CN114814675B - Method and system for calibrating magnetic moment of magnetic torquer, storage medium and electronic equipment - Google Patents
Method and system for calibrating magnetic moment of magnetic torquer, storage medium and electronic equipment Download PDFInfo
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- CN114814675B CN114814675B CN202210226435.2A CN202210226435A CN114814675B CN 114814675 B CN114814675 B CN 114814675B CN 202210226435 A CN202210226435 A CN 202210226435A CN 114814675 B CN114814675 B CN 114814675B
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Abstract
The invention relates to the technical field of magnetic moment calibration, in particular to a method and a system for calibrating the magnetic moment of a magnetic torquer, a storage medium and electronic equipment, wherein the method comprises the following steps: acquiring magnetic induction intensity at a first preset position along the axial direction of a winding of the magnetic torquer to be calibrated, and acquiring the magnetic moment of the magnetic torquer to be calibrated according to a first formula; the magnetic moment of the magnetic torquer to be calibrated can be calibrated only by acquiring the magnetic induction intensity at the first preset position along the axial direction of the winding of the magnetic torquer to be calibrated, so that the magnetic moment of the magnetic torquer to be calibrated can be obtained, repeated measurement is not needed, the process is simple, and the accuracy of the obtained magnetic moment of the magnetic torquer to be calibrated is further improved by combining a target correction coefficient.
Description
Technical Field
The invention relates to the technical field of magnetic moment calibration, in particular to a method and a system for calibrating a magnetic moment of a magnetic torquer, a storage medium and electronic equipment.
Background
The magnetic torquer is one of executing components for controlling the satellite attitude, and comprises a winding and a magnetic core, wherein the winding is wound on the magnetic core, the size and the direction of a magnetic moment generated by the magnetic torquer can be controlled by controlling the current led into the magnetic torquer, and specifically controlling the current led into the winding, as shown in figure 1, the magnetic torquer interacts with a geomagnetic field in orbit to generate a required control moment, and the attitude control is implemented, wherein the control comprises damping of initial rotation of a satellite body after the satellite body enters the orbit, unloading of a momentum wheel and precession control and nutation damping in a triaxial direction.
Before each magnetic torquer leaves a factory, magnetic moment calibration is carried out, and the relation between the magnetic moment and current is given. The traditional method for calibrating the magnetic moment of the magnetic torquer is an equator mapping method, and the process is as follows:
the measured magnetic torquer is placed at the center of the rotating platform, three or four three-component magnetometers are placed in the equatorial plane of the test piece, the measured magnetic torquer horizontally rotates 360 degrees at a certain distance from the center of the rotating platform, magnetic field values are measured once at intervals of certain angles such as 10 degrees, a set of angles and measured values of the magnetic fields are obtained, and then the magnetic moments are inverted by a company. The method has the advantages of complex test process, low efficiency and easy interference from environmental magnetic field fluctuation.
Disclosure of Invention
The invention provides a method, a system, a storage medium and electronic equipment for calibrating magnetic moment of a magnetic torquer, aiming at the defects of the prior art.
The technical scheme of the method for calibrating the magnetic moment of the magnetic torquer is as follows:
obtaining the magnetic induction intensity of the first preset position along the axial direction of the magnetic torquer to be calibrated
The magnetic torquer to be calibrated comprises a magnetic core and a winding, wherein the winding is wound on the magnetic core;
obtaining the magnetic moment M of the magnetic torquer to be calibrated according to a first formula, wherein the first formula is：
Wherein, mu 0 Denotes the magnetic permeability in vacuum, x 1 Represents: the distance between the first preset position and the position of the center point of the magnetic torquer to be calibrated, L represents the length of the magnetic core,
representing the target correction factor.
The method for calibrating the magnetic moment of the magnetic torquer has the following beneficial effects:
the magnetic moment of the magnetic torquer to be calibrated can be quickly calibrated only by acquiring the magnetic induction intensity of the first preset position in the axial direction of the winding of the magnetic torquer to be calibrated, namely, the magnetic moment of the magnetic torquer to be calibrated is quickly obtained without multiple measurements, the process is simple, and the accuracy of the obtained magnetic moment of the magnetic torquer to be calibrated is further improved by combining a target correction coefficient.
On the basis of the scheme, the method for calibrating the magnetic moment of the magnetic torquer can be further improved as follows.
