CN104034481B - Tank-distributively arranged spacecraft-used propellant counterweight method - Google Patents

Tank-distributively arranged spacecraft-used propellant counterweight method Download PDF

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CN104034481B
CN104034481B CN201410191801.0A CN201410191801A CN104034481B CN 104034481 B CN104034481 B CN 104034481B CN 201410191801 A CN201410191801 A CN 201410191801A CN 104034481 B CN104034481 B CN 104034481B
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tank
spacecraft
controller
propellant
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CN201410191801.0A
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CN104034481A (en
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孙泽洲
张熇
吴学英
许映乔
傅子敬
柏江
陈向东
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北京空间飞行器总体设计部
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Abstract

The method provided by the invention is based on the designed counterweight system. According to the counterweight system, a controller serves as the center; a mass measurement table is adopted for measuring the mass and the mass center position of the spacecraft before filling of the propellant is carried out each time; a controller determines an object in need of filling according to the mass center position; the controller adopts torque balance calculation to obtain the mass of the filling object according to the filling object, the mass center position of the spacecraft and the measured mass center position of each tank; the controller controls the corresponding filler to fill the propellant to the corresponding tank via a tank interface according to the mass obtained after calculation and the filling object; and if the mass center position measured by the mass measurement table can not meet the design demands, the above process is repeated by the control table until the mass center position of the spacecraft meets the design demands.

Description

A kind of spacecraft propellant ballasting method of tank distributing installation

Technical field

The invention belongs to space flight detection control field, be specifically related to a kind of spacecraft propellant ballasting method of tank distributing installation.

Background technology

After spacecraft completes general assembly work, need measurement spacecraft being carried out to quality and centroid position, if the centroid position of spacecraft, or not the true origin place of whole device coordinate system, needs the process of carrying out spacecraft counterweight, namely on the spacecraft weight installing position designed in advance, balancing weight is installed.

At present, spacecraft all adopts copper balancing weight to carry out counterweight, and this counterweight mode adds the dry mass of detector, namely this part quality can not be used in spacecraft task, also add the consumption of spacecraft propellant when becoming rail, finally have impact on the life-span of detector, therefore, this method is not a kind of cost-effective method.

For the spacecraft of tank distributing installation, when carrying out counterweight to this kind of spacecraft, in conjunction with the distributing installation general layout of tank, design a kind of method that can improve counterweight economy and validity.

Summary of the invention

In view of this, the invention provides a kind of spacecraft propellant ballasting method of tank distributing installation, the object improving counterweight economy and validity can be reached.

The present invention for achieving the above object, adopts following technical scheme:

A spacecraft propellant ballasting method for tank distributing installation, the method is based on a kind of Weighting system, and this system comprises matter scaffold tower, matter surveys acquisition system, controller, charging point 1 ~ 4, propellant metaideophone tank 1 ~ 4 and weighing system 1 ~ 4.Spacecraft is arranged on matter scaffold tower, 4 tank distributing installations in this spacecraft.Matter scaffold tower surveys acquisition system connection control device by matter, controller connects each charging point and each weighing system respectively, each charging point is connected to the tank interface of spacecraft respectively by pipeline, and each charging point is also connected to propellant metaideophone tank, and each propellant metaideophone tank is arranged on weighing system.

Matter scaffold tower for measuring quality and the centroid position of spacecraft, and as measurement data.Matter is surveyed acquisition system and is used for the measurement data of Real-time Collection matter scaffold tower and is sent to controller.Controller is for receiving described measurement data, determine the tank of required filling according to measurement data and calculate the repropellenting amount of this tank, controller is according to determined filling tank, control corresponding charging point and carry out repropellenting, simultaneously, it is poor with the measurement data collected first that the measurement data of each weighing system of controller Real-time Collection also calculates the measurement data at every turn collected, using difference as data variation amount, data variation amount and described repropellenting amount compare by controller, when data variation amount is equal with described repropellenting amount, controller controls charging point and stops filling propellant.Charging point is used under the control of the controller, extracts propellant and annotate to corresponding tank from propellant metaideophone tank.Propellant metaideophone tank is for storing propellant to be annotated.Weighing system is used for the weight measuring propellant metaideophone tank in real time.

Based on said system, the concrete steps of method provided by the present invention are:

1) spacecraft body coordinate system O-XYZ is set up: to be+X-direction straight up perpendicular to matter scaffold tower, level is+Y-direction, and+Z-direction and+X ,+Y-direction form right-handed coordinate system to the right.

2) system electrification, in ZOY plane, matter scaffold tower records when system is original state, spacecraft mass M 0with initial centroid position O ' (Δ h 0, Δ l 0).Wherein, Δ h 0for when system is original state, the horizontal ordinate in the ZOY plane of spacecraft centroid place; Δ l 0for when system is original state, the ordinate in the ZOY plane of spacecraft centroid place; When system is original state, the propellant loadings in each tank is 0.

According to the distribution of tank in spacecraft, record in set up ZOY plane, each tank center-of-mass coordinate also inputs to controller, and controller stores each tank center-of-mass coordinate.

3) matter is surveyed acquisition system and is collected spacecraft mass M from matter scaffold tower 0with initial centroid position O ' (Δ h 0, Δ l 0), and be sent to controller.

