CN112596532A - Dynamic distribution method for attitude control engine control instructions of H spacecraft - Google Patents
Dynamic distribution method for attitude control engine control instructions of H spacecraft Download PDFInfo
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Abstract
One embodiment of the invention discloses a method for dynamically distributing H spacecraft attitude control engine control instructions, which comprises the following steps: s101: establishing all working combination torque tables of the H attitude control engines and storing the working combination torque tables in a memory; s102: and selecting the attitude control engine working combination from all the stored working combination torque tables according to the preset command torque. The dynamic distribution method for the control instructions of the attitude control engines of the H spacecraft, provided by the invention, can dynamically distribute the attitude control engines in real time according to the control instructions, and has the advantages of less propellant consumption, high control precision, strong universality and good robustness.
Description
Technical Field
The invention relates to the technical field of attitude control engine control instruction dynamic distribution, in particular to a dynamic distribution method for attitude control engine control instructions of H spacecraft.
Background
The dynamic control instruction allocation method of the attitude control engine directly influences the realization of the attitude control effect and the propellant consumption, so the quality of the design of the dynamic control instruction allocation method has important influence on the performance of the whole control system. In order to obtain simple control logic, decoupling configuration is generally adopted when the attitude control engine of the spacecraft is configured, namely the attitude control engine of each shaft is configured independently, the control instruction distribution algorithm is simple, and the shafts are not coupled. With the increasing complexity of space missions and the increasing concern of economy in the design of spacecraft, some spacecraft have adopted a coupling configuration mode to some extent in recent years. This puts a higher demand on the attitude control engine control command assignment algorithm.
The traditional attitude control engine control instruction distribution method adopts a direct distribution mode and a solidified distribution list mode, namely, the torque in the control quantity direction can be generated by a special attitude control engine, and the torque and the special attitude control engine are in one-to-one correspondence. The decoupled control instruction distribution strategy is used in a high-redundancy attitude control system of the multi-attitude control engine, and the mutual coupling effect of each attitude control engine in outputting thrust and moment is required to be comprehensively considered, so that a control instruction distribution algorithm is complex, difficult to design, multiple in branches, poor in testability and low in use efficiency of the attitude control engine.
Disclosure of Invention
The invention aims to provide a dynamic distribution method for control instructions of attitude control engines of H space vehicles, and solves the problems of complex instruction distribution algorithm and poor testability of a high-redundancy attitude control system of a multi-attitude control engine.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a method for dynamically distributing H spacecraft attitude control engine control instructions on one hand, which comprises the following steps:
s101: establishing all working combination torque tables of the H attitude control engines and storing the working combination torque tables in a memory;
s102: and selecting the attitude control engine working combination from all the stored working combination torque tables according to the preset command torque.
In one embodiment, the establishing all the working combination torque tables of the H attitude control engines includes:
establishing a torque meter for each attitude control engine in the H attitude control engines to work independently and a torque meter for each D attitude control engine to work and combine;
wherein D is 2 to H in sequence.
In one embodiment, establishing the separately operating torque table for each of the attitude control engines comprises:
calculating the moment M generated when the h-th attitude control engine works aloneh：
Adding the obtained torque when all the attitude control engines work independently into a torque meter when each attitude control engine works independently;
wherein the content of the first and second substances,
Mxhthe moment of the h attitude control engine in the X-axis direction of the spacecraft when the h attitude control engine works independently;
Myhthe moment of the h attitude control engine in the Y-axis direction of the spacecraft when the h attitude control engine works independently;
Mzhthe moment of the h attitude control engine in the Z-axis direction of the spacecraft when the h attitude control engine works independently;
rxhthe moment arm of the h attitude control engine in the X-axis direction of the spacecraft when the h attitude control engine works independently;
ryhthe moment arm of the h attitude control engine in the Y-axis direction of the spacecraft when the h attitude control engine works independently;
rzhthe moment arm of the h attitude control engine in the Z-axis direction of the spacecraft when the h attitude control engine works independently;
Fxhthe thrust of the h attitude control engine in the X-axis direction of the spacecraft when the h attitude control engine works independently;
Fyhthe thrust of the h attitude control engine in the Y-axis direction of the spacecraft when the h attitude control engine works independently;
Fzhfor the h-th attitude control engineThrust in the Z-axis direction of the spacecraft in operation;
wherein H is 1-H.