Further, still include:
when the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained by using a second formula
The second formula is:
wherein k is c ＝L/r c1 ，γ 1 ＝x 1 /L，k c Characteristic dimension of the cylindrical magnetic core, r c1 Represents the radius of the cylindrical core, gamma 1 Representing the target distance factor.
Further, the obtaining process of the second formula includes:
acquiring magnetism of the second preset position along the axial direction of the first magnetic torquerStrength of induction
And acquiring the magnetic induction intensity of the third preset position along the axial direction of the second magnetic torquer
The magnetic moment of the first magnetic torquer is the same as that of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer when x is 2 ＝x 3 And then, acquiring a current correction coefficient beta through a third formula, calculating a current distance factor gamma by using a fourth formula, calculating a characteristic dimension k of a cylindrical magnetic core of the second magnetic torquer by using a fifth formula, obtaining a data set comprising beta, gamma and k until obtaining a plurality of data sets, and obtaining a functional relation of beta with respect to gamma and k based on the plurality of data sets: β = f (k, γ), wherein the third formula is:
the fourth formula is γ = x 3 /L 1 The fifth formula is k = L 1 /r c2 ，x 2 Representing the distance, x, between the second predetermined position and the position of the center point of the first magnetic torquer 3 Represents the distance, L, between the third preset position and the position of the center point of the second magnetic torquer 1 Represents the length, r, of the cylindrical core of the second magnetic torquer c2 Represents a radius of a cylindrical magnetic core of the second magnetic torquer;
the characteristic dimension k of the cylindrical magnetic core c And radius r of the cylindrical magnetic core c1 And substituting the functional relation to obtain the second formula.
Further, the magnetic induction intensity of the first preset position in the axial direction of the winding of the magnetic torquer to be calibrated is obtained
The method comprises the following steps:
measuring the magnetic induction intensity at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated through a one-dimensional magnetic field sensor
The technical scheme of the system for calibrating the magnetic moment of the magnetic torquer is as follows:
the device comprises a first acquisition module and a determination module;
the first obtaining module is configured to: obtaining the magnetic induction intensity of the first preset position along the axial direction of the magnetic torquer to be calibrated
The magnetic torquer to be calibrated comprises a magnetic core and a winding, wherein the winding is wound on the magnetic core;
the determination module is to: obtaining the magnetic moment M of the magnetic torquer to be calibrated according to a first formula, wherein the first formula is as follows:
wherein, mu 0 Denotes the magnetic permeability in vacuum, x 1 Represents: the distance between the first preset position and the position of the center point of the magnetic torquer to be calibrated, L represents the length of the magnetic core,
representing the target correction factor.
The system for calibrating the magnetic moment of the magnetic torquer has the following beneficial effects:
the magnetic moment of the magnetic torquer to be calibrated can be quickly calibrated only by acquiring the magnetic induction intensity of the first preset position in the axial direction of the winding of the magnetic torquer to be calibrated, namely, the magnetic moment of the magnetic torquer to be calibrated is quickly obtained without multiple measurements, the process is simple, and the accuracy of the obtained magnetic moment of the magnetic torquer to be calibrated is further improved by combining a target correction coefficient.
On the basis of the scheme, the system for calibrating the magnetic moment of the magnetic torquer can be further improved as follows.
Further, the system further comprises a second obtaining module, wherein the second obtaining module is used for:
when the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained by using a second formula
The second formula is:
wherein k is c ＝L/r c1 ，γ 1 ＝x 1 /L，k c Representing a characteristic dimension, r, of said cylindrical core c1 Denotes the radius of the cylindrical core, γ 1 Representing the target distance factor.
