CN110254753A - A kind of geostationary orbit satellite electric thruster and its layout optimization method - Google Patents
A kind of geostationary orbit satellite electric thruster and its layout optimization method Download PDFInfo
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- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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Abstract
A kind of geostationary orbit satellite electric thruster disclosed by the invention and its layout optimization method belong to spacecraft optimization field.A kind of geostationary orbit satellite electric thruster of the invention, including electric thruster and vector regulating mechanism.A kind of geostationary orbit satellite electric thruster layout optimization method of the invention establishes satellite stationary orbit perturbed motion model；The electric thruster layout for keeping strategy for position is established, calculates each thruster thrust vectoring along the projection coefficient of three axis；Customized locations keep strategy；Thruster layout optimization model is established, the optimal thruster placement scheme in each small control period is obtained by Optimization Solution；Thruster layout optimization is carried out to get the optimal case being laid out to entire position hold period thruster to each small control period.The present invention can be improved the north-south component coefficient that thruster generates thrust, and then improves position and keep efficiency, reduce the fuel consumption needed for satellite position is kept.
Description
Technical field
The present invention relates to a kind of electric thruster and its layout optimization methods, belong to spacecraft optimization field.
Background technique
Geostationary orbit (Geostationary Earth Orbit, GEO) satellite in orbit when to will receive the earth non-
The perturbation factors such as spherical, third body gravitation and solar light pressure, make it be gradually deviated from nominal track.Therefore, GEO satellite operation on orbit
Period needs to carry out position and keeps operation.Electric propulsion system has the characteristics that than leaping high, thrust is small, the position based on electric propulsion system
Guarantor, which can effectively reduce fuel consumption and improve position, protects precision, is widely applied in recent years.
Between electric propulsion GEO satellite duration of insurance in place, north and south position protects consumed fuel and accounts for entire position guarantor the consumed fuel of process
80% or more, therefore, the thrust component coefficient along the north-south direction that electric thruster generates is the important finger evaluated position and protect efficiency
Mark.However, be typically mounted on the privately plate of satellite for traditional electric thruster, due to electric thruster installation site and
The defects of constraint of satellite size and in-orbit period electric thruster operating position can not adjust, thrust north-south component coefficient quilt
Limitation is in a certain range.Therefore, to overcome drawbacks described above, this work proposes a kind of novel electric thruster model (vector tune
Save the electric thruster model of mechanism driving), i.e., thruster is mounted in the end of vector regulating mechanism, driving vector regulating mechanism tune
The position of whole thruster and posture.By being laid out design optimization to this novel electric thruster, north and south point can further improve
Coefficient of discharge improves position and protects efficiency, and then reduces fuel consumption.
Currently, not there is also scholar to carry out novel GEO satellite electric thruster layout designs optimization method research both at home and abroad.
Summary of the invention
A kind of geostationary orbit satellite electric thruster disclosed by the invention and its layout optimization method technology to be solved
Problem are as follows: a kind of geostationary orbit satellite electric thruster kept for satellite position is proposed, by satellite electric thruster
Layout optimization improves the north-south component coefficient that thruster generates thrust, and then improves position and keep efficiency, reduces satellite position and protects
Hold required fuel consumption.
The purpose of the present invention is what is be achieved through the following technical solutions.
A kind of geostationary orbit satellite electric thruster disclosed by the invention, including electric thruster and vector regulating mechanism,
The vector regulating mechanism be tool there are four and the above freedom degree vector regulating mechanism.The vector regulating mechanism quantity is two
It is a or more, form vector regulating mechanism group.The electric thruster quantity is identical as vector regulating mechanism quantity, electric thruster peace
Mounted in vector regulating mechanism end.The vector regulating mechanism is mounted on satellite privately on plate, and installation site need to guarantee vector tune
Section mechanism group drives corresponding electric thruster to generate the speed increment needed for keeping for position.It is transported by driving vector regulating mechanism
The position of dynamic adjustment thruster and posture, when normal work, thruster is directed toward centroid of satellite.
Preferably, vector regulating mechanism quantity is two.
Preferably, the vector regulating mechanism is that there are four the vector regulating mechanisms of freedom degree for tool.
Constraint due to electric thruster installation site and satellite size and in-orbit period electric thruster in the prior art
The defects of operating position can not adjust, thrust north-south component coefficient are limited in a certain range.It is disclosed by the invention a kind ofly
Ball satellite electric thruster can be improved the north-south component coefficient that thruster generates thrust, and then improves position and keep effect
Rate reduces the fuel consumption needed for satellite position is kept.
A kind of geostationary orbit satellite electric thruster layout optimization method disclosed by the invention, establishes satellite stationary orbit
Perturbed motion model, the input kept as satellite position.The electric thruster layout for keeping strategy for position is established, is being established
Electric thruster layout on the basis of, and calculate each thruster thrust vectoring along the projection coefficient of three axis.Customize geostationary orbit
Satellite position keeps strategy, guarantees that satellite longitude and latitude is controlled.Thruster layout optimization model is established, is obtained often by Optimization Solution
The optimal thruster placement scheme in a small control period.Thruster layout optimization is carried out to each small control period, completes each small control
The optimal case of entire position hold period thruster layout is obtained after the thruster layout optimization in period.It is whole according to what is obtained
The optimal case of a position hold period thruster layout, carries out thruster and lays installation, improves the south that thruster generates thrust
Northern component coefficient, and then improve position and keep efficiency, reduce the fuel consumption needed for satellite position is kept.