In one embodiment, establishing a torque table for each of the D attitude control engine operating combinations further comprises:
establishing a torque chart of every two attitude control engine working combinations, comprising the following steps:
if M is in the same working state when the ith attitude control engine and the jth attitude control engine work simultaneouslyxi·Mxj+Myi·Myj+Mzi·MzjIs greater than 0 and i>j, calculating the moments of the ith and jth attitude control engine working combinations by adopting the ith and jth working combinations, adding the moments into a moment table of every two attitude control engine working combinations, and otherwise, not adopting the working combination, wherein i is more than or equal to 1 and is not equal to j and is not more than H;
the moment of the working combination of the two attitude control engines is as follows:
wherein the content of the first and second substances,
Mxijthe moment of the ith attitude control engine and the jth attitude control engine in the X-axis direction of the spacecraft when the ith attitude control engine and the jth attitude control engine work simultaneously;
Myijthe moment of the ith attitude control engine and the jth attitude control engine in the Y-axis direction of the spacecraft when the ith attitude control engine and the jth attitude control engine work simultaneously;
Mzijthe moment of the ith attitude control engine and the jth attitude control engine in the Z-axis direction of the spacecraft when the ith attitude control engine and the jth attitude control engine work simultaneously;
Mxithe moment of the ith attitude control engine in the X-axis direction of the spacecraft when the ith attitude control engine works independently;
Myithe moment of the ith attitude control engine in the Y-axis direction of the spacecraft when the ith attitude control engine works independently;
Mzithe moment of the ith attitude control engine in the Z-axis direction of the spacecraft when the ith attitude control engine works independently;
Mxjfor operation of jth attitude-control engine aloneMoment in the X-axis direction of the spacecraft;
Myjthe moment of the jth attitude control engine in the Y-axis direction of the spacecraft when the jth attitude control engine works alone;
Mzjthe moment of the jth attitude control engine in the Z-axis direction of the spacecraft when the jth attitude control engine works alone is obtained.
In one embodiment, establishing the torque table for each of the D operation combinations of the attitude control engines further comprises:
establishing a torque chart of every three attitude control engine working combinations, comprising the following steps:
adding a kth attitude control engine into each adopted ith and jth attitude control engine working combination;
if M isxij·Mxk+Myij·Myk+Mzij·Mzk> 0 and k>i and k>j, calculating the moment of the working combination by adopting the ith, jth and kth working combinations, and adding the moment into a moment table of every three attitude control engine working combinations, otherwise, not adopting the working combination, wherein i is more than or equal to 1, j is not equal to k, and H is not more than or equal to k;
the moments of the working combination of the three attitude control engines are as follows:
wherein the content of the first and second substances,
Mxijkthe moment of the ith attitude control engine, the jth attitude control engine and the kth attitude control engine in the X-axis direction of the spacecraft when working simultaneously;
Myijkthe moment of the ith attitude control engine, the jth attitude control engine and the kth attitude control engine in the Y-axis direction of the spacecraft when working simultaneously;
Mzijkthe moment of the ith attitude control engine, the jth attitude control engine and the kth attitude control engine in the Z-axis direction of the spacecraft when working simultaneously;
Mxkthe moment of the kth attitude control engine in the X-axis direction of the spacecraft when the kth attitude control engine works independently;
Mykthe moment of the kth attitude control engine in the Y-axis direction of the spacecraft when the kth attitude control engine works alone;
Mzkthe moment of the k attitude control engine in the Z-axis direction of the spacecraft when the k attitude control engine works alone.
In one embodiment, establishing the torque table for each of the D operation combinations of the attitude control engines further comprises:
and (3) deducing the establishment method of the four to H torque meters of the working combination of every three attitude control engines to obtain all the working combination torque meters of the H attitude control engines.
