windsurfing angle and the control force, moment, environmental disturbance force, and disturbance moment received by the combination at the time of simulation T. Moment of flexure moment and plume; (6.2)根据组合体T仿真时刻受到的控制力、力矩，环境干扰力、干扰力矩、挠性力矩和羽流，计算组合体T仿真时刻的比力加速度；(6.2) According to the control force, moment, environmental disturbance force, disturbance moment, flexible moment and plume received by the combination body T at the simulation time, calculate the specific force acceleration of the combination body T at the simulation time; (6.3)根据组合体T仿真时刻的物理参数和比力加速度，利用数值积分算法计算组合体T仿真时刻在惯性系下的位置、速度和加速度；(6.3) According to the physical parameters and the specific force acceleration of the combination body T at the simulation time, use the numerical integration algorithm to calculate the position, velocity and acceleration of the combination body T in the inertial frame at the simulation time; (6.4)利用组合体T仿真时刻受到的力矩和物理参数，对姿态四元数进行迭代计算，得到组合体T仿真时刻姿态；(6.4) Iteratively calculate the attitude quaternion by using the moment and physical parameters received by the combination body T at the simulation time, and obtain the posture of the combination body T at the simulation time; (6.5)更新仿真时间；(6.5) Update the simulation time; (6.6)根据组合体T仿真时刻惯性系位置获得轨道六根数；(6.6) Obtain the six numbers of orbits according to the position of the inertial system at the simulation time of the combination T; (6.7)由组合体T仿真时刻惯性系位置、姿态解算出航天器本体系相对于轨道系、惯性系的姿态旋转矩阵，并计算得到组合体T仿真时刻的姿态角速度；(6.7) Calculate the attitude rotation matrix of the spacecraft's own system relative to the orbital system and inertial system from the inertial system position and attitude at the time of simulation of the combination body T, and calculate the attitude angular velocity of the combination body T at the simulation time; (6.8)经过转换，得到组合体T仿真时刻惯性系及轨道系的姿态和姿态角速度，所述组合体惯性系及轨道系的姿态和姿态角速度即为本航天器惯性系及轨道系的姿态和姿态角速度。(6.8) After conversion, the attitude and attitude angular velocity of the inertial system and orbital system of the combined body T at the simulation time are obtained, and the attitude and attitude angular velocity of the combined inertial system and orbital system are the attitude and attitude of the spacecraft inertial system and orbital system. Attitude angular velocity.
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