A kind of geostationary orbit satellite electric thruster layout optimization method disclosed by the invention, includes the following steps:
Step 1, satellite stationary orbit perturbed motion model is established, the input kept as satellite position.
Orbital coordinate system RTN is defined as: R axle position is outside along satellite position vectors in orbit plane, and N axis is flat perpendicular to track
The instantaneous angular momentum direction of satellite is simultaneously directed toward in face, and T axis and R axis, N axis constitute right-handed coordinate system.
For geostationary orbit satellite, impulse force control equation is
Wherein, Δ VR、ΔVTWith Δ VNRespectively track radial direction, tangential and normal velocity increment；VsFor stationary orbit speed
Degree；asFor standard stationary orbit radius；Δ D is longitude drift rate knots modification；Δ λ is longitude knots modification；ΔexWith Δ eyFor track
Eccentricity knots modification；ΔixWith Δ iyFor orbit inclination angle knots modification；L is flat right ascension.
Known by formula (1), after obtaining three direction speed increments of thruster, the track as caused by thrust can be calculated
Radical variable quantity.Space perturbation considers the aspherical gravitation of the earth, lunisolar attraction and solar light pressure, wherein the aspherical gravitation of the earth
Longitude drift rate is caused to perturb, lunisolar attraction causes orbit inclination angle to perturb, and solar light pressure causes eccentricity to perturb.
Step 2, the electric thruster layout for keeping strategy for the position of step 3 is established, is laid out in the electric thruster of foundation
On the basis of, and each thruster thrust vectoring is calculated along the projection coefficient of three axis.
The geostationary orbit satellite electric thruster includes electric thruster and vector regulating mechanism.The vector is adjusted
Mechanism be tool there are four and the above freedom degree vector regulating mechanism.The vector regulating mechanism quantity is two or more, shape
At vector regulating mechanism group.The electric thruster quantity is identical as vector regulating mechanism quantity, and electric thruster is mounted on vector tune
Save mechanism end.The vector regulating mechanism is mounted on satellite privately on plate, and installation site need to guarantee that vector regulating mechanism group is driven
Corresponding electric thruster is moved to generate for speed increment needed for the holding of position.Adjustment thrust is moved by driving vector regulating mechanism
The position of device and posture, when normal work, thruster is directed toward centroid of satellite.It completes to establish electric thruster layout.
Each thruster thrust vectoring is along T, the projection coefficient of tri- axis of N, R
Wherein, kT, kN, kRRespectively thruster is in orbital coordinate system along T, the projection coefficient of tri- axis of N, R；dT, dN, dRPoint
Not Wei thruster installation site in orbital coordinate system along T, N, the absolute value of R triaxial coordinate.
Preferably, the vector regulating mechanism group is made of two four-degree-of-freedom vector regulating mechanisms.Two four freely
Degree vector regulating mechanism is separately mounted to the satellite privately northwest of plate and southeast corner, and electric thruster is mounted on vector regulating mechanism
End, moves position and the posture of adjustable thruster by driving vector regulating mechanism, and when normal work, thruster direction is defended
Star mass center.Each thruster thrust vectoring is along T, the projection coefficient of tri- axis of N, R
Wherein, kT, kN, kRRespectively thruster is in orbital coordinate system along T, the projection coefficient of tri- axis of N, R；dT, dN, dRPoint
Not Wei thruster installation site in orbital coordinate system along T, N, the absolute value of R triaxial coordinate.
Step 3, customization geostationary orbit satellite position keeps strategy, guarantees that satellite longitude and latitude is controlled.
Single complete position guarantor's period is p days, determines period and several small control periods by the track for individually scheduling to last q days
Composition, the p > q.In each small control period, north and south vector regulating mechanism is respectively adjusted once, and north and south thruster is respectively switched on
Twice, north side thruster booting right ascension respectively in 0 °~90 ° and 90 °~180 ° sections, distinguish by southern side thruster booting right ascension
In 180 °~270 ° and 270 °~360 ° sections.
For each small control period, using desired orbit inclination angle, drift rate and eccentricity knots modification as equation about
Beam, desired orbit inclination angle knots modification are
Wherein, Δ ixdWith Δ iydFor desired orbit inclination angle knots modification；kN_NWAnd kN_SERespectively north side and southern side thrust
The normal direction coefficient of device；lNW1、lNW2、lSE1And lSE2Respectively north side thruster is lighted a fire for the first time, north side thruster is lighted a fire for the second time,
The right ascension when igniting for the first time of southern side thruster and second of the igniting of southern side thruster；ΔvNW1、ΔvNW2、ΔvSE1With Δ vSE2Point
It Wei not the igniting for the first time of north side thruster, second of the igniting of north side thruster, the first time igniting of southern side thruster and southern side thrust
Second of the device speed increment generated of lighting a fire.
Desired drift rate knots modification is
Wherein, Δ DdFor desired longitude drift rate knots modification；kT_NWAnd kT_SERespectively north side and southern side thruster is cut
To coefficient.
Desired eccentricity knots modification is
Wherein, Δ exdWith Δ eydFor desired eccentricity knots modification；kR_NWAnd kR_SERespectively north side and southern side thruster
Radial coefficient.
According to quantic formula, propellant waste and speed increment calculation formula are
Wherein, Δ mfuelFor fuel consumption；Δ v is speed increment；m0For satellite initial mass；IspFor propellant ratio
Punching；η is propeller efficiency；FpFor thruster normal thrust size；Δ t is thruster operating time.