In one embodiment, selecting an attitude control engine operating combination from the stored all operating combination torque tables based on the preset command torque comprises:
calculating effective moment M according to the command moment and the starting number of the engines of the g-th working combination in all working combination torque tables of the H attitude control engines0rg：
Calculating included angle theta between torque generated by the g-th working combination in all working combination torque tables of H attitude control engines and command torqueg：
If the g-th attitude control engine working combination meets thetag< P _ CtaLim and M0rgSelecting the attitude control engine working combination when the maximum attitude control engine working combination is selected;
wherein G is 1-G, wherein G is the total number of working combinations in all working combination torque tables of H attitude control engines;
M0gthe moment of the g-th working combination in all working combination torque tables of the H attitude control engines is obtained;
Mrsetting the preset command torque as the preset command torque;
ZKCnt is the number of attitude control engines corresponding to the g-th working combination;
and P _ CtaLim is a threshold value of an included angle between the working combination moment and the command moment of the attitude control engine.
Another aspect of the present invention provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above method when executing the program.
Another aspect of the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method described above.
The invention has the following beneficial effects:
the dynamic distribution method for the control instructions of the attitude control engines of the H spacecraft, provided by the invention, can dynamically distribute the attitude control engines in real time according to the control instructions, and has the advantages of less propellant consumption, high control precision, strong universality and good robustness.
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In order to more clearly illustrate the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are one embodiment of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 shows a flowchart of a method for dynamically allocating H spacecraft attitude control engine control commands, according to an embodiment of the invention.
Fig. 2 shows a schematic structural diagram of a computer device according to a further embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. The present invention will be described in detail with reference to specific examples, but the present invention is not limited to these examples. Variations and modifications may be made by those skilled in the art without departing from the principles of the invention and should be considered within the scope of the invention.
First embodiment
The present embodiment provides a method for dynamically allocating H spacecraft attitude control engine control commands, and as shown in fig. 1, fig. 1 shows a flowchart of a method for dynamically allocating H spacecraft attitude control engine control commands according to an embodiment of the present invention. Wherein H is a natural number of 2 or more. The method comprises the following steps:
s101: establishing all working combination torque tables of the H attitude control engines and storing the working combination torque tables in a memory;
in the present embodiment, the total number H of attitude control engines is taken as three for explanation; in this embodiment, establishing all the working combination torque charts of the three attitude control engines comprises:
and establishing a torque meter for each attitude control engine in the three attitude control engines to work independently, a torque meter for the working combination of every two attitude control engines and a torque meter for the working combination of every three attitude control engines.
S1011: firstly, establishing a torque table for each attitude control engine to work independently comprises the following steps:
calculating the moment M generated when the h-th attitude control engine works aloneh：
Adding the obtained torque when all the attitude control engines work independently into a torque meter when each attitude control engine works independently,
wherein the content of the first and second substances,
Mxhthe moment of the h attitude control engine in the X-axis direction of the spacecraft when the h attitude control engine works independently;
Myhthe moment of the h attitude control engine in the Y-axis direction of the spacecraft when the h attitude control engine works independently;
Mzhis as followsh moment of the attitude control engine in the Z-axis direction of the spacecraft when the attitude control engine works independently;
rxhthe moment arm of the h attitude control engine in the X-axis direction of the spacecraft when the h attitude control engine works independently;
ryhthe moment arm of the h attitude control engine in the Y-axis direction of the spacecraft when the h attitude control engine works independently;
rzhthe moment arm of the h attitude control engine in the Z-axis direction of the spacecraft when the h attitude control engine works independently;
Fxhthe thrust of the h attitude control engine in the X-axis direction of the spacecraft when the h attitude control engine works independently;
Fyhthe thrust of the h attitude control engine in the Y-axis direction of the spacecraft when the h attitude control engine works independently;
Fzhthe thrust of the h attitude control engine in the Z-axis direction of the spacecraft when the h attitude control engine works independently;
wherein h is 1-3.