Further, the system further comprises a third obtaining module, wherein the third obtaining module is configured to:
obtaining the magnetic induction intensity of the second preset position along the axial direction of the first magnetic torquer
And acquiring the magnetic induction intensity of the third preset position along the axial direction of the second magnetic torquer
The magnetic moment of the first magnetic torquer is the same as that of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer when x is 2 ＝x 3 And then, acquiring a current correction coefficient beta through a third formula, calculating a current distance factor gamma by using a fourth formula, calculating a characteristic dimension k of a cylindrical magnetic core of the second magnetic torquer by using a fifth formula, obtaining a data set comprising beta, gamma and k until obtaining a plurality of data sets, and obtaining a functional relation of beta with respect to gamma and k based on the plurality of data sets: β = f (k, γ), wherein the third formula is:
the fourth formula is γ = x 3 /L 1 The fifth formula is k = L 1 /r c2 ，x 2 Representing the distance, x, between the second predetermined position and the position of the center point of the first magnetic torquer 3 Represents the distance, L, between the third preset position and the position of the center point of the second magnetic torquer 1 Length of the cylindrical core of the second magnetic torquer, r c2 Represents a radius of a cylindrical magnetic core of the second magnetic torquer;
the characteristic dimension k of the cylindrical magnetic core c And radius r of the cylindrical magnetic core c1 And substituting the functional relation to obtain the second formula.
Further, the first obtaining module is specifically configured to:
measuring the magnetic induction intensity at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated through a one-dimensional magnetic field sensor
The present invention relates to a storage medium, in which instructions are stored, and when the instructions are read by a computer, the instructions cause the computer to execute any one of the above methods for calibrating a magnetic moment of a magnetic torquer.
An electronic device of the present invention includes a processor and the storage medium, where the processor executes instructions in the storage medium.
Drawings
FIG. 1 is a schematic diagram of the working principle of a fixed magnetic torquer;
FIG. 2 is a schematic flow chart illustrating a method for calibrating a magnetic moment of a magnetic torquer according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of magnetic moments of a solenoid;
FIG. 4 is a graph illustrating the relationship between the magnification factor and the feature size;
FIG. 5 is a schematic diagram of a system for calibrating a magnetic moment of a magnetic torquer according to an embodiment of the present invention;
Detailed Description
As shown in fig. 2, a method for calibrating a magnetic moment of a magnetic torquer according to an embodiment of the present invention includes the following steps:
s1, obtaining the magnetic induction intensity of a first preset position in the axial direction of a winding of a magnetic torquer to be calibrated, specifically: obtaining the magnetic induction intensity of the first preset position along the axial direction of the magnetic torquer to be calibrated
The magnetic torquer to be calibrated comprises a magnetic core and a winding, wherein the winding is wound on the magnetic core;
s2, obtaining a magnetic moment M of the magnetic torquer to be calibrated: specifically, the method comprises the following steps:
obtaining the magnetic moment M of the magnetic torquer to be calibrated according to a first formula, wherein the first formula is as follows:
wherein, mu 0 Denotes the vacuum permeability, x 1 Represents: the distance between the first preset position and the position of the center point of the magnetic torquer to be calibrated, L represents the length of the magnetic core,
representing the target correction factor.
Wherein, the central point position of the magnetic torquer to be calibrated indicates: the position of the geometric center point of the magnetic core of the magnetic torquer to be calibrated can be understood as the position of the geometric center point of the magnetic core of the magnetic torquer to be calibrated, namely the position of the geometric center point of the magnetic core of the magnetic torquer to be calibrated is superposed with the position of the geometric center point of the winding of the magnetic torquer to be calibrated.
The first preset position is located in the axial direction of a winding of the magnetic torquer to be calibrated.
Wherein the target correction may be determined in the following mannerCoefficient of performance
Specifically, the method comprises the following steps:
1) When the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained by using a second formula
The second formula is:
wherein k is c ＝L/r c1 ，γ 1 ＝x 1 /L，k c Representing a characteristic dimension, r, of said cylindrical core c1 Denotes the radius of the cylindrical core, γ 1 Representing the target distance factor. The first formula is specifically:
the acquisition process of the second formula comprises the following steps:
s30, obtaining the magnetic induction intensity of the second preset position along the axial direction of the first magnetic torquer
And acquiring the magnetic induction intensity of a third preset position along the axial direction of the second magnetic torquer
The magnetic moment of the first magnetic torquer is the same as that of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer, when x is reached 2 ＝x 3 And then, acquiring a current correction coefficient beta through a third formula, calculating a current distance factor gamma by using a fourth formula, calculating a characteristic dimension k of a cylindrical magnetic core of the second magnetic torquer by using a fifth formula, obtaining a data set comprising beta, gamma and k until obtaining a plurality of data sets, and obtaining a functional relation of beta with respect to gamma and k based on the plurality of data sets: β = f (k, γ),wherein the third formula is:
the fourth formula is γ = x 3 /L 1 The fifth formula is k = L 1 /r c2 ，x 2 Representing the distance, x, between the second predetermined position and the position of the center point of the first magnetic torquer 3 Represents a distance, L, between the third predetermined position and a position of a center point of the second magnetic torquer 1 Represents the length, r, of the cylindrical core of the second magnetic torquer c2 Represents a radius of a cylindrical magnetic core of the second magnetic torquer;
s31, setting the characteristic size k of the cylindrical magnetic core c And radius r of the cylindrical core c1 And substituting the functional relation to obtain a second formula.
