CN115352656A - Satellite attitude control method, system and equipment for replacing fault flywheel by magnetic torquer - Google Patents

Satellite attitude control method, system and equipment for replacing fault flywheel by magnetic torquer Download PDF

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CN115352656A
CN115352656A CN202210905116.4A CN202210905116A CN115352656A CN 115352656 A CN115352656 A CN 115352656A CN 202210905116 A CN202210905116 A CN 202210905116A CN 115352656 A CN115352656 A CN 115352656A
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flywheel
faulty
satellite
magnetic
torque
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CN115352656B (en
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黎康
高恩宇
孔令波
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Beijing Weina Starry Sky Technology Co ltd
Anhui Minospace Technology Co Ltd
Beijing Guoyu Xingkong Technology Co Ltd
Hainan Minospace Technology Co Ltd
Shaanxi Guoyu Space Technology Co Ltd
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Beijing MinoSpace Technology Co Ltd
Anhui Minospace Technology Co Ltd
Beijing Guoyu Xingkong Technology Co Ltd
Hainan Minospace Technology Co Ltd
Shaanxi Guoyu Space Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
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    • B64G1/00—Cosmonautic vehicles
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Abstract

The invention relates to the technical field of satellite attitude control, in particular to a satellite attitude control method, a satellite attitude control system and satellite attitude control equipment for replacing a fault flywheel by a magnetic torquer. The method comprises the following steps: calculating the target output torque of each non-fault flywheel based on the installation matrixes corresponding to all the flywheels of the satellite; calculating the target output magnetic moment of each magnetic torquer of the satellite according to the expected moment of the fault flywheel; and controlling each non-fault flywheel to output corresponding target output torque, and controlling each magnetic torquer to output corresponding target output magnetic moment so as to control the attitude of the satellite. When any flywheel on the satellite breaks down, the magnetic torquer arranged in the existing three-orthogonal mode on the satellite is adopted to complete the control function of the broken flywheel, so that the configuration of a plurality of redundant flywheels is avoided, the development cost of the satellite is greatly reduced, and the weight of the satellite is reduced.

Description

用磁力矩器替代故障飞轮的卫星姿控方法、系统和设备Satellite attitude control method, system and device using magnetic torquer to replace faulty flywheel

技术领域technical field

本发明涉及卫星姿控技术领域，尤其涉及一种用磁力矩器替代故障飞轮的卫星姿控方法、系统和设备。The invention relates to the technical field of satellite attitude control, in particular to a satellite attitude control method, system and equipment in which a magnetic torque device is used to replace a faulty flywheel.

背景技术Background technique

对于卫星如小卫星和微纳卫星等而言，飞轮是其姿态控制系统中的重要执行部件。为保证其可靠性并满足长寿命使用要求，目前姿控系统大都采用冗余备份的方式，即采用四个甚至更多的飞轮，当某一飞轮出现故障时，由冗余的飞轮顶替，从而实现与原系统类似的控制效果，而且为保证较为理想的飞轮构型和控制效果，也必须采用多个不同安装方向的备份飞轮才能实现任意轴都有备份作用，以满足姿态控制的需要。For satellites such as small satellites and micro-nano satellites, the flywheel is an important executive component in the attitude control system. In order to ensure its reliability and meet the requirements of long-life use, most of the current attitude control systems use redundant backup, that is, four or more flywheels are used. When a flywheel fails, it will be replaced by the redundant flywheel, thereby To achieve a control effect similar to that of the original system, and to ensure an ideal flywheel configuration and control effect, multiple backup flywheels with different installation directions must be used to achieve a backup function for any axis to meet the needs of attitude control.

但“采用配置更多飞轮的方式来备份故障飞轮”的传统方法，增加了卫星的整星控制系统的重量，也增加了整星的研制成本。However, the traditional method of "using more flywheels to back up faulty flywheels" increases the weight of the satellite's entire satellite control system and also increases the development cost of the entire satellite.

发明内容Contents of the invention

本发明所要解决的技术问题是针对现有技术的不足，提供了一种用磁力矩器替代故障飞轮的卫星姿控方法、系统和设备。The technical problem to be solved by the present invention is to provide a satellite attitude control method, system and equipment in which a magnetic torque device is used to replace a faulty flywheel, aiming at the deficiencies of the prior art.

本发明的一种用磁力矩器替代故障飞轮的卫星姿控方法的技术方案如下：A kind of technical scheme of satellite attitude control method that replaces faulty flywheel with magnetic torque device of the present invention is as follows:

基于卫星的所有飞轮所对应的安装矩阵，计算每个非故障飞轮的目标输出力矩；Calculate the target output torque of each non-faulty flywheel based on the installation matrix corresponding to all flywheels of the satellite;

根据所述故障飞轮的期望力矩，计算卫星的每个磁力矩器的目标输出磁矩，所述卫星的本体坐标系中的三个坐标轴上分别设有一个磁力矩器；According to the desired torque of the faulty flywheel, calculate the target output magnetic moment of each magnetic torque device of the satellite, and a magnetic torque device is respectively arranged on the three coordinate axes in the body coordinate system of the satellite;

控制每个非故障飞轮输出相应的目标输出力矩，并控制每个磁力矩器输出相应的目标输出磁矩，以对所述卫星的姿态进行控制。Each non-faulty flywheel is controlled to output a corresponding target output torque, and each magnetic torquer is controlled to output a corresponding target output magnetic moment, so as to control the attitude of the satellite.

本发明的一种用磁力矩器替代故障飞轮的卫星姿控方法的有益效果如下：The beneficial effects of a satellite attitude control method that replaces a faulty flywheel with a magnetic torque device of the present invention are as follows:

当卫星上任意一个飞轮发生故障时，采用卫星上已有的三正交方式安装设置的磁力矩器，完成该故障飞轮的控制功能，避免配置多个冗余飞轮，极大降低了卫星的研制成本，且降低了卫星的重量。When any flywheel on the satellite fails, use the existing three-orthogonal magnetic torque device installed on the satellite to complete the control function of the faulty flywheel, avoiding the configuration of multiple redundant flywheels, and greatly reducing the development of satellites cost and reduce the weight of the satellite.

在上述方案的基础上，本发明的一种用磁力矩器替代故障飞轮的卫星姿控方法还可以做如下改进。On the basis of the above solution, the satellite attitude control method of the present invention, which uses a magnetic torque device to replace a faulty flywheel, can also be improved as follows.