S1012: secondly, establish every two attitude control engine work combination's torque table, include:
if M is in the same working state when the ith attitude control engine and the jth attitude control engine work simultaneouslyxi·Mxj+Myi·Myj+Mzi·MzjIs greater than 0 and i>j, calculating the moments of the ith and jth attitude control engine working combinations by adopting the ith and jth working combinations, adding the moments into a moment table of every two attitude control engine working combinations, and otherwise, not adopting the working combination, wherein i is more than or equal to 1 and is not equal to j and is less than or equal to 3;
the moment of the working combination of the two attitude control engines is as follows:
wherein the content of the first and second substances,
Mxijthe moment of the ith attitude control engine and the jth attitude control engine in the X-axis direction of the spacecraft when the ith attitude control engine and the jth attitude control engine work simultaneously;
Myijstarting for ith attitude control engine and jth attitude control engineMoment in the Y-axis direction of the spacecraft when the spacecraft works simultaneously;
Mzijthe moment of the ith attitude control engine and the jth attitude control engine in the Z-axis direction of the spacecraft when the ith attitude control engine and the jth attitude control engine work simultaneously;
Mxithe moment of the ith attitude control engine in the X-axis direction of the spacecraft when the ith attitude control engine works independently;
Myithe moment of the ith attitude control engine in the Y-axis direction of the spacecraft when the ith attitude control engine works independently;
Mzithe moment of the ith attitude control engine in the Z-axis direction of the spacecraft when the ith attitude control engine works independently;
Mxjthe moment of the jth attitude control engine in the X-axis direction of the spacecraft when the jth attitude control engine works alone;
Myjthe moment of the jth attitude control engine in the Y-axis direction of the spacecraft when the jth attitude control engine works alone;
Mzjthe moment of the jth attitude control engine in the Z-axis direction of the spacecraft when the jth attitude control engine works alone is obtained.
S1013: and finally, establishing a torque chart of every three attitude control engine working combinations, which comprises the following steps:
adding a kth attitude control engine into each adopted ith and jth attitude control engine working combination;
if M isxij·Mxk+Myij·Myk+Mzij·Mzk> 0 and k>i and k>j, calculating the moment of the working combination by adopting the ith, jth and kth working combinations, and adding the moment into a moment table of every three attitude control engine working combinations, otherwise, not adopting the working combination, wherein i is more than or equal to 1, j is not equal to k is not more than 3;
the moments of the working combination of the three attitude control engines are as follows:
wherein the content of the first and second substances,
Mxijkfor the ith attitude control engine, the jth attitude control engine and the ithThe k attitude control engines work simultaneously to generate moment in the X-axis direction of the spacecraft;
Myijkthe moment of the ith attitude control engine, the jth attitude control engine and the kth attitude control engine in the Y-axis direction of the spacecraft when working simultaneously;
Mzijkthe moment of the ith attitude control engine, the jth attitude control engine and the kth attitude control engine in the Z-axis direction of the spacecraft when working simultaneously;
Mxijthe moment of the ith attitude control engine and the jth attitude control engine in the X-axis direction of the spacecraft when the ith attitude control engine and the jth attitude control engine work simultaneously;
Myijthe moment of the ith attitude control engine and the jth attitude control engine in the Y-axis direction of the spacecraft when the ith attitude control engine and the jth attitude control engine work simultaneously;
Mzijthe moment of the ith attitude control engine and the jth attitude control engine in the Z-axis direction of the spacecraft when the ith attitude control engine and the jth attitude control engine work simultaneously;
Mxkthe moment of the kth attitude control engine in the X-axis direction of the spacecraft when the kth attitude control engine works independently;
Mykthe moment of the kth attitude control engine in the Y-axis direction of the spacecraft when the kth attitude control engine works alone;
Mzkthe moment of the k attitude control engine in the Z-axis direction of the spacecraft when the k attitude control engine works alone.
S102: selecting an attitude control engine working combination from all stored working combination torque tables according to a preset command torque;
s1021: according to the preset command torque, selecting the attitude control engine working combination from all the stored working combination torque tables comprises the following steps:
calculating effective moment M according to the command moment and the starting number of the engines of the g-th working combination in all working combination torque tables of the three attitude control engines0rg：
Calculating included angle theta between torque generated by the g-th working combination in all working combination torque meters of the three attitude control engines and command torqueg：
If the g-th attitude control engine working combination meets thetag< P _ CtaLim and M0rgIf the numerical value of the attitude control engine is the maximum effective moment of all the working combinations, the attitude control engine working combination is selected;
wherein G is 1-G, wherein G is the total number of working combinations in all working combination torque meters of the three attitude control engines;
M0gthe moment of the g-th working combination in all working combination torque meters of the three attitude control engines;
Mrsetting the preset command torque as the preset command torque; the command torque can be understood as a control command, and is calculated according to the attitude angle deviation and the like, namely the attitude angle deviation can be eliminated only by providing the torque with the command torque;
ZKCnt is the number of attitude control engines corresponding to the g-th working combination;
and P _ CtaLim is a threshold value of an included angle between the working combination moment and the command moment of the attitude control engine.