Geostationary orbit satellite position based on customization keeps strategy, formula (4)-(6) is regard as equality constraint, by excellent
Change mode, which solve, guarantees that satellite longitude and latitude is controlled.
Preferably, it is 14 days that the period is protected in single complete position, by individually 2 days tracks determine the period by a definite date and 6 are
Phase 2 days compositions of small control period.In each small control period, north and south vector regulating mechanism is respectively adjusted once, north and south thruster
Twice, for north side thruster booting right ascension respectively in 0 °~90 ° and 90 °~180 ° sections, thruster booting in southern side is red for each booting
Through respectively in 180 °~270 ° and 270 °~360 ° sections.
For each small control period, using desired orbit inclination angle, drift rate and eccentricity knots modification as equation about
Beam, desired orbit inclination angle knots modification are
Wherein, Δ ixdWith Δ iydFor desired orbit inclination angle knots modification；kN_NWAnd kN_SERespectively north side and southern side thrust
The normal direction coefficient of device；lNW1、lNW2、lSE1And lSE2Respectively north side thruster is lighted a fire for the first time, north side thruster is lighted a fire for the second time,
The right ascension when igniting for the first time of southern side thruster and second of the igniting of southern side thruster；ΔvNW1、ΔvNW2、ΔvSE1With Δ vSE2Point
It Wei not the igniting for the first time of north side thruster, second of the igniting of north side thruster, the first time igniting of southern side thruster and southern side thrust
Second of the device speed increment generated of lighting a fire.
Desired drift rate knots modification is
Wherein, Δ DdFor desired longitude drift rate knots modification；kT_NWAnd kT_SERespectively north side and southern side thruster is cut
To coefficient.
Desired eccentricity knots modification is
Wherein, Δ exdWith Δ eydFor desired eccentricity knots modification；kR_NWAnd kR_SERespectively north side and southern side thruster
Radial coefficient.
According to quantic formula, propellant waste and speed increment calculation formula are
Wherein, Δ mfuelFor fuel consumption；Δ v is speed increment；m0For satellite initial mass；IspFor propellant ratio
Punching；η is propeller efficiency；FpFor thruster normal thrust size；Δ t is thruster operating time.
Geostationary orbit satellite position based on customization keeps strategy, is used as equation about for what formula (8)-(10) were formed
Beam carries out solution by optimal way and guarantees that satellite longitude and latitude is controlled.
Step 4, thruster layout optimization model is established, the optimal thruster in each small control period is obtained by Optimization Solution
Placement scheme.
It is in the orbit inclination angle knots modification (Δ for meeting each small control period in electric thruster layout optimization question essence
ixdWith Δ iyd), longitude drift rate knots modification (Δ Dd), eccentricity knots modification (Δ exdWith Δ eyd), longitude and latitude control precision and pushes away
Under the premise of power direction requires, each joint angles of optimal north and south side-thrust device vector regulating mechanism in exploration each small control period,
Igniting right ascension and igniting duration, so that each small control cycle fuel consumption is minimum.The optimization problem model is as follows
Wherein, θ1-θnThe respectively angle of the vector regulating mechanism joint joint 1- n；tNW1、tNW2、tSE1And tSE2It is respectively northern
The igniting for the first time of side-thrust device, second of the igniting of north side thruster, the first time igniting of southern side thruster and southern side thruster second
The duration of secondary igniting；mfuelFor the fuel consumption in each small control period；λeWithFor it is each it is small control end cycle when longitude
And latitude；θF_NWAnd θF_SEThe respectively angle of the thrust and normal axis of north side and the generation of southern side thruster；FN_NWAnd FN_SERespectively
It is the thrust of north side and the generation of southern side thruster along the component of normal axis.
By electric thruster layout optimization model shown in Optimization Solution formula (12), obtains each small control the optimal of period and push away
Power device placement scheme.
Preferably, when the vector regulating mechanism group is made of two four-degree-of-freedom vector regulating mechanisms, the electricity
It is in orbit inclination angle knots modification (the Δ i for meeting each small control period in thruster layout optimization question essencexdWith Δ iyd), warp
Spend drift rate knots modification (Δ Dd), eccentricity knots modification (Δ exdWith Δ eyd), longitude and latitude control precision and thrust direction require
Under the premise of, explore it is each it is small control the period optimal north and south side-thrust device vector regulating mechanism joint 1 and 2 angle of joint, igniting it is red
Through and igniting duration so that the consumption of each small control cycle fuel is at least.The optimization problem model is as follows
Wherein, θNW1And θNW2The respectively angle in north side thruster joint 1 and joint 2；θSE1And θSE2Respectively southern side pushes away
The angle in power device joint 1 and joint 2；tNW1、tNW2、tSE1And tSE2Respectively north side thruster igniting, north side thruster for the first time
Second of duration lighted a fire of the igniting for the first time of second of igniting, southern side thruster and southern side thruster；mfuelFor each small control week
The fuel consumption of phase；λeWithFor it is each it is small control end cycle when longitude and latitude；θF_NWAnd θF_SERespectively north side and south
The angle of thrust and normal axis that side-thrust device generates；FN_NWAnd FN_SEThe respectively thrust edge of north side and the generation of southern side thruster
The component of normal axis.
By electric thruster layout optimization model shown in Optimization Solution formula (13), obtains each small control the optimal of period and push away
Power device placement scheme.