Wherein, the magnetic moment of the first magnetic torquer is the same as that of the second magnetic torquer by setting conditions by using electromagnetic simulation software such as ANSYS, MAXWELL and the like, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer, and then the simulation calculation is carried out
Calculating the magnetic induction intensity of the second preset position along the axial direction of the preset hollow solenoid
And magnetic induction intensity of the solenoid in the third preset position and along the preset cylindrical magnetic core
After a plurality of data sets were obtained, β = f (k, γ) was obtained by data fitting.
The second preset position is located on the axial direction of the first magnetic torquer, and the third preset position is located on the axial direction of the second magnetic torquer.
Wherein, a hollow solenoid can also be used as the first magnetic torquer.
3) Artificially determining target correction coefficient according to experience
The magnetic moment of the magnetic torquer to be calibrated can be quickly calibrated only by acquiring the magnetic induction intensity of the first preset position in the axial direction of the winding of the magnetic torquer to be calibrated, namely, the magnetic moment of the magnetic torquer to be calibrated is quickly obtained without multiple measurements, the process is simple, and the accuracy of the obtained magnetic moment of the magnetic torquer to be calibrated is further improved by combining a target correction coefficient.
Optionally, in the above technical solution, the magnetic induction intensity at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated is obtained
The method comprises the following steps:
measuring the magnetic induction intensity at a first preset position along the axial direction of a winding of the magnetic torquer to be calibrated through a one-dimensional magnetic field sensor
The magnetic field sensor can be a Hall sensor or a fluxgate magnetometer and the like, and the one-dimensional magnetic field sensor refers to: compared with a three-dimensional magnetic field sensor, the one-dimensional magnetic field sensor is low in cost, and the three-dimensional magnetic field sensor can measure the magnetic induction in three directions, namely the x-axis direction, the y-axis direction and the z-axis direction.
The principle of the method for calibrating the magnetic moment of the magnetic torquer is as follows:
as shown in fig. 3, by formula
Capable of calculating magnetic moment M of close wound solenoid 1 Wherein i represents a current, r w Is the average radius of the coil of the close-wound solenoid, N is the number of turns of the coil of the close-wound solenoid, and the magnetic moment of the close-wound solenoid is evenly distributed in the axial length L 2 Magnetic induction B in a certain point P on its axis x Direction and axis ofParallel, B x Can be based on
Calculated where x is the distance of the solenoid's center point position O from point P, then: conversely, by measuring the magnitude of the magnetic induction at point P, the magnetic moment M of the solenoid can also be deduced 1 ：
The magnetic torquer has core and winding wound on the core, the winding is equivalent to a solenoid, current is applied to the winding to generate magnetic moment, the core is made of slender soft magnetic material with high magnetic conductivity, and the magnetic moment M generated by the hollow coil, namely the winding 0 Amplifying to obtain magnetic moment M of magnetic torquer 2 ：M 2 ＝aM 0 The magnification coefficient a is related to the relative permeability and the characteristic size of the magnetic core, when the relative permeability is large, such as 5000 (the relative permeability of a common magnetic core is much larger than 5000), the magnification coefficient a mainly depends on the characteristic size of the magnetic core, the larger the characteristic size is, the larger the magnification coefficient a is, as shown in fig. 4, but the larger the characteristic size is, the more slender the magnetic core is, the lower the fundamental frequency is, which is not favorable for the requirement of vibration index, and the magnetic core is easy to saturate, and in engineering, the value range of the characteristic size is usually 30-80.