进一步，计算每个非故障飞轮的目标输出力矩的过程，包括：Further, the process of calculating the target output torque of each non-faulty flywheel includes:

从所述安装矩阵中，删除所述故障飞轮所关联的元素，得到修正后的安装矩阵；Deleting elements associated with the faulty flywheel from the installation matrix to obtain a corrected installation matrix;

根据修正后的安装矩阵和每个非故障飞轮的期望力矩，计算每个非故障飞轮的目标输出力矩。According to the corrected installation matrix and the expected torque of each non-faulty flywheel, the target output torque of each non-faulty flywheel is calculated.

进一步，还包括：Further, it also includes:

根据所述安装矩阵和每个非故障飞轮的期望力矩，得到所述故障飞轮的期望力矩。According to the installation matrix and the expected torque of each non-faulty flywheel, the expected torque of the faulty flywheel is obtained.

进一步，所述根据所述故障飞轮的期望力矩，计算卫星的每个磁力矩器的目标输出磁矩，包括：Further, the calculation of the target output magnetic moment of each magnetic torque device of the satellite according to the expected torque of the faulty flywheel includes:

根据第一公式计算故障飞轮对应的每个磁力矩器的目标输出磁矩，所述第一公式为：

Figure BDA0003772183220000021
其中，
Figure BDA0003772183220000022
表示卫星所在轨道位置的地磁强度矢量在所述卫星的本体坐标系中的测量值，
Figure BDA0003772183220000023
表示所述故障飞轮的期望力矩，
Figure BDA0003772183220000024
表示所述地磁强度矢量的模，MT包括3个元素，分别对应所述卫星的本体坐标系中的每个坐标轴上的磁力矩器的目标输出磁矩。Calculate the target output magnetic moment of each magnetic torque device corresponding to the faulty flywheel according to the first formula, and the first formula is:
Figure BDA0003772183220000021
in,
Figure BDA0003772183220000022
Representing the measured value of the geomagnetic intensity vector of the orbital position of the satellite in the body coordinate system of the satellite,
Figure BDA0003772183220000023
represents the expected torque of the faulty flywheel,
Figure BDA0003772183220000024
Representing the modulus of the geomagnetic intensity vector, MT includes 3 elements, respectively corresponding to the target output magnetic moment of the magnetic torque device on each coordinate axis in the body coordinate system of the satellite.

本发明的一种用磁力矩器替代故障飞轮的卫星姿控系统的技术方案如下：A kind of technical scheme of satellite attitude control system that replaces faulty flywheel with magnetic torque device of the present invention is as follows:

所述第一计算模块用于：基于卫星的所有飞轮所对应的安装矩阵，计算每个非故障飞轮的目标输出力矩；The first calculation module is used to: calculate the target output torque of each non-faulty flywheel based on the installation matrix corresponding to all the flywheels of the satellite;

所述第二计算模块用于：根据所述故障飞轮的期望力矩，计算卫星的每个磁力矩器的目标输出磁矩，所述卫星的本体坐标系中的三个坐标轴上分别设有一个磁力矩器；The second calculation module is used to: calculate the target output magnetic moment of each magnetic torque device of the satellite according to the expected torque of the faulty flywheel, and the three coordinate axes in the body coordinate system of the satellite are respectively provided with a magnetic torque device;

所述控制模块用于：控制每个非故障飞轮输出相应的目标输出力矩，并控制每个磁力矩器输出相应的目标输出磁矩，以对所述卫星的姿态进行控制。The control module is used for: controlling each non-faulty flywheel to output a corresponding target output torque, and controlling each magnetic torquer to output a corresponding target output magnetic moment, so as to control the attitude of the satellite.

本发明的一种用磁力矩器替代故障飞轮的卫星姿控系统的有益效果如下：The beneficial effects of a satellite attitude control system that replaces a faulty flywheel with a magnetic torque device of the present invention are as follows:

当卫星上任意一个飞轮发生故障时，采用卫星上已有的三正交方式安装设置的磁力矩器，完成该故障飞轮的控制功能，避免配置多个冗余飞轮，极大降低了卫星的研制成本，且降低了卫星的重量。When any flywheel on the satellite fails, use the existing three-orthogonal magnetic torque device installed on the satellite to complete the control function of the faulty flywheel, avoiding the configuration of multiple redundant flywheels, and greatly reducing the development of satellites cost and reduce the weight of the satellite.

在上述方案的基础上，本发明的一种用磁力矩器替代故障飞轮的卫星姿控系统还可以做如下改进。On the basis of the above solution, a satellite attitude control system of the present invention that uses a magnetic torque device to replace a faulty flywheel can also be improved as follows.

进一步，所述所述第一计算模块具体用于：Further, the first calculation module is specifically used for:

从所述安装矩阵中，删除所述故障飞轮所关联的元素，得到修正后的安装矩阵；Deleting elements associated with the faulty flywheel from the installation matrix to obtain a corrected installation matrix;

根据修正后的安装矩阵和每个非故障飞轮的期望力矩，计算每个非故障飞轮的目标输出力矩。According to the corrected installation matrix and the expected torque of each non-faulty flywheel, the target output torque of each non-faulty flywheel is calculated.

进一步，还包括第三计算模块，所述第三计算模块用于：Further, a third calculation module is also included, and the third calculation module is used for:

根据所述安装矩阵和每个非故障飞轮的期望力矩，得到所述故障飞轮的期望力矩。According to the installation matrix and the expected torque of each non-faulty flywheel, the expected torque of the faulty flywheel is obtained.

进一步，所述第二计算模块具体用于：Further, the second calculation module is specifically used for:

根据第一公式计算故障飞轮对应的每个磁力矩器的目标输出磁矩，所述第一公式为：

Figure BDA0003772183220000041
其中，
Figure BDA0003772183220000042
表示卫星所在轨道位置的地磁强度矢量在所述卫星的本体坐标系中的测量值，
Figure BDA0003772183220000043
表示所述故障飞轮的期望力矩，
Figure BDA0003772183220000044
表示所述地磁强度矢量的模，MT包括3个元素，分别对应所述卫星的本体坐标系中的每个坐标轴上的磁力矩器的目标输出磁矩。Calculate the target output magnetic moment of each magnetic torque device corresponding to the faulty flywheel according to the first formula, and the first formula is:
Figure BDA0003772183220000041
in,
Figure BDA0003772183220000042
Representing the measured value of the geomagnetic intensity vector of the orbital position of the satellite in the body coordinate system of the satellite,
Figure BDA0003772183220000043
represents the expected torque of the faulty flywheel,
Figure BDA0003772183220000044
Representing the modulus of the geomagnetic intensity vector, MT includes 3 elements, respectively corresponding to the target output magnetic moment of the magnetic torque device on each coordinate axis in the body coordinate system of the satellite.