Step 5, thruster layout optimization is carried out to each small control period according to step 4, completes pushing away for each small control period
The optimal case of entire position hold period thruster layout is obtained after power device layout optimization.
Thruster layout optimization is carried out to each small control period according to step 4, judges whether that reaching maximum position keeps day
Number, if so, exporting the optimal thruster placement scheme of entire position hold period, igniting right ascension and igniting duration；Otherwise, it returns
Return step 3.
Further include step 6, the optimal case of entire position hold period thruster layout is obtained according to step 5, is pushed away
Power device lays installation, improves the north-south component coefficient that thruster generates thrust, and then improves position and keep efficiency, reduces satellite position
Set the fuel consumption needed for keeping.
The utility model has the advantages that
1, a kind of geostationary orbit satellite electric thruster disclosed by the invention and its layout optimization method, propose a kind of use
In the geostationary orbit satellite electric thruster that satellite position is kept, vector regulating mechanism group drives corresponding electric thruster to generate use
Speed increment needed for position is kept.Position and the posture of adjustment thruster are moved by driving vector regulating mechanism, i.e., it is logical
It crosses to geostationary orbit satellite electric thruster layout optimization, improves the north-south component coefficient that thruster generates thrust, Jin Erti
High position keeps efficiency, reduces the fuel consumption needed for satellite position is kept.
2, a kind of geostationary orbit satellite electric thruster disclosed by the invention and its layout optimization method, it is quiet to establish satellite
Only orbit perturbation motion model, the input kept as satellite position；The electric thruster layout that strategy is kept for position is established,
On the basis of the electric thruster of foundation layout, and each thruster thrust vectoring is calculated along the projection coefficient of three axis；It is quiet to customize the earth
Only orbiter position keeps strategy, guarantees that satellite longitude and latitude is controlled；Thruster layout optimization model is established, Optimization Solution is passed through
Obtain the optimal thruster placement scheme in each small control period；Thruster layout optimization is carried out to each small control period, is completed every
The optimal case of entire position hold period thruster layout is obtained after the thruster layout optimization in a small control period；According to
The optimal case of the entire position hold period thruster layout arrived carries out thruster and lays installation, improves thruster generation and pushes away
The north-south component coefficient of power, and then improve position and keep efficiency, reduce the fuel consumption needed for satellite position is kept.
Detailed description of the invention
Fig. 1 is a kind of flow chart of geostationary orbit satellite electric thruster layout optimization method disclosed by the invention；
Fig. 2 is orbital coordinate system RTN schematic diagram；
Fig. 3 is a kind of geostationary orbit satellite electric thruster layout disclosed by the invention；
Fig. 4 is north and south side-thrust device booting right ascension schematic diagram；
Fig. 5 is longitude curve；
Fig. 6 is latitude curve；
Fig. 7 is the thrust of north side and the generation of southern side thruster and the angle of normal axis；
Fig. 8 is the thrust projection coefficient of north side thruster；
Fig. 9 is the thrust projection coefficient of southern side thruster.
Specific embodiment
Purpose and advantage in order to better illustrate the present invention, below by simulation calculation comparative test, in conjunction with table, attached drawing
The present invention will be further described, carries out verifying analysis to comprehensive performance of the invention.
For the reasonability for verifying above-mentioned model, simulating, verifying is carried out by taking certain geostationary orbit satellite as an example.In example
Geostationary orbit satellite initial mass m0For 1000kg, the long a of satellite × wide b × high c is 2m × 2m × 2m, and thruster is specified to be pushed away
Power FpFor 100mN, specific impulse IspFor 4000s, the emulation time started is the year two thousand twenty January 1,1 year a length of, geostationary rail when emulation
Satellite positioning longitude in road is λ0For 120 ° of E, vector regulating mechanism length L is 1.8m, and preliminary orbit element is as shown in table 1.
1 preliminary orbit element value of table
As shown in figure 3, a kind of geostationary orbit satellite electric thruster disclosed in the present embodiment includes electric thruster and arrow
Measure regulating mechanism.The vector regulating mechanism be tool there are four and the above freedom degree vector regulating mechanism.The vector is adjusted
Mechanism quantity is two or more, forms vector regulating mechanism group.The electric thruster quantity and vector regulating mechanism quantity phase
Together.Electric thruster is mounted on vector regulating mechanism end.The vector regulating mechanism is mounted on satellite privately on plate, installation site
It need to guarantee that vector regulating mechanism group drives corresponding electric thruster to generate the speed increment needed for keeping for position.It is sweared by driving
Position and the posture of regulating mechanism movement adjustment thruster are measured, when normal work, thruster is directed toward centroid of satellite.It completes to establish
Electric thruster layout.
As shown in Figure 1, a kind of geostationary orbit satellite electric thruster layout optimization method disclosed in the present embodiment, including
Following steps:
Step 1, satellite stationary orbit perturbed motion model is established, the input kept as satellite position.
Orbital coordinate system RTN may be defined as: R axle position is outside along satellite position vectors in orbit plane, and N axis is perpendicular to track
Plane is simultaneously directed toward the instantaneous angular momentum direction of satellite, and T axis and R axis, N axis constitute right-handed coordinate system, as shown in Figure 2.
For geostationary orbit satellite, impulse force control equation is
Wherein, Δ VR、ΔVTWith Δ VNRespectively track radial direction, tangential and normal velocity increment；VsFor stationary orbit speed
Degree；asFor standard stationary orbit radius；Δ D is longitude drift rate knots modification；Δ λ is longitude knots modification；ΔexWith Δ eyFor track
Eccentricity knots modification；ΔixWith Δ iyFor orbit inclination angle knots modification；L is flat right ascension.