It should be understood by those skilled in the art that the present embodiment is described by taking the total number of the attitude control engines as 3 as an example, but the present invention is not limited thereto. It is also within the scope of the invention to establish a torque chart of the operation combination of the attitude control engine by deducing three or more of the methods according to the method of step S1013 in the present embodiment.
Second embodiment
Fig. 2 shows a schematic structural diagram of a computer device according to another embodiment of the present application. The computer device 50 shown in fig. 2 is only an example, and should not bring any limitation to the function and the scope of use of the embodiments of the present application. As shown in FIG. 2, computer device 50 is in the form of a general purpose computing device. The components of computer device 50 may include, but are not limited to: one or more processors or processing units 500, a system memory 516, and a bus 501 that couples various system components including the system memory 516 and the processing unit 500.
The system memory 516 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)504 and/or cache memory 506. The computer device 50 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 508 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 2, and commonly referred to as a "hard disk drive"). Although not shown in FIG. 2, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 501 by one or more data media interfaces. Memory 516 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiment one.
A program/utility 510 having a set (at least one) of program modules 512 may be stored, for example, in memory 516, such program modules 512 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 512 generally perform the functions and/or methodologies of the embodiments described herein.
The processor unit 500 executes programs stored in the system memory 516, thereby executing various functional applications and data processing, for example, implementing a method for dynamically allocating H spacecraft attitude control engine control commands according to an embodiment of the present application.
The computer equipment for the H spacecraft attitude control engine control instruction dynamic distribution method can dynamically distribute the attitude control engines in real time according to the control instructions, and is low in propellant consumption, high in control precision, high in universality and good in robustness.
Third embodiment
Another embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method provided by the first embodiment. In practice, the computer-readable storage medium may take any combination of one or more computer-readable media. 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 would include the following: 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 present embodiment, 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.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (9)
1. A dynamic distribution method for H spacecraft attitude control engine control commands is characterized by comprising the following steps:
s101: establishing all working combination torque tables of the H attitude control engines and storing the working combination torque tables in a memory;
s102: and selecting the attitude control engine working combination from all the stored working combination torque tables according to the preset command torque.
2. The method of claim 1, wherein the establishing all operational combined schedules for the H attitude control engines comprises:
establishing a torque meter for each attitude control engine in the H attitude control engines to work independently and a torque meter for each D attitude control engine to work and combine;
wherein D is 2 to H in sequence.
3. The method of claim 2, wherein establishing the separately operating torque table for each attitude control engine comprises:
calculating the moment M generated when the h-th attitude control engine works aloneh：
Adding the obtained torque when all the attitude control engines work independently into a torque meter when each attitude control engine works independently;
wherein the content of the first and second substances,
Mxhthe moment of the h attitude control engine in the X-axis direction of the spacecraft when the h attitude control engine works independently;
Myhthe moment of the h attitude control engine in the Y-axis direction of the spacecraft when the h attitude control engine works independently;
Mzhthe moment of the h attitude control engine in the Z-axis direction of the spacecraft when the h attitude control engine works independently;
rxhthe moment arm of the h attitude control engine in the X-axis direction of the spacecraft when the h attitude control engine works independently;
ryhthe moment arm of the h attitude control engine in the Y-axis direction of the spacecraft when the h attitude control engine works independently;
rzhthe moment arm of the h attitude control engine in the Z-axis direction of the spacecraft when the h attitude control engine works independently;
Fxhthe thrust of the h attitude control engine in the X-axis direction of the spacecraft when the h attitude control engine works independently;
Fyhthe thrust of the h attitude control engine in the Y-axis direction of the spacecraft when the h attitude control engine works independently;
Fzhthe thrust of the h attitude control engine in the Z-axis direction of the spacecraft when the h attitude control engine works independently;
wherein H is 1-H.