本发明的一种存储介质，所述存储介质中存储有指令，当计算机读取所述指令时，使所述计算机执行上述任一项所述的一种用磁力矩器替代故障飞轮的卫星姿控方法。A storage medium of the present invention, wherein instructions are stored in the storage medium, and when the computer reads the instructions, the computer is made to perform any one of the satellite attitudes described above using a magnetic torquer to replace a faulty flywheel. control method.

本发明的一种设备，包括处理器和上述的存储介质，所述处理器执行所述存储介质中的指令。A device of the present invention includes a processor and the above-mentioned storage medium, and the processor executes instructions in the storage medium.

附图说明Description of drawings

图1为本发明实施例的一种用磁力矩器替代故障飞轮的卫星姿控方法的流程示意图；Fig. 1 is a schematic flow chart of a satellite attitude control method using a magnetic torque device instead of a faulty flywheel according to an embodiment of the present invention;

图2为本发明实施例的一种用磁力矩器替代故障飞轮的卫星姿控系统的结构示意图。FIG. 2 is a schematic structural diagram of a satellite attitude control system that uses a magnetic torquer to replace a faulty flywheel according to an embodiment of the present invention.

具体实施方式Detailed ways

如图1所示，本发明实施例的一种用磁力矩器替代故障飞轮的卫星姿控方法，包括如下步骤：As shown in Figure 1, a kind of satellite attitude control method that replaces faulty flywheel with magnetic torque device of the embodiment of the present invention, comprises the following steps:

S1、基于卫星的所有飞轮所对应的安装矩阵，计算每个非故障飞轮的目标输出力矩；S1. Calculate the target output torque of each non-faulty flywheel based on the installation matrix corresponding to all flywheels of the satellite;

以卫星上设有3个飞轮为例进行说明：Take three flywheels on the satellite as an example for illustration:

所有飞轮所对应的安装矩阵Mn为：

Figure BDA0003772183220000045
其中，a11表示第一个飞轮的输出轴与卫星的本体坐标系的x轴之间的夹角的余弦值，a12表示第一个飞轮的输出轴与卫星的本体坐标系的y轴之间的夹角的余弦值，a13表示第一个飞轮的输出轴与卫星的本体坐标系的z轴之间的夹角的余弦值，a21表示第二个飞轮的输出轴与卫星的本体坐标系的x轴之间的夹角的余弦值，a22表示第二个飞轮的输出轴与卫星的本体坐标系的y轴之间的夹角的余弦值，a23表示第二个飞轮的输出轴与卫星的本体坐标系的z轴之间的夹角的余弦值，a31表示第三个飞轮的输出轴与卫星的本体坐标系的x轴之间的夹角的余弦值，a32表示第三个飞轮的输出轴与卫星的本体坐标系的y轴之间的夹角的余弦值，a33表示第三个飞轮的输出轴与卫星的本体坐标系的z轴之间的夹角的余弦值。The installation matrix Mn corresponding to all flywheels is:
Figure BDA0003772183220000045
Among them, a 11 represents the cosine value of the angle between the output axis of the first flywheel and the x-axis of the satellite’s body coordinate system, and a 12 represents the angle between the output axis of the first flywheel and the y-axis of the satellite’s body coordinate system. a 13 represents the cosine value of the angle between the output shaft of the first flywheel and the z-axis of the body coordinate system of the satellite, a 21 represents the output shaft of the second flywheel and the body of the satellite The cosine value of the angle between the x-axis of the coordinate system, a 22 represents the cosine value of the angle between the output axis of the second flywheel and the y-axis of the body coordinate system of the satellite, and a 23 represents the value of the second flywheel The cosine value of the angle between the output axis and the z-axis of the satellite’s body coordinate system, a 31 represents the cosine value of the angle between the output axis of the third flywheel and the x-axis of the satellite’s body coordinate system, a 32 Indicates the cosine value of the angle between the output axis of the third flywheel and the y-axis of the satellite’s body coordinate system, a 33 represents the angle between the output axis of the third flywheel and the z-axis of the satellite’s body coordinate system the cosine value of .

其中，卫星的本体坐标系指：以卫星的质心为原点，以卫星的三个惯量主轴作为x轴、y轴和z轴，建立卫星的本体坐标系。Wherein, the body coordinate system of the satellite refers to: take the center of mass of the satellite as the origin, and take the three axes of inertia of the satellite as the x-axis, y-axis and z-axis to establish the body coordinate system of the satellite.

S2、根据故障飞轮的期望力矩，计算卫星的每个磁力矩器的目标输出磁矩，卫星的本体坐标系中的三个坐标轴上分别设有一个磁力矩器，三个磁力矩器为卫星已安装好的。S2. According to the expected torque of the faulty flywheel, calculate the target output magnetic moment of each magnetic torque device of the satellite. A magnetic torque device is respectively arranged on the three coordinate axes in the body coordinate system of the satellite, and the three magnetic torque devices are satellites. already installed.

S3、控制每个非故障飞轮输出相应的目标输出力矩，并控制每个磁力矩器输出相应的目标输出磁矩，以对卫星的姿态进行控制。S3. Control each non-faulty flywheel to output a corresponding target output torque, and control each magnetic torquer to output a corresponding target output magnetic moment, so as to control the attitude of the satellite.

当卫星上任意一个飞轮发生故障时，采用卫星上已有的三正交方式安装设置的磁力矩器，完成该故障飞轮的控制功能，避免配置多个冗余飞轮，极大降低了卫星的研制成本，且降低了卫星的重量。When any flywheel on the satellite fails, use the existing three-orthogonal magnetic torque device installed on the satellite to complete the control function of the faulty flywheel, avoiding the configuration of multiple redundant flywheels, and greatly reducing the development of satellites cost and reduce the weight of the satellite.