By formula (14) it is found that the rail as caused by thrust can be calculated after obtaining three direction speed increments of thruster
Road radical variable quantity.Space perturbation considers the aspherical gravitation of the earth, lunisolar attraction and solar light pressure, wherein the earth is aspherical to be drawn
Power causes longitude drift rate to perturb, and lunisolar attraction causes orbit inclination angle to perturb, and solar light pressure causes eccentricity to perturb.
Step 2, the electric thruster layout for keeping strategy for the position of step 3 is established, is laid out in the electric thruster of foundation
On the basis of, and each thruster thrust vectoring is calculated along the projection coefficient of three axis.
The vector regulating mechanism group is made of two four-degree-of-freedom vector regulating mechanisms, and structure configuration is as shown in Figure 3.Two
A four-degree-of-freedom vector regulating mechanism is separately mounted to the satellite privately northwest of plate and southeast corner, and electric thruster is mounted on vector tune
The end for saving mechanism, moves position and the posture of adjustable thruster by driving vector regulating mechanism, when normal work, thrust
Device is directed toward centroid of satellite.Each thruster thrust vectoring is along T, the projection coefficient of tri- axis of N, R
Wherein, kT, kN, kRRespectively thruster is in orbital coordinate system along T, the projection coefficient of tri- axis of N, R；dT, dN, dRPoint
Not Wei thruster installation site in orbital coordinate system along T, N, the absolute value of R triaxial coordinate.
Step 3, customization geostationary orbit satellite position keeps strategy, guarantees that satellite longitude and latitude is controlled.
It is 14 days that the period is protected in single complete position, by individually 2 days tracks determine period and 62 days by a definite date small by a definite date
Control period composition.In each small control period, north and south vector regulating mechanism is respectively adjusted once, and north and south thruster is respectively switched on two
Secondary, respectively in 0 °~90 ° and 90 °~180 ° sections, thruster booting right ascension in southern side exists north side thruster booting right ascension respectively
In 180 °~270 ° and 270 °~360 ° sections, the side-thrust device right ascension that is switched in north and south is as shown in Figure 4.
For each small control period, using desired orbit inclination angle, drift rate and eccentricity knots modification as equation about
Beam, desired orbit inclination angle knots modification are
Wherein, Δ ixdWith Δ iydFor desired orbit inclination angle knots modification；kN_NWAnd kN_SERespectively north side and southern side thrust
The normal direction coefficient of device；lNW1、lNW2、lSE1And lSE2Respectively north side thruster is lighted a fire for the first time, north side thruster is lighted a fire for the second time,
The right ascension when igniting for the first time of southern side thruster and second of the igniting of southern side thruster；ΔvNW1、ΔvNW2、ΔvSE1With Δ vSE2Point
It Wei not the igniting for the first time of north side thruster, second of the igniting of north side thruster, the first time igniting of southern side thruster and southern side thrust
Second of the device speed increment generated of lighting a fire.
Desired drift rate knots modification is
Wherein, Δ DdFor desired longitude drift rate knots modification；kT_NWAnd kT_SERespectively north side and southern side thruster is cut
To coefficient.
Desired eccentricity knots modification is
Wherein, Δ exdWith Δ eydFor desired eccentricity knots modification；kR_NWAnd kR_SERespectively north side and southern side thruster
Radial coefficient.
According to quantic formula, propellant waste and speed increment calculation formula are
Wherein, Δ mfuelFor fuel consumption；Δ v is speed increment；m0For satellite initial mass；IspFor propellant ratio
Punching；η is propeller efficiency；FpFor thruster normal thrust size；Δ t is thruster operating time.
Geostationary orbit satellite position based on customization keeps strategy, regard formula (16)-(18) as equality constraint, passes through
Optimal way, which solve, guarantees that satellite longitude and latitude is controlled.
Step 4, thruster layout optimization model is established, the optimal thruster in each small control period is obtained by Optimization Solution
Placement scheme.
When the vector regulating mechanism group is made of two four-degree-of-freedom vector regulating mechanisms, the electric thruster layout
Optimization problem is substantially in orbit inclination angle knots modification (the Δ i for meeting each small control periodxdWith Δ iyd), longitude drift rate changes
Variable (Δ Dd), eccentricity knots modification (Δ exdWith Δ eyd), longitude and latitude control precision and thrust direction require under the premise of, explore
When the optimal north and south side-thrust device vector regulating mechanism joint 1 in each small control period and 2 angle of joint, igniting right ascension and igniting
It is long, so that each small control cycle fuel consumption is minimum.The optimization problem model is as follows
Wherein, θNW1And θNW2The respectively angle in north side thruster joint 1 and joint 2；θSE1And θSE2Respectively southern side pushes away
The angle in power device joint 1 and joint 2；tNW1、tNW2、tSE1And tSE2Respectively north side thruster igniting, north side thruster for the first time
Second of duration lighted a fire of the igniting for the first time of second of igniting, southern side thruster and southern side thruster；mfuelFor each small control week
The fuel consumption of phase；λeWithFor it is each it is small control end cycle when longitude and latitude；θF_NWAnd θF_SERespectively north side and south
The angle of thrust and normal axis that side-thrust device generates；FN_NWAnd FN_SEThe respectively thrust edge of north side and the generation of southern side thruster
The component of normal axis.