Because the existence of magnetic core demagnetization factor, in the linear working range of magnetic torquer, the magnetization intensity of magnetic core inside distributes differently along the axis direction, has three characteristics:
1) The magnetization intensity is maximum at the central point of the axis of the magnetic core, the farther away from the central point, the smaller the magnetization intensity, and the central point is in central symmetry distribution, which causes the magnetic moment of the magnetic torquer to be unevenly distributed on the axis, therefore, the magnetic torquer can not be directly used
Calibrating the magnetic moment of the magnetic torquer;
2) The relative ratio of the magnetization intensity of each position on the axis of the magnetic core is unchanged, for example, the coil current is doubled, the magnetization intensity of each position in the magnetic core is also doubled integrally, but the ratio of the magnetization intensity to the current is unchanged;
3) The ratio of magnetization and current at various locations within the core depends only on the characteristic dimensions of the core.
Based on the second point and the third point, the characteristic dimension of the magnetic core is fixed for a given magnetic torquer, and then the distribution of the magnetic moment of the magnetic torquer on the axis of the magnetic core is also determined, so that a correction coefficient relative to a formula can be obtained by a numerical calculation or a finite element analysis method, specifically:
obtaining the magnetic induction intensity of the second preset position along the axial direction of the first magnetic torquer
And acquiring the magnetic induction intensity of a third preset position along the axial direction of the second magnetic torquer
The magnetic moment of the first magnetic torquer is the same as that of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer, when x is reached 2 ＝x 3 Then, obtaining a current correction coefficient beta through a third formula, calculating a current distance factor gamma through a fourth formula, calculating a characteristic size k of a cylindrical magnetic core of the second magnetic torquer through a fifth formula, obtaining a data set comprising beta, gamma and k until obtaining a plurality of data sets, and obtaining a functional relation of beta with respect to gamma and k based on the plurality of data sets: β = f (k, γ), wherein the third formula is:
the fourth formula is γ = x 3 /L 1 The fifth formula is k = L 1 /r c2 ，x 2 Representing the distance, x, between the second predetermined position and the position of the center point of the first magnetic torquer 3 Indicating the third predetermined position and theDistance between the center points of the second magnetic torquers, L 1 Represents the length, r, of the cylindrical core of the second magnetic torquer c2 Represents a radius of a cylindrical core of the second magnetic torquer;
the correction coefficients corresponding to the common characteristic dimension and distance factor can be calculated in advance to form a table, and then the correction coefficients are calculated according to k c And gamma 1 The target correction coefficient is obtained by searching from the table
Can also be combined with c And gamma 1 Directly carrying in f (k, gamma), and calculating to obtain a target correction coefficient
In the foregoing embodiments, although steps are numbered as S1, S2, etc., but the embodiments are only specific examples given in this application, and those skilled in the art may adjust the execution order of S1, S2, etc. according to the actual situation, and this is also within the protection scope of the present invention, and it is understood that some embodiments may include some or all of the above embodiments.
As shown in fig. 5, a system 200 for calibrating a magnetic moment of a magnetic torquer according to an embodiment of the present invention includes a first acquiring module 210 and a determining module 220;
the first obtaining module is used for: obtaining the magnetic induction intensity B of the first preset position along the axial direction of the magnetic torquer to be calibrated x1 The magnetic torquer to be calibrated comprises a magnetic core and a winding, wherein the winding is wound on the magnetic core;
the determination module is to: obtaining the magnetic moment M of the magnetic torquer to be calibrated according to a first formula, wherein the first formula is as follows:
wherein, mu 0 Denotes the magnetic permeability in vacuum, x 1 Represents: the distance between the first preset position and the position of the central point of the magnetic torquer to be calibrated, L represents the length of the magnetic core，
Representing the target correction factor.
The magnetic moment of the magnetic torquer to be calibrated can be quickly calibrated only by acquiring the magnetic induction intensity of the first preset position in the axial direction of the winding of the magnetic torquer to be calibrated, namely, the magnetic moment of the magnetic torquer to be calibrated is quickly obtained without multiple measurements, the process is simple, and the accuracy of the obtained magnetic moment of the magnetic torquer to be calibrated is further improved by combining a target correction coefficient.
Optionally, in the above technical solution, the mobile terminal further includes a second obtaining module, where the second obtaining module is configured to:
when the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained by using a second formula
The second formula is:
wherein k is c ＝L/r c1 ，γ 1 ＝x 1 /L，k c Representing a characteristic dimension, r, of said cylindrical core c1 Represents the radius of the cylindrical core, gamma 1 Representing the target distance factor.