可选地，在上述技术方案中，S1中，计算每个非故障飞轮的目标输出力矩的过程，包括：Optionally, in the above technical solution, in S1, the process of calculating the target output torque of each non-faulty flywheel includes:

S10、从安装矩阵中，删除故障飞轮所关联的元素，得到修正后的安装矩阵，具体地：S10. From the installation matrix, delete the elements associated with the faulty flywheel to obtain the corrected installation matrix, specifically:

1)例如，第一个飞轮作为故障飞轮，第二个飞轮和第三个飞轮均作为非故障飞轮，安装矩阵中，第一个飞轮所关联的元素为第一个飞轮的输出轴与卫星的本体坐标系的x轴之间的夹角的余弦值a11所在行的所有元素以及所在列的所有元素，a11所在行的所有元素包括：a21和a31，a11所在列的所有元素包括：a12和a13，得到修正后的安装矩阵为

Figure BDA0003772183220000061
1) For example, the first flywheel acts as a faulty flywheel, the second flywheel and the third flywheel act as non-faulty flywheels, and in the installation matrix, the elements associated with the first flywheel are the output shaft of the first flywheel and the satellite’s The cosine value of the included angle between the x-axes of the body coordinate system is all elements in the row where a 11 is located and all elements in the column where a 11 is located, and all elements in the row where a 11 is located include: a 21 and a 31 , all elements in the column where a 11 is located Including: a 12 and a 13 , the corrected installation matrix is
Figure BDA0003772183220000061

2)例如，第二个飞轮作为故障飞轮，第一个飞轮和第三个飞轮均作为非故障飞轮，安装矩阵中，第二个飞轮所关联的元素为第二个飞轮的输出轴与卫星的本体坐标系的x轴之间的夹角的余弦值a22所在行的所有元素以及所在列的所有元素，a22所在行的所有元素包括：a12和a32，a11所在列的所有元素包括：a21和a23，得到修正后的安装矩阵为

Figure BDA0003772183220000062
2) For example, if the second flywheel is a faulty flywheel, the first flywheel and the third flywheel are both non-faulty flywheels, in the installation matrix, the elements associated with the second flywheel are the output shaft of the second flywheel and the satellite’s The cosine value of the angle between the x-axes of the body coordinate system All elements in the row where a 22 is located and all elements in the column where a 22 is located, all elements in the row where a 22 is located include: a 12 and a 32 , all elements in the column where a 11 is located Including: a 21 and a 23 , the corrected installation matrix is
Figure BDA0003772183220000062

3)例如，第三个飞轮作为故障飞轮，第一个飞轮和第二个飞轮均作为非故障飞轮，安装矩阵中，第三个飞轮所关联的元素为第三个飞轮的输出轴与卫星的本体坐标系的x轴之间的夹角的余弦值a33所在行的所有元素以及所在列的所有元素，a33所在行的所有元素包括：a13和a23，a33所在列的所有元素包括：a31和a32，得到修正后的安装矩阵为

Figure BDA0003772183220000063
3) For example, the third flywheel is used as a faulty flywheel, and both the first and second flywheels are used as non-faulty flywheels. In the installation matrix, the elements associated with the third flywheel are the output shaft of the third flywheel and the satellite’s The cosine value of the included angle between the x-axes of the body coordinate system is all elements in the row and column where a 33 is located, and all elements in the row where a 33 is located include: a 13 and a 23 , all elements in the column where a 33 is located Including: a 31 and a 32 , the corrected installation matrix is
Figure BDA0003772183220000063

S11、根据修正后的安装矩阵和每个非故障飞轮的期望力矩，计算每个非故障飞轮的目标输出力矩。具体地：S11. Calculate the target output torque of each non-faulty flywheel according to the corrected installation matrix and the expected torque of each non-faulty flywheel. specifically:

1)例如，第一个飞轮作为故障飞轮，第二个飞轮和第三个飞轮均作为非故障飞轮，所得到的修正后的安装矩阵

Figure BDA0003772183220000064
为例进行说明，具体地：1) For example, the first flywheel is regarded as a faulty flywheel, and the second and third flywheels are regarded as non-faulty flywheels, the obtained corrected installation matrix
Figure BDA0003772183220000064
As an example to illustrate, specifically:

①第二个飞轮的期望力矩和第三个飞轮的期望力矩的计算过程为：

Figure BDA0003772183220000065
其中，
Figure BDA0003772183220000066
E1是第一个飞轮为故障飞轮时，所对应的系数矩阵，(Tm2)′表示第二个飞轮的期望力矩，(Tm3)′表示第三个飞轮的期望力矩，Tcx表示卫星的本体坐标系的x轴所需要的控制力矩，Tcy表示卫星的本体坐标系的y轴所需要的控制力矩，Tcz表示卫星的本体坐标系的z轴所需要的控制力矩，Tcx、Tcy和Tcz为人为预先设置；① The calculation process of the expected moment of the second flywheel and the expected moment of the third flywheel is:
Figure BDA0003772183220000065
in,
Figure BDA0003772183220000066
E 1 is the corresponding coefficient matrix when the first flywheel is a faulty flywheel, (Tm 2 )' represents the expected torque of the second flywheel, (Tm 3 )' represents the expected torque of the third flywheel, and Tcx represents the satellite's The control torque required by the x-axis of the body coordinate system, Tcy represents the control torque required by the y-axis of the body coordinate system of the satellite, Tcz represents the control torque required by the z-axis of the body coordinate system of the satellite, Tcx, Tcy and Tcz are is preset;

②第二个飞轮的目标输出力矩和第三个飞轮的目标输出力矩的计算过程为：

Figure BDA0003772183220000071
(Twm2)′表示第二个飞轮的目标输出力矩，(Twm3)′表示第三个飞轮的目标输出力矩；② The calculation process of the target output torque of the second flywheel and the target output torque of the third flywheel is:
Figure BDA0003772183220000071
(Twm 2 )' represents the target output torque of the second flywheel, and (Twm 3 )' represents the target output torque of the third flywheel;

2)例如，第二个飞轮作为故障飞轮，第一个飞轮和第三个飞轮均作为非故障飞轮，所得到的修正后的安装矩阵

Figure BDA0003772183220000072
为例进行说明，具体地：2) For example, if the second flywheel is used as a faulty flywheel, and both the first and third flywheels are used as non-faulty flywheels, the resulting corrected installation matrix
Figure BDA0003772183220000072
As an example to illustrate, specifically:

①第二个飞轮的期望力矩和第三个飞轮的期望力矩的计算过程为：

Figure BDA0003772183220000073
其中，
Figure BDA0003772183220000074
E2是第二个飞轮为故障飞轮时，所对应的系数矩阵，(Tm1)″表示第一个飞轮的期望力矩，(Tm3)″表示第三个飞轮的期望力矩，Tcx表示卫星的本体坐标系的x轴所需要的控制力矩，Tcy表示卫星的本体坐标系的y轴所需要的控制力矩，Tcz表示卫星的本体坐标系的z轴所需要的控制力矩，Tcx、Tcy和Tcz为人为预先设置；① The calculation process of the expected moment of the second flywheel and the expected moment of the third flywheel is:
Figure BDA0003772183220000073
in,
Figure BDA0003772183220000074
E 2 is the corresponding coefficient matrix when the second flywheel is a faulty flywheel, (Tm 1 )" represents the expected torque of the first flywheel, (Tm 3 )" represents the expected torque of the third flywheel, and Tcx represents the satellite's The control torque required by the x-axis of the body coordinate system, Tcy represents the control torque required by the y-axis of the body coordinate system of the satellite, Tcz represents the control torque required by the z-axis of the body coordinate system of the satellite, Tcx, Tcy and Tcz are is preset;

②第二个飞轮的目标输出力矩和第三个飞轮的目标输出力矩的计算过程为：

Figure BDA0003772183220000075
(Twm1)″表示第一个飞轮的目标输出力矩，(Twm3)′表示第三个飞轮的目标输出力矩；② The calculation process of the target output torque of the second flywheel and the target output torque of the third flywheel is:
Figure BDA0003772183220000075
(Twm 1 )″ represents the target output torque of the first flywheel, (Twm 3 )′ represents the target output torque of the third flywheel;

3)例如，第三个飞轮作为故障飞轮，第一个飞轮和第二个飞轮均作为非故障飞轮，所得到的修正后的安装矩阵

Figure BDA0003772183220000076
为例进行说明，具体地：3) For example, if the third flywheel is used as a faulty flywheel, and both the first and second flywheels are used as non-faulty flywheels, the resulting corrected installation matrix
Figure BDA0003772183220000076
As an example to illustrate, specifically:

①第一个飞轮的期望力矩和第二个飞轮的期望力矩的计算过程为：① The calculation process of the expected moment of the first flywheel and the expected moment of the second flywheel is:

Figure BDA0003772183220000077
其中，
Figure BDA0003772183220000078
E3是第三个飞轮为故障飞轮时，所对应的系数矩阵，(Tm1)″′表示第一个飞轮的期望力矩，(Tm2)″′表示第二个飞轮的期望力矩，Tcx表示卫星的本体坐标系的x轴所需要的控制力矩，Tcy表示卫星的本体坐标系的y轴所需要的控制力矩，Tcz表示卫星的本体坐标系的z轴所需要的控制力矩，Tcx、Tcy和Tcz为人为预先设置；
Figure BDA0003772183220000077
in,
Figure BDA0003772183220000078
E 3 is the corresponding coefficient matrix when the third flywheel is a faulty flywheel, (Tm 1 )"' represents the expected torque of the first flywheel, (Tm 2 )"' represents the expected torque of the second flywheel, and Tcx represents The control torque required by the x-axis of the satellite's body coordinate system, Tcy represents the control torque required by the y-axis of the satellite's body coordinate system, Tcz represents the control torque required by the z-axis of the satellite's body coordinate system, Tcx, Tcy and Tcz is artificially preset;

②第一个飞轮的目标输出力矩和第二个飞轮的目标输出力矩的计算过程为：

Figure BDA0003772183220000081
(Twm1)″′表示第一个飞轮的目标输出力矩，(Twm2)″′表示第二个飞轮的目标输出力矩。② The calculation process of the target output torque of the first flywheel and the target output torque of the second flywheel is:
Figure BDA0003772183220000081
(Twm 1 )"' represents the target output torque of the first flywheel, and (Twm 2 )"' represents the target output torque of the second flywheel.

可选地，在上述技术方案中，还包括：Optionally, in the above technical solution, it also includes:

根据安装矩阵和每个非故障飞轮的期望力矩，得到故障飞轮的期望力矩。具体地：According to the installation matrix and the expected torque of each non-faulty flywheel, the expected torque of the faulty flywheel is obtained. specifically:

1)例如，当第一个飞轮为故障飞轮时，利用下述公式计算第一个飞轮即故障飞轮的期望力矩

Figure BDA0003772183220000082
1) For example, when the first flywheel is a faulty flywheel, use the following formula to calculate the expected torque of the first flywheel, that is, the faulty flywheel
Figure BDA0003772183220000082

Figure BDA0003772183220000083
Figure BDA0003772183220000083

2)例如，当第二个飞轮为故障飞轮时，利用下述公式计算第二个飞轮即故障飞轮的期望力矩

Figure BDA0003772183220000084
2) For example, when the second flywheel is a faulty flywheel, use the following formula to calculate the expected torque of the second flywheel, that is, the faulty flywheel
Figure BDA0003772183220000084

Figure BDA0003772183220000085
Figure BDA0003772183220000085

3)例如，当第三个飞轮为故障飞轮时，利用下述公式计算第三个飞轮即故障飞轮的期望力矩

Figure BDA0003772183220000086
3) For example, when the third flywheel is a faulty flywheel, use the following formula to calculate the expected torque of the third flywheel, that is, the faulty flywheel
Figure BDA0003772183220000086

Figure BDA0003772183220000087
Figure BDA0003772183220000087

可选地，在上述技术方案中，S2中，根据故障飞轮的期望力矩，计算卫星的每个磁力矩器的目标输出磁矩，包括：Optionally, in the above technical solution, in S2, the target output magnetic moment of each magnetic torquer of the satellite is calculated according to the expected torque of the faulty flywheel, including:

S20、根据第一公式计算故障飞轮对应的每个磁力矩器的目标输出磁矩，第一公式为：

Figure BDA0003772183220000088
其中，
Figure BDA0003772183220000089
表示卫星所在轨道位置的地磁强度矢量在卫星的本体坐标系中的测量值，该测量值是一个矢量，由卫星上的星载磁强计提供，
Figure BDA0003772183220000091
表示故障飞轮的期望力矩，
Figure BDA0003772183220000092
表示地磁强度矢量的模，MT包括3个元素，分别对应卫星的本体坐标系中的三个坐标轴上的磁力矩器的目标输出磁矩，具体地：S20, calculate the target output magnetic moment of each magnetic torque device corresponding to the faulty flywheel according to the first formula, the first formula is:
Figure BDA0003772183220000088
in,
Figure BDA0003772183220000089
Indicates the measured value of the geomagnetic intensity vector of the orbital position of the satellite in the body coordinate system of the satellite. The measured value is a vector provided by the on-board magnetometer on the satellite.
Figure BDA0003772183220000091
represents the expected torque of the faulty flywheel,
Figure BDA0003772183220000092
Represents the modulus of the geomagnetic intensity vector, MT includes 3 elements, corresponding to the target output magnetic moment of the magnetic torque device on the three coordinate axes in the body coordinate system of the satellite, specifically:

1)例如，当第一个飞轮为故障飞轮时，此时，

Figure BDA0003772183220000093
利用下述公式计算卫星的每个磁力矩器的目标输出磁矩，此时，第一公式变为：
Figure BDA0003772183220000094
由此，计算出MT，MT中的3个元素，分别对应卫星的本体坐标系中的三个坐标轴上的磁力矩器的目标输出磁矩；1) For example, when the first flywheel is a faulty flywheel, at this time,
Figure BDA0003772183220000093
Use the following formula to calculate the target output magnetic moment of each magnetic torque device of the satellite. At this time, the first formula becomes:
Figure BDA0003772183220000094
Thus, MT and the three elements in MT are calculated, which respectively correspond to the target output magnetic moments of the magnetotorque on the three coordinate axes in the body coordinate system of the satellite;

2)例如，当第二个飞轮为故障飞轮时，此时，

Figure BDA0003772183220000095
利用下述公式计算卫星的每个磁力矩器的目标输出磁矩，此时，第一公式变为：
Figure BDA0003772183220000096
由此，计算出MT，MT中的3个元素，分别对应卫星的本体坐标系中的三个坐标轴上的磁力矩器的目标输出磁矩；2) For example, when the second flywheel is a faulty flywheel, at this time,
Figure BDA0003772183220000095
Use the following formula to calculate the target output magnetic moment of each magnetic torque device of the satellite. At this time, the first formula becomes:
Figure BDA0003772183220000096
Thus, MT and the three elements in MT are calculated, which respectively correspond to the target output magnetic moments of the magnetotorque on the three coordinate axes in the body coordinate system of the satellite;

3)例如，当第三个飞轮为故障飞轮时，此时，

Figure BDA0003772183220000097
利用下述公式计算卫星的每个磁力矩器的目标输出磁矩，此时，第一公式变为：
Figure BDA0003772183220000098
由此，计算出MT，MT中的3个元素，分别对应卫星的本体坐标系中的三个坐标轴上的磁力矩器的目标输出磁矩。3) For example, when the third flywheel is a faulty flywheel, at this time,
Figure BDA0003772183220000097
Use the following formula to calculate the target output magnetic moment of each magnetic torque device of the satellite. At this time, the first formula becomes:
Figure BDA0003772183220000098
Thus, MT and the three elements in MT are calculated, respectively corresponding to the target output magnetic moments of the magnetic torquer on the three coordinate axes in the body coordinate system of the satellite.

在上述各实施例中，虽然对步骤进行了编号S1、S2等，但只是本申请给出的具体实施例，本领域的技术人员可根据实际情况调整S1、S2等的执行顺序，此也在本发明的保护范围内，可以理解，在一些实施例中，可以包含如上述各实施方式中的部分或全部。In each of the above-mentioned embodiments, although the steps are numbered S1, S2, etc., they are only specific embodiments provided by the application, and those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation. Within the protection scope of the present invention, it can be understood that, in some embodiments, part or all of the foregoing implementation manners may be included.

如图2所示，本发明实施例的一种用磁力矩器替代故障飞轮的卫星姿控系统200，包括第一计算模块210、第二计算模块220和控制模块230；As shown in FIG. 2 , a satellite attitude control system 200 that uses a magnetic torquer to replace a faulty flywheel according to an embodiment of the present invention includes a first calculation module 210 , a second calculation module 220 and a control module 230 ;

第一计算模块210用于：基于卫星的所有飞轮所对应的安装矩阵，计算每个非故障飞轮的目标输出力矩；The first calculation module 210 is configured to: calculate the target output torque of each non-faulty flywheel based on the installation matrix corresponding to all flywheels of the satellite;

第二计算模块220用于：根据故障飞轮的期望力矩，计算卫星的每个磁力矩器的目标输出磁矩，卫星的本体坐标系中的三个坐标轴上分别设有一个磁力矩器；The second calculation module 220 is used for: according to the expected torque of the faulty flywheel, calculate the target output magnetic moment of each magnetic torque device of the satellite, and a magnetic torque device is respectively arranged on the three coordinate axes in the body coordinate system of the satellite;

控制模块230用于：控制每个非故障飞轮输出相应的目标输出力矩，并控制每个磁力矩器输出相应的目标输出磁矩，以对卫星的姿态进行控制。The control module 230 is used for: controlling each non-faulty flywheel to output a corresponding target output torque, and controlling each magnetic torquer to output a corresponding target output magnetic torque, so as to control the attitude of the satellite.

当卫星上任意一个飞轮发生故障时，采用卫星上已有的三正交方式安装设置的磁力矩器，完成该故障飞轮的控制功能，避免配置多个冗余飞轮，极大降低了卫星的研制成本，且降低了卫星的重量。When any flywheel on the satellite fails, use the existing three-orthogonal magnetic torque device installed on the satellite to complete the control function of the faulty flywheel, avoiding the configuration of multiple redundant flywheels, and greatly reducing the development of satellites cost and reduce the weight of the satellite.

可选地，在上述技术方案中，第一计算模块210具体用于：Optionally, in the above technical solution, the first calculation module 210 is specifically used to:

从安装矩阵中，删除故障飞轮所关联的元素，得到修正后的安装矩阵；From the installation matrix, delete the elements associated with the faulty flywheel to obtain the corrected installation matrix;

根据修正后的安装矩阵和每个非故障飞轮的期望力矩，计算每个非故障飞轮的目标输出力矩。According to the corrected installation matrix and the expected torque of each non-faulty flywheel, the target output torque of each non-faulty flywheel is calculated.

可选地，在上述技术方案中，还包括第三计算模块，第三计算模块用于：Optionally, in the above technical solution, a third calculation module is also included, and the third calculation module is used for:

根据安装矩阵和每个非故障飞轮的期望力矩，得到故障飞轮的期望力矩。According to the installation matrix and the expected torque of each non-faulty flywheel, the expected torque of the faulty flywheel is obtained.