By electric thruster layout optimization model shown in Optimization Solution formula (20), obtains each small control the optimal of period and push away
Power device placement scheme.
Step 5, thruster layout optimization is carried out to each small control period according to step 4, completes pushing away for each small control period
The optimal case of entire position hold period thruster layout is obtained after power device layout optimization.
Thruster layout optimization is carried out to each small control period according to step 4, judges whether that reaching maximum position keeps day
Number, if so, exporting the optimal thruster placement scheme of entire position hold period, igniting right ascension and igniting duration；Otherwise, it returns
Return step 3.
Further include step 6, the optimal case of entire position hold period thruster layout is obtained according to step 5, is pushed away
Power device lays installation, improves the north-south component coefficient that thruster generates thrust, and then improves position and keep efficiency, reduces satellite position
Set the fuel consumption needed for keeping.
By emulation, the longitude and latitude curve after being optimized is as shown in Figure 5 and Figure 6.From figs. 5 and 6, it can be seen that excellent
Longitude and latitude curve deviation after change is limited in [- 0.05 ° ,+0.05 °] range, meets control accuracy requirement.
Angle simulation result such as Fig. 7 institute of thrust and normal axis that each small control period north side and southern side thruster generate
Show.From figure 7 it can be seen that thrust and normal axis angle that north side and southern side thruster generate are all larger than 30 °, therefore can be to avoid
Influence of the plume that thruster generates to solar energy sailboard.
For the thrust that north side and southern side thruster generate along T, the projection coefficient difference of tri- axis of N, R is as shown in Figure 8 and Figure 9.From
Fig. 8 and Fig. 9 can be seen that north side and southern side thruster tends to maximize along the projection coefficient of N axis, improves position and protects efficiency.
Further to verify a kind of geostationary orbit satellite electric thruster proposed by the present invention and its layout optimization method
Advantage, with traditional electric thruster (i.e. the electric thruster of scalar potential regulating mechanism) layout compare.By emulation in 1 year,
The fuel consumption Comparative result of available novel electric thruster layout and traditional electric thruster layout is as shown in table 2.
The novel and traditional electric thruster of table 2 is laid out fuel consumption Comparative result
It is reduced from table 2 it can be seen that being laid out using the fuel consumption of novel electric thruster layout compared to traditional thruster
1.166kg, it can be said that a kind of bright geostationary orbit satellite electric thruster proposed by the present invention and its layout optimization side
The feasibility and validity of method.
The purpose of invention, technical scheme and beneficial effects are further elaborated in above-described specific descriptions,
It should be understood that above is only a specific embodiment of the present invention, being used to explain the present invention, it is not intended to limit the present invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of geostationary orbit satellite electric thruster, it is characterised in that: described including electric thruster and vector regulating mechanism
Vector regulating mechanism be tool there are four and the above freedom degree vector regulating mechanism；The vector regulating mechanism quantity be two and
More than, form vector regulating mechanism group；The electric thruster quantity is identical as vector regulating mechanism quantity, and electric thruster is mounted on
Vector regulating mechanism end；The vector regulating mechanism is mounted on satellite privately on plate, and installation site need to guarantee that vector adjusts machine
Structure group drives corresponding electric thruster to generate the speed increment needed for keeping for position；It is moved and is adjusted by driving vector regulating mechanism
The position of whole thruster and posture, when normal work, thruster is directed toward centroid of satellite.
2. a kind of geostationary orbit satellite electric thruster as described in claim 1, it is characterised in that: vector regulating mechanism number
Amount is two；The vector regulating mechanism is that there are four the vector regulating mechanisms of freedom degree for tool.
3. a kind of geostationary orbit satellite electric thruster layout optimization method, it is characterised in that: include the following steps,
Step 1, satellite stationary orbit perturbed motion model is established, the input kept as satellite position；
Step 2, the electric thruster layout for keeping strategy for the position of step 3 is established, is laid out basis in the electric thruster of foundation
On, and each thruster thrust vectoring is calculated along the projection coefficient of three axis；
Step 3, customization geostationary orbit satellite position keeps strategy, guarantees that satellite longitude and latitude is controlled；
Step 4, thruster layout optimization model is established, is laid out by the optimal thruster that Optimization Solution obtains each small control period
Scheme；
Step 5, thruster layout optimization is carried out to each small control period according to step 4, completes the thruster in each small control period
The optimal case of entire position hold period thruster layout is obtained after layout optimization.
4. a kind of geostationary orbit satellite electric thruster layout optimization method as claimed in claim 3, it is characterised in that: also
Including step 6, the optimal case of entire position hold period thruster layout is obtained according to step 5, thruster is carried out and lays peace
Dress, raising thruster generate the north-south component coefficient of thrust, and then improve position and keep efficiency, reduce needed for satellite position holding
Fuel consumption.
5. a kind of geostationary orbit satellite electric thruster layout optimization method as described in claim 3 or 4, feature exist
It is in: step 1 implementation method,
Orbital coordinate system RTN is defined as: R axle position is outside along satellite position vectors in orbit plane, N axis perpendicular to orbit plane simultaneously
It is directed toward the instantaneous angular momentum direction of satellite, T axis and R axis, N axis constitute right-handed coordinate system；
For geostationary orbit satellite, impulse force control equation is
Wherein, Δ VR、ΔVTWith Δ VNRespectively track radial direction, tangential and normal velocity increment；VsFor stationary orbit speed；asFor
Standard stationary orbit radius；Δ D is longitude drift rate knots modification；Δ λ is longitude knots modification；ΔexWith Δ eyFor orbital eccentricity
Knots modification；ΔixWith Δ iyFor orbit inclination angle knots modification；L is flat right ascension；
Known by formula (1), after obtaining three direction speed increments of thruster, the orbital tracking as caused by thrust can be calculated
Variable quantity；Space perturbation considers the aspherical gravitation of the earth, lunisolar attraction and solar light pressure, wherein the aspherical gravitation of the earth causes
The perturbation of longitude drift rate, lunisolar attraction cause orbit inclination angle to perturb, and solar light pressure causes eccentricity to perturb.