Optionally, in the above technical solution, the apparatus further includes a third obtaining module, where the third obtaining module is configured to:
obtaining the magnetic induction intensity of the second preset position along the axial direction of the first magnetic torquer
And acquiring the magnetic induction intensity of the third preset position along the axial direction of the second magnetic torquer
Wherein the magnetic moment of the first magnetic torquer is the same as the magnetic moment of the second magnetic torquer, and the first magnetic torqueThe magnetic moments of the magnetic torquers are uniformly distributed along the axial direction of the first magnetic torquer when x is 2 ＝x 3 And then, acquiring a current correction coefficient beta through a third formula, calculating a current distance factor gamma by using a fourth formula, calculating a characteristic dimension k of a cylindrical magnetic core of the second magnetic torquer by using a fifth formula, obtaining a data set comprising beta, gamma and k until obtaining a plurality of data sets, and obtaining a functional relation of beta with respect to gamma and k based on the plurality of data sets: β = f (k, γ), wherein the third formula is:
the fourth formula is γ = x 3 /L 1 The fifth formula is k = L 1 /r c2 ，x 2 Representing the distance, x, between the second predetermined position and the position of the center point of the first magnetic torquer 3 Represents the distance, L, between the third preset position and the position of the center point of the second magnetic torquer 1 Length of the cylindrical core of the second magnetic torquer, r c2 Represents a radius of a cylindrical magnetic core of the second magnetic torquer;
the characteristic dimension k of the cylindrical magnetic core c And radius r of the cylindrical core c1 And substituting the functional relation to obtain a second formula.
Optionally, in the above technical solution, the first obtaining module is specifically configured to:
measuring the magnetic induction intensity at a first preset position along the axial direction of a winding of the magnetic torquer to be calibrated through a one-dimensional magnetic field sensor
The above steps for implementing the corresponding functions of each parameter and each unit module in the system 200 for calibrating the magnetic moment of the magnetic torquer according to the present invention can refer to each parameter and step in the above embodiment of the method for calibrating the magnetic moment of the magnetic torquer, and are not described herein again.
The storage medium of the embodiment of the present invention stores instructions, and when the instructions are read by a computer, the computer is caused to execute any one of the above methods for calibrating a magnetic moment of a magnetic moment instrument.
The electronic device of the embodiment of the invention comprises a processor and the storage medium, wherein the processor executes instructions in the storage medium, and the electronic device can be a computer, a mobile phone and the like.
As will be appreciated by one skilled in the art, the present invention may be embodied as a system, method or computer program product.
Accordingly, the present disclosure may be embodied in the form of: may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software, and may be referred to herein generally as a "circuit," module "or" system. Furthermore, in some embodiments, the invention may also be embodied in the form of a computer program product in one or more computer-readable media having computer-readable program code embodied in the medium.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. A method for calibrating magnetic moment of a magnetic torquer is characterized by comprising the following steps:
obtaining the magnetic induction intensity of the first preset position along the axial direction of the magnetic torquer to be calibrated
The magnetic torquer to be calibrated comprises a magnetic core and a winding, wherein the winding is wound on the magnetic core;
obtaining the magnetic moment M of the magnetic torquer to be calibrated according to a first formula, wherein the first formula is as follows:
wherein, mu 0 Denotes the magnetic permeability in vacuum, x 1 Represents: the distance between the first preset position and the position of the center point of the magnetic torquer to be calibrated, L represents the length of the magnetic core,
representing a target correction factor;
further comprising:
when the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained by using a second formula
The second formula is:
wherein k is c ＝L/r c1 ，γ 1 ＝x 1 /L，k c Representing a characteristic dimension, r, of said cylindrical core c1 Denotes the radius of the cylindrical core, γ 1 Representing a target distance factor;
the acquisition process of the second formula comprises the following steps:
obtaining the magnetic induction intensity of the second preset position along the axial direction of the first magnetic torquer
And acquiring the magnetic induction intensity of the third preset position along the axial direction of the second magnetic torquer
The magnetic moment of the first magnetic torquer is the same as that of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer when x is 2 ＝x 3 Then, obtaining a current correction coefficient beta through a third formula, calculating a current distance factor gamma through a fourth formula, calculating a characteristic size k of a cylindrical magnetic core of the second magnetic torquer through a fifth formula, obtaining a data set comprising beta, gamma and k until obtaining a plurality of data sets, and obtaining a functional relation of beta with respect to gamma and k based on the plurality of data sets: β = f (k, γ), wherein the third formula is:
the fourth formula is γ = x 3 /L 1 The fifth formula is k = L 1 /r c2 ，x 2 Representing the distance, x, between the second predetermined position and the position of the center point of the first magnetic torquer 3 Represents a distance, L, between the third predetermined position and a position of a center point of the second magnetic torquer 1 Length of the cylindrical core of the second magnetic torquer, r c2 Represents a radius of a cylindrical core of the second magnetic torquer;
defining a characteristic dimension k of said cylindrical magnetic core c And radius r of said cylindrical magnetic core c1 And substituting the functional relation to obtain the second formula.