可选地，在上述技术方案中，第二计算模块220具体用于：Optionally, in the above technical solution, the second calculating module 220 is specifically used for:

根据第一公式计算故障飞轮对应的每个磁力矩器的目标输出磁矩，第一公式为：

Figure BDA0003772183220000101
其中，
Figure BDA0003772183220000102
表示卫星所在轨道位置的地磁强度矢量在卫星的本体坐标系中的测量值，
Figure BDA0003772183220000103
表示故障飞轮的期望力矩，
Figure BDA0003772183220000104
表示地磁强度矢量的模，MT包括3个元素，分别对应卫星的本体坐标系中的每个坐标轴上的磁力矩器的目标输出磁矩。Calculate the target output magnetic moment of each magnetic torque device corresponding to the faulty flywheel according to the first formula, the first formula is:
Figure BDA0003772183220000101
in,
Figure BDA0003772183220000102
Indicates the measured value of the geomagnetic intensity vector of the orbital position of the satellite in the body coordinate system of the satellite,
Figure BDA0003772183220000103
represents the expected torque of the faulty flywheel,
Figure BDA0003772183220000104
Representing the modulus of the geomagnetic intensity vector, MT includes 3 elements, which correspond to the target output magnetic moment of the magnetic torque device on each coordinate axis in the body coordinate system of the satellite.

上述关于本发明的一种用磁力矩器替代故障飞轮的卫星姿控系统200中的各参数和各个单元模块实现相应功能的步骤，可参考上文中关于一种用磁力矩器替代故障飞轮的卫星姿控方法的实施例中的各参数和步骤，在此不做赘述。For the steps of realizing the corresponding functions of each parameter and each unit module in the satellite attitude control system 200 in which a magnetic torquer is used to replace a faulty flywheel in the present invention, please refer to the above article about a satellite that uses a magnetic torquer to replace a faulty flywheel. The parameters and steps in the embodiment of the attitude control method will not be repeated here.

本发明实施例的一种存储介质，存储介质中存储有指令，当计算机读取指令时，使计算机执行上述任一实施例中的的一种用磁力矩器替代故障飞轮的卫星姿控方法。A storage medium according to an embodiment of the present invention stores instructions in the storage medium, and when the computer reads the instructions, the computer is made to execute a satellite attitude control method in which a magnetic torquer is used to replace a faulty flywheel in any of the above embodiments.

本发明实施例的一种设备，包括处理器和上述的存储介质，处理器执行存储介质中的指令。设备为电子设备，具体可以选用电脑、手机等。A device according to an embodiment of the present invention includes a processor and the above-mentioned storage medium, and the processor executes instructions in the storage medium. The equipment is an electronic equipment, specifically, a computer, a mobile phone, etc. can be selected.

所属技术领域的技术人员知道，本发明可以实现为系统、方法或计算机程序产品。Those skilled in the art know that the present invention can be implemented as a system, method or computer program product.

因此，本公开可以具体实现为以下形式，即：可以是完全的硬件、也可以是完全的软件(包括固件、驻留软件、微代码等)，还可以是硬件和软件结合的形式，本文一般称为“电路”、“模块”或“系统”。此外，在一些实施例中，本发明还可以实现为在一个或多个计算机可读介质中的计算机程序产品的形式，该计算机可读介质中包含计算机可读的程序代码。Therefore, the present disclosure can be specifically implemented in the following forms, that is: it can be complete hardware, it can also be complete software (including firmware, resident software, microcode, etc.), and it can also be a combination of hardware and software. Called a "circuit", "module" or "system". Furthermore, in some embodiments, the present invention can also be implemented in the form of a computer program product embodied in one or more computer-readable media having computer-readable program code embodied therein.

可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是一一但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括:具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM),只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。Any combination of one or more computer readable medium(s) may be utilized. 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 electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more leads, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (10)