6. a kind of geostationary orbit satellite electric thruster layout optimization method as claimed in claim 5, it is characterised in that: step
Rapid 2 implementation method is,
The geostationary orbit satellite electric thruster includes electric thruster and vector regulating mechanism；The vector regulating mechanism
For have there are four and the above freedom degree vector regulating mechanism；The vector regulating mechanism quantity is two or more, forms arrow
Measure regulating mechanism group；The electric thruster quantity is identical as vector regulating mechanism quantity, and electric thruster is mounted on vector and adjusts machine
Structure end；The vector regulating mechanism is mounted on satellite privately on plate, and installation site need to guarantee that vector regulating mechanism group drives phase
Electric thruster is answered to generate the speed increment needed for keeping for position；Adjustment thruster is moved by driving vector regulating mechanism
Position and posture, when normal work, thruster is directed toward centroid of satellite；It completes to establish electric thruster layout；
Each thruster thrust vectoring is along T, the projection coefficient of tri- axis of N, R
Wherein, kT, kN, kRRespectively thruster is in orbital coordinate system along T, the projection coefficient of tri- axis of N, R；dT, dN, dRRespectively
Thruster installation site is in orbital coordinate system along T, N, the absolute value of R triaxial coordinate.
7. a kind of geostationary orbit satellite electric thruster layout optimization method as claimed in claim 6, it is characterised in that: step
Rapid 3 implementation method is,
Single complete position guarantor's period is p days, determines period and several small control periodic groups by the track for individually scheduling to last q days
At the p > q；In each small control period, north and south vector regulating mechanism is respectively adjusted once, and north and south thruster is respectively switched on two
Secondary, respectively in 0 °~90 ° and 90 °~180 ° sections, thruster booting right ascension in southern side exists north side thruster booting right ascension respectively
In 180 °~270 ° and 270 °~360 ° sections；
For each small control period, using desired orbit inclination angle, drift rate and eccentricity knots modification as equality constraint, phase
The orbit inclination angle knots modification of prestige is
Wherein, Δ ixdWith Δ iydFor desired orbit inclination angle knots modification；kN_NWAnd kN_SERespectively north side and southern side thruster
Normal direction coefficient；lNW1、lNW2、lSE1And lSE2The respectively igniting for the first time of north side thruster, north side thruster second igniting, southern side
Right ascension when thruster igniting for the first time and second of the igniting of southern side thruster；ΔvNW1、ΔvNW2、ΔvSE1With Δ vSE2Respectively
Thruster igniting for the first time in north side is lighted a fire for second of north side thruster, the igniting for the first time of southern side thruster and southern side thruster the
The speed increment that regnition generates；
Desired drift rate knots modification is
Wherein, Δ DdFor desired longitude drift rate knots modification；kT_NWAnd kT_SEThe respectively tangential system of north side and southern side thruster
Number；
Desired eccentricity knots modification is
Wherein, Δ exdWith Δ eydFor desired eccentricity knots modification；kR_NWAnd kR_SEThe respectively diameter of north side and southern side thruster
To coefficient；
According to quantic formula, propellant waste and speed increment calculation formula are
Wherein, Δ mfuelFor fuel consumption；Δ v is speed increment；m0For satellite initial mass；IspFor propellant specific impulse；η is
Propeller efficiency；FpFor thruster normal thrust size；Δ t is thruster operating time；
Geostationary orbit satellite position based on customization keeps strategy, formula (3)-(5) is regard as equality constraint, by optimization side
Formula, which solve, guarantees that satellite longitude and latitude is controlled.
8. a kind of geostationary orbit satellite electric thruster layout optimization method as claimed in claim 7, it is characterised in that: step
Rapid 4 implementation method is,
It is in orbit inclination angle knots modification (the Δ i for meeting each small control period in electric thruster layout optimization question essencexdWith
Δiyd), longitude drift rate knots modification (Δ Dd), eccentricity knots modification (Δ exdWith Δ eyd), longitude and latitude control precision and thrust side
Under the premise of requiring, each joint angles of optimal north and south side-thrust device vector regulating mechanism, the igniting in each small control period are explored
Right ascension and igniting duration, so that each small control cycle fuel consumption is minimum；The optimization problem model is as follows
Wherein, θ1-θnThe respectively angle of the vector regulating mechanism joint joint 1- n；tNW1、tNW2、tSE1And tSE2Respectively north side pushes away
The igniting for the first time of power device, second of the igniting of north side thruster, the igniting for the first time of southern side thruster and second point of southern side thruster
The duration of fire；mfuelFor the fuel consumption in each small control period；λeWithFor it is each it is small control end cycle when longitude and latitude
Degree；θF_NWAnd θF_SEThe respectively angle of the thrust and normal axis of north side and the generation of southern side thruster；FN_NWAnd FN_SEIt is respectively northern
Component of the thrust that side and southern side thruster generate along normal axis；
By electric thruster layout optimization model shown in Optimization Solution formula (7), the optimal thruster in each small control period is obtained
Placement scheme.