2. The method for calibrating the magnetic moment of a magnetic torquer as recited in claim 1, wherein the magnetic induction in the first predetermined position along the axial direction of the winding of the magnetic torquer to be calibrated is obtained
The method comprises the following steps:
measuring the magnetic induction intensity at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated through a one-dimensional magnetic field sensor
3. A system for calibrating magnetic moment of a magnetic torquer is characterized by comprising a first acquisition module and a determination module;
the first obtaining module is configured to: obtaining the magnetic induction intensity of the first preset position along the axial direction of the magnetic torquer to be calibrated
The magnetic torquer to be calibrated comprises a magnetic core and a winding, wherein the winding is wound on the magnetic core;
the determination module is to: obtaining the magnetic moment M of the magnetic torquer to be calibrated according to a first formula, wherein the first formula is as follows:
wherein, mu 0 Denotes the magnetic permeability in vacuum, x 1 Represents: the distance between the first preset position and the position of the center point of the magnetic torquer to be calibrated, L represents the length of the magnetic core,
representing a target correction factor;
the system further comprises a second acquisition module, wherein the second acquisition module is used for:
when the magnetic core of the magnetic torquer to be calibrated is a cylindrical magnetic core, the target correction coefficient is obtained by using a second formula
The second formula is:
wherein k is c ＝L/r c1 ，γ 1 ＝x 1 /L，k c Representing a characteristic dimension, r, of said cylindrical core c1 Denotes the radius of the cylindrical core, γ 1 Representing a target distance factor;
the system further comprises a third obtaining module, wherein the third obtaining module is used for:
obtaining the magnetic induction intensity of the second preset position along the axial direction of the first magnetic torquer
And acquiring the magnetic induction intensity of the third preset position along the axial direction of the second magnetic torquer
The magnetic moment of the first magnetic torquer is the same as that of the second magnetic torquer, and the magnetic moment of the first magnetic torquer is uniformly distributed along the axial direction of the first magnetic torquer when x is 2 ＝x 3 Then, obtaining a current correction coefficient beta through a third formula, calculating a current distance factor gamma through a fourth formula, calculating a characteristic size k of a cylindrical magnetic core of the second magnetic torquer through a fifth formula, obtaining a data set comprising beta, gamma and k until obtaining a plurality of data sets, and obtaining a functional relation of beta with respect to gamma and k based on the plurality of data sets: β = f (k, γ), wherein the third formula is:
the fourth formula is γ = x 3 /L 1 Said fifth, theThe formula is k = L 1 /r c2 ，x 2 Represents the distance, x, between the second predetermined position and the position of the center point of the first magnetic torquer 3 Represents the distance, L, between the third preset position and the position of the center point of the second magnetic torquer 1 Represents the length, r, of the cylindrical core of the second magnetic torquer c2 Represents a radius of a cylindrical core of the second magnetic torquer;
defining a characteristic dimension k of said cylindrical magnetic core c And radius r of said cylindrical magnetic core c1 And substituting the functional relation to obtain the second formula.
4. The system for calibrating magnetic moment of a magnetic torquer according to claim 3, wherein the first obtaining module is specifically configured to:
measuring the magnetic induction intensity at the first preset position and along the axial direction of the winding of the magnetic torquer to be calibrated through a one-dimensional magnetic field sensor
5. A storage medium having stored therein instructions which, when read by a computer, cause the computer to execute a method of calibrating a magnetic moment of a magnetic torquer as recited in claim 1 or 2.
6. An electronic device comprising the storage medium of claim 5 and a processor, wherein the processor executes instructions in the storage medium.
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