1.一种用磁力矩器替代故障飞轮的卫星姿控方法，其特征在于，包括：1. a satellite attitude control method that replaces a faulty flywheel with a magnetic torque device, it is characterized in that, comprising: 基于卫星的所有飞轮所对应的安装矩阵，计算每个非故障飞轮的目标输出力矩；Calculate the target output torque of each non-faulty flywheel based on the installation matrix corresponding to all flywheels of the satellite; 根据故障飞轮的期望力矩，计算卫星的每个磁力矩器的目标输出磁矩，所述卫星的本体坐标系中的三个坐标轴上分别设有一个磁力矩器；According to the desired torque of the faulty flywheel, calculate the target output magnetic moment of each magnetic torque device of the satellite, and three coordinate axes in the body coordinate system of the satellite are respectively provided with a magnetic torque device; 控制每个非故障飞轮输出相应的目标输出力矩，并控制每个磁力矩器输出相应的目标输出磁矩，以对所述卫星的姿态进行控制。Each non-faulty flywheel is controlled to output a corresponding target output torque, and each magnetic torquer is controlled to output a corresponding target output magnetic moment, so as to control the attitude of the satellite. 2.根据权利要求1所述的一种用磁力矩器替代故障飞轮的卫星姿控方法，其特征在于，计算每个非故障飞轮的目标输出力矩的过程，包括：2. A kind of satellite attitude control method that replaces faulty flywheel with magnetic torque device according to claim 1, it is characterized in that, the process of calculating the target output moment of each non-faulty flywheel comprises: 从所述安装矩阵中，删除所述故障飞轮所关联的元素，得到修正后的安装矩阵；Deleting elements associated with the faulty flywheel from the installation matrix to obtain a corrected installation matrix; 根据修正后的安装矩阵和每个非故障飞轮的期望力矩，计算每个非故障飞轮的目标输出力矩。According to the corrected installation matrix and the expected torque of each non-faulty flywheel, the target output torque of each non-faulty flywheel is calculated. 3.根据权利要求2所述的一种用磁力矩器替代故障飞轮的卫星姿控方法，其特征在于，还包括：3. A kind of satellite attitude control method that replaces faulty flywheel with magnetic torque device according to claim 2, is characterized in that, also comprises: 根据所述安装矩阵和每个非故障飞轮的期望力矩，得到所述故障飞轮的期望力矩。According to the installation matrix and the expected torque of each non-faulty flywheel, the expected torque of the faulty flywheel is obtained. 4.根据权利要求3所述的一种用磁力矩器替代故障飞轮的卫星姿控方法，其特征在于，所述根据所述故障飞轮的期望力矩，计算卫星的每个磁力矩器的目标输出磁矩，包括：4. a kind of satellite attitude control method that replaces faulty flywheel with magnetic torquer according to claim 3, is characterized in that, described according to the expected torque of described faulty flywheel, calculates the target output of each magnetic torquer of satellite magnetic moments, including: 根据第一公式计算故障飞轮对应的每个磁力矩器的目标输出磁矩，所述第一公式为：
Figure FDA0003772183210000011
其中，
Figure FDA0003772183210000012
表示卫星所在轨道位置的地磁强度矢量在所述卫星的本体坐标系中的测量值，
Figure FDA0003772183210000013
表示所述故障飞轮的期望力矩，
Figure FDA0003772183210000021
表示所述地磁强度矢量的模，MT包括3个元素，分别对应所述卫星的本体坐标系中的每个坐标轴上的磁力矩器的目标输出磁矩。Calculate the target output magnetic moment of each magnetic torque device corresponding to the faulty flywheel according to the first formula, and the first formula is:
Figure FDA0003772183210000011
in,
Figure FDA0003772183210000012
Representing the measured value of the geomagnetic intensity vector of the orbital position of the satellite in the body coordinate system of the satellite,
Figure FDA0003772183210000013
represents the expected torque of the faulty flywheel,
Figure FDA0003772183210000021
Representing the modulus of the geomagnetic intensity vector, MT includes 3 elements, respectively corresponding to the target output magnetic moment of the magnetic torque device on each coordinate axis in the body coordinate system of the satellite. 5.一种用磁力矩器替代故障飞轮的卫星姿控系统，其特征在于，包括第一计算模块、第二计算模块和控制模块；5. A satellite attitude control system that replaces a faulty flywheel with a magnetic torque device, is characterized in that it includes a first calculation module, a second calculation module and a control module; 所述第一计算模块用于：基于卫星的所有飞轮所对应的安装矩阵，计算每个非故障飞轮的目标输出力矩；The first calculation module is used to: calculate the target output torque of each non-faulty flywheel based on the installation matrix corresponding to all the flywheels of the satellite; 所述第二计算模块用于：根据故障飞轮的期望力矩，计算卫星的每个磁力矩器的目标输出磁矩，所述卫星的本体坐标系中的三个坐标轴上分别设有一个磁力矩器；The second calculation module is used to: calculate the target output magnetic moment of each magnetic torque device of the satellite according to the expected torque of the faulty flywheel, and a magnetic torque is respectively arranged on the three coordinate axes in the body coordinate system of the satellite device; 所述控制模块用于：控制每个非故障飞轮输出相应的目标输出力矩，并控制每个磁力矩器输出相应的目标输出磁矩，以对所述卫星的姿态进行控制。The control module is used for: controlling each non-faulty flywheel to output a corresponding target output torque, and controlling each magnetic torquer to output a corresponding target output magnetic moment, so as to control the attitude of the satellite. 6.根据权利要求5所述的一种用磁力矩器替代故障飞轮的卫星姿控系统，其特征在于，所述所述第一计算模块具体用于：6. A kind of satellite attitude control system that replaces faulty flywheel with magnetic torque device according to claim 5, is characterized in that, described first calculation module is specifically used for: 从所述安装矩阵中，删除所述故障飞轮所关联的元素，得到修正后的安装矩阵；Deleting elements associated with the faulty flywheel from the installation matrix to obtain a corrected installation matrix; 根据修正后的安装矩阵和每个非故障飞轮的期望力矩，计算每个非故障飞轮的目标输出力矩。According to the corrected installation matrix and the expected torque of each non-faulty flywheel, the target output torque of each non-faulty flywheel is calculated. 7.根据权利要求6所述的一种用磁力矩器替代故障飞轮的卫星姿控系统，其特征在于，还包括第三计算模块，所述第三计算模块用于：7. A kind of satellite attitude control system that replaces faulty flywheel with magnetic torque device according to claim 6, is characterized in that, also comprises the 3rd computing module, and described 3rd computing module is used for: 根据所述安装矩阵和每个非故障飞轮的期望力矩，得到所述故障飞轮的期望力矩。According to the installation matrix and the expected torque of each non-faulty flywheel, the expected torque of the faulty flywheel is obtained. 8.根据权利要求7所述的一种用磁力矩器替代故障飞轮的卫星姿控系统，其特征在于，所述第二计算模块具体用于：8. A kind of satellite attitude control system that replaces faulty flywheel with magnetic torque device according to claim 7, is characterized in that, described second calculation module is specifically used for: 根据第一公式计算故障飞轮对应的每个磁力矩器的目标输出磁矩，所述第一公式为：
Figure FDA0003772183210000022
其中，
Figure FDA0003772183210000023
表示卫星所在轨道位置的地磁强度矢量在所述卫星的本体坐标系中的测量值，
Figure FDA0003772183210000031
表示所述故障飞轮的期望力矩，
Figure FDA0003772183210000032
表示所述地磁强度矢量的模，MT包括3个元素，分别对应所述卫星的本体坐标系中的每个坐标轴上的磁力矩器的目标输出磁矩。Calculate the target output magnetic moment of each magnetic torque device corresponding to the faulty flywheel according to the first formula, and the first formula is:
Figure FDA0003772183210000022
in,
Figure FDA0003772183210000023
Representing the measured value of the geomagnetic intensity vector of the orbital position of the satellite in the body coordinate system of the satellite,
Figure FDA0003772183210000031
represents the expected torque of the faulty flywheel,
Figure FDA0003772183210000032
Representing the modulus of the geomagnetic intensity vector, MT includes 3 elements, respectively corresponding to the target output magnetic moment of the magnetic torque device on each coordinate axis in the body coordinate system of the satellite. 9.一种存储介质，其特征在于，所述存储介质中存储有指令，当计算机读取所述指令时，使所述计算机执行如权利要求1至4中任一项所述的一种用磁力矩器替代故障飞轮的卫星姿控方法。9. A storage medium, characterized in that instructions are stored in the storage medium, and when the computer reads the instructions, the computer is made to execute a user according to any one of claims 1 to 4. A satellite attitude control method for replacing a faulty flywheel with a magnetic torque device. 10.一种设备，其特征在于，包括处理器和权利要求9所述的存储介质，所述处理器执行所述存储介质中的指令。10. A device, comprising a processor and the storage medium according to claim 9, the processor executing instructions in the storage medium.
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