9. a kind of geostationary orbit satellite electric thruster layout optimization method as claimed in claim 8, it is characterised in that: step
Rapid 5 implementation method is,
Thruster layout optimization is carried out to each small control period according to step 4, judges whether that reaching maximum position keeps number of days, if
It is the optimal thruster placement scheme for then exporting entire position hold period, igniting right ascension and igniting duration；Otherwise, step is returned
Rapid 3.
10. a kind of geostationary orbit satellite electric thruster layout optimization method as claimed in claim 9, it is characterised in that:
Step 2 concrete methods of realizing is,
The vector regulating mechanism group is made of two four-degree-of-freedom vector regulating mechanisms；Two four-degree-of-freedom vector regulating mechanisms
It is separately mounted to the satellite privately northwest of plate and southeast corner, electric thruster is mounted on the end of vector regulating mechanism, passes through driving
Vector regulating mechanism moves position and the posture of adjustable thruster, and when normal work, thruster is directed toward centroid of satellite；Each thrust
Device thrust vectoring is along T, the projection coefficient of tri- axis of N, R
Wherein, kT, kN, kRRespectively thruster is in orbital coordinate system along T, the projection coefficient of tri- axis of N, R；dT, dN, dRRespectively
Thruster installation site is in orbital coordinate system along T, N, the absolute value of R triaxial coordinate；
Step 3 concrete methods of realizing is,
Single complete position guarantor's period is 14 days, by individually 2 days tracks determine period and 6 small controls in 2 days by a definite date by a definite date
Period composition；In each small control period, north and south vector regulating mechanism is respectively adjusted once, and north and south thruster is respectively switched on twice, north
Side-thrust device is switched on right ascension respectively in 0 °~90 ° and 90 °~180 ° sections, southern side thruster booting right ascension respectively 180 °~
In 270 ° and 270 °~360 ° sections；
For each small control period, using desired orbit inclination angle, drift rate and eccentricity knots modification as equality constraint, phase
The orbit inclination angle knots modification of prestige is
Wherein, Δ ixdWith Δ iydFor desired orbit inclination angle knots modification；kN_NWAnd kN_SERespectively north side and southern side thruster
Normal direction coefficient；lNW1、lNW2、lSE1And lSE2The respectively igniting for the first time of north side thruster, north side thruster second igniting, southern side
Right ascension when thruster igniting for the first time and second of the igniting of southern side thruster；ΔvNW1、ΔvNW2、ΔvSE1With Δ vSE2Respectively
Thruster igniting for the first time in north side is lighted a fire for second of north side thruster, the igniting for the first time of southern side thruster and southern side thruster the
The speed increment that regnition generates；
Desired drift rate knots modification is
Wherein, Δ DdFor desired longitude drift rate knots modification；kT_NWAnd kT_SEThe respectively tangential system of north side and southern side thruster
Number；
Desired eccentricity knots modification is
Wherein, Δ exdWith Δ eydFor desired eccentricity knots modification；kR_NWAnd kR_SEThe respectively diameter of north side and southern side thruster
To coefficient；
According to quantic formula, propellant waste and speed increment calculation formula are
Wherein, Δ mfuelFor fuel consumption；Δ v is speed increment；m0For satellite initial mass；IspFor propellant specific impulse；η is
Propeller efficiency；FpFor thruster normal thrust size；Δ t is thruster operating time；
Geostationary orbit satellite position based on customization keeps strategy, and the conduct equality constraint that formula (9)-(11) are formed is led to
It crosses optimal way and solve and guarantee that satellite longitude and latitude is controlled；
Step 4 concrete methods of realizing is,
When the vector regulating mechanism group is made of two four-degree-of-freedom vector regulating mechanisms, the electric thruster layout optimization
It is in orbit inclination angle knots modification (the Δ i for meeting each small control period in question essencexdWith Δ iyd), longitude drift rate knots modification
(ΔDd), eccentricity knots modification (Δ exdWith Δ eyd), under the premise of longitude and latitude control precision and thrust direction require, explore each
The optimal north and south side-thrust device vector regulating mechanism joint 1 in small control period and 2 angle of joint, igniting right ascension and igniting duration, make
It is minimum to obtain each small control cycle fuel consumption；The optimization problem model is as follows
Wherein, θNW1And θNW2The respectively angle in north side thruster joint 1 and joint 2；θSE1And θSE2Respectively southern side thruster
The angle in joint 1 and joint 2；tNW1、tNW2、tSE1And tSE2Respectively north side thruster igniting, north side thruster second for the first time
Second of duration lighted a fire of the igniting for the first time of secondary igniting, southern side thruster and southern side thruster；mfuelFor each small control period
Fuel consumption；λeWithFor it is each it is small control end cycle when longitude and latitude；θF_NWAnd θF_SERespectively north side and southern side pushes away
The angle of thrust and normal axis that power device generates；FN_NWAnd FN_SEThe respectively thrust of north side and the generation of southern side thruster is along normal direction
The component of axis；
By electric thruster layout optimization model shown in Optimization Solution formula (13), the optimal thruster in each small control period is obtained
Placement scheme.
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| CN114394260B (en) * | 2021-11-29 | 2023-10-27 | 中国西安卫星测控中心 | Analytic calculation method for low-thrust north-south maintenance control of geosynchronous satellite |
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