4. The method of claim 3, wherein establishing a torque table for each D attitude control engine operating combinations further comprises:
establishing a torque chart of every two attitude control engine working combinations, comprising the following steps:
if M is in the same working state when the ith attitude control engine and the jth attitude control engine work simultaneouslyxi·Mxj+Myi·Myj+Mzi·MzjIs greater than 0 and i>j, calculating the moments of the ith and jth attitude control engine working combinations by adopting the ith and jth working combinations, adding the moments into a moment table of every two attitude control engine working combinations, and otherwise, not adopting the working combination, wherein i is more than or equal to 1 and is not equal to j and is not more than H;
the moment of the working combination of the two attitude control engines is as follows:
wherein the content of the first and second substances,
Mxijthe moment of the ith attitude control engine and the jth attitude control engine in the X-axis direction of the spacecraft when the ith attitude control engine and the jth attitude control engine work simultaneously;
Myijthe moment of the ith attitude control engine and the jth attitude control engine in the Y-axis direction of the spacecraft when the ith attitude control engine and the jth attitude control engine work simultaneously;
Mzijthe moment of the ith attitude control engine and the jth attitude control engine in the Z-axis direction of the spacecraft when the ith attitude control engine and the jth attitude control engine work simultaneously;
Mxithe moment of the ith attitude control engine in the X-axis direction of the spacecraft when the ith attitude control engine works independently;
Myithe moment of the ith attitude control engine in the Y-axis direction of the spacecraft when the ith attitude control engine works independently;
Mzithe moment of the ith attitude control engine in the Z-axis direction of the spacecraft when the ith attitude control engine works independently;
Mxjthe moment of the jth attitude control engine in the X-axis direction of the spacecraft when the jth attitude control engine works alone;
Myjin the spacecraft when the jth attitude control engine works aloneMoment in the Y-axis direction;
Mzjthe moment of the jth attitude control engine in the Z-axis direction of the spacecraft when the jth attitude control engine works alone is obtained.
5. The method of claim 4, wherein establishing the torquechart for each D attitude control engine operating combinations further comprises:
establishing a torque chart of every three attitude control engine working combinations, comprising the following steps:
adding a kth attitude control engine into each adopted ith and jth attitude control engine working combination;
if M isxij·Mxk+Myij·Myk+Mzij·Mzk> 0 and k>i and k>j, calculating the moment of the working combination by adopting the ith, jth and kth working combinations, and adding the moment into a moment table of every three attitude control engine working combinations, otherwise, not adopting the working combination, wherein i is more than or equal to 1, j is not equal to k, and H is not more than or equal to k;
the moments of the working combination of the three attitude control engines are as follows:
wherein the content of the first and second substances,
Mxijkthe moment of the ith attitude control engine, the jth attitude control engine and the kth attitude control engine in the X-axis direction of the spacecraft when working simultaneously;
Myijkthe moment of the ith attitude control engine, the jth attitude control engine and the kth attitude control engine in the Y-axis direction of the spacecraft when working simultaneously;
Mzijkthe moment of the ith attitude control engine, the jth attitude control engine and the kth attitude control engine in the Z-axis direction of the spacecraft when working simultaneously;
Mxkthe moment of the kth attitude control engine in the X-axis direction of the spacecraft when the kth attitude control engine works independently;
Mykfor the kth attitude control engine aloneMoment in the Y-axis direction of the spacecraft during working;
Mzkthe moment of the k attitude control engine in the Z-axis direction of the spacecraft when the k attitude control engine works alone.
6. The method of claim 5, wherein establishing the torquechart for each D attitude control engine operating combinations further comprises:
and (3) deducing the establishment method of the four to H torque meters of the working combination of every three attitude control engines to obtain all the working combination torque meters of the H attitude control engines.
7. The method of claim 1, wherein selecting an attitude control engine operating combination from the stored all operating combination torque tables based on a preset command torque comprises:
calculating effective moment M according to the command moment and the starting number of the engines of the g-th working combination in all working combination torque tables of the H attitude control engines0rg：
Calculating included angle theta between torque generated by the g-th working combination in all working combination torque tables of H attitude control engines and command torqueg：
If the g-th attitude control engine working combination meets thetag< P _ CtaLim and M0rgSelecting the attitude control engine working combination when the maximum attitude control engine working combination is selected;
wherein G is 1-G, wherein G is the total number of working combinations in all working combination torque tables of H attitude control engines;
M0gstarting for H attitude controlThe g-th working combination moment in all working combination moment tables of the machine;
Mrsetting the preset command torque as the preset command torque;
ZKCnt is the number of attitude control engines corresponding to the g-th working combination;
and P _ CtaLim is a threshold value of an included angle between the working combination moment and the command moment of the attitude control engine.
8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-7 when executing the program.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
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