4) controller receives and obtains spacecraft mass M 0with initial centroid position O ' (Δ h 0, Δ l 0) and store, will | Δ l 0| with | Δ h 0| make comparisons and carry out tank and choose, be specially: if | Δ l 0| > | Δ h 0|, then choose-Δ l 0two tanks in region are as filling object.If | Δ l 0|=| Δ h 0|, then selected point (-Δ h 0,-Δ l 0) tank in region is as filling object; If | Δ l 0| < | Δ h 0|, then choose-Δ h 0tank in region is as filling object.

Controller, according to selected filling object, extracts the center-of-mass coordinate of this filling object from each tank center-of-mass coordinate that inside stores, and controller is according to filling object, spacecraft mass M 0with initial centroid position O ' (Δ h 0, Δ l 0) and filling object center-of-mass coordinate, calculate the propellant mass of the required filling of filling object and store.

5) controller is according to filling object and corresponding required propellant mass of annotating, control the charging point corresponding with filling object, make this charging point extract propellant from propellant metaideophone tank and annotate propellant to corresponding tank by pipeline, simultaneously, the measurement data of controller Real-time Collection weighing system also calculates data variation amount, when measurement data variable quantity is the propellant mass of required filling, controller controls charging point and stops filling.Now, matter scaffold tower records spacecraft mass is M 1and the centroid position O after filling " (Δ h 1, Δ l 1).

6) controller receives the spacecraft mass M that matter survey acquisition system collects 1and the centroid position O after filling " (Δ h 1, Δ l 1), if Δ h 1=0 and Δ l 1=0, then terminate counterweight process, otherwise controller is according to spacecraft mass M 1with the centroid position O after filling " (Δ h 1, Δ l 1), repeat step 4) ~ 6), until the best centroid position O of the spacecraft that records of matter scaffold tower " ' for till (0,0).

Beneficial effect:

Method provided by the present invention is used for the spacecraft of tank distributing installation, in conjunction with the distributing installation layout of tank on such spacecraft, consider to use propellant to carry out the quality counterweight of whole device, therefore a kind of Weighting system is devised, this system is centered by controller, and coordinate matter scaffold tower, matter to survey acquisition system and charging point, adjust the loadings of propellant in tank based on principle of moment balance, finally make the barycenter of spacecraft meet design requirement.The method is not increasing detector dry weight, and whole device counterweight is carried out on the basis namely not increasing the extra burden of detector, thus reaches the object improving counterweight economy and validity.

In addition, in counterweight process, namely the propellant of annotating also when executing the task for the attitude and orbit control of detector, can add the serviceable life of detector.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of system provided by the present invention;

Fig. 2 is schematic diagram provided by the present invention.

Embodiment

To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.

Fig. 1 shows a Weighting system, and this system comprises matter scaffold tower, matter surveys acquisition system, controller, charging point 1 ~ 4, propellant metaideophone tank 1 ~ 4 and weighing system 1 ~ 4.Spacecraft is arranged on matter scaffold tower, is provided with 4 tanks in this spacecraft, and distributing installation.Matter scaffold tower surveys acquisition system connection control device by matter, controller connects each charging point and each weighing system respectively, each charging point is connected to the tank interface of spacecraft respectively by pipeline, each charging point is also connected to propellant metaideophone tank, and each propellant metaideophone tank is arranged on corresponding weighing system.

Matter scaffold tower is existing equipment, for measuring quality and the centroid position of spacecraft.

Matter is surveyed acquisition system and is used for the measurement data of Real-time Collection matter scaffold tower and is sent to controller.

Controller is for receiving described measurement data, determine the tank of required filling according to measurement data and calculate the repropellenting amount of this tank, controller is according to determined filling tank, control corresponding charging point and carry out repropellenting, simultaneously, it is poor with the measurement data collected first that the measurement data of each weighing system of controller Real-time Collection also calculates the measurement data at every turn collected, using difference as data variation amount, data variation amount and described repropellenting amount compare by controller, when data variation amount is equal with described repropellenting amount, controller controls charging point and stops filling propellant.

Charging point is used under the control of the controller, extracts propellant and annotate to corresponding tank from propellant metaideophone tank.

Tank one_to_one corresponding in propellant metaideophone tank and spacecraft, for storing propellant to be annotated.

Weighing system is used for the weight measuring propellant metaideophone tank in real time.

Based on said system, the concrete steps of method provided by the present invention are:

1) spacecraft body coordinate system O-XYZ is set up: to be+X-direction straight up perpendicular to matter scaffold tower, level is+Y-direction, and+Z-direction and+X ,+Y-direction form right-handed coordinate system to the right.

2) system electrification, in ZOY plane, matter scaffold tower records when system is original state, when namely not carrying out repropellenting, spacecraft mass M 0with initial centroid position O ' (Δ h 0, Δ l 0).Wherein, Δ h 0for when system is original state, the horizontal ordinate in the ZOY plane of spacecraft centroid place; Δ l 0for when system is original state, the ordinate in the ZOY plane of spacecraft centroid place.When system is original state, the propellant loadings in each tank is 0.

According to the distribution of tank in spacecraft, record in set up ZOY plane, each tank center-of-mass coordinate also inputs to storage in controller.As shown in Figure 2, if during system initial state, the center-of-mass coordinate recording tank 1 is N (h ,-l), and the center-of-mass coordinate of tank 2 is M (-h ,-l), and wherein, h is the distance of barycenter apart from Z axis; L is the distance of barycenter apart from Y-axis.

3) matter is surveyed acquisition system and is collected spacecraft mass M from matter scaffold tower 0with initial centroid position O ' (Δ h 0, Δ l 0), and be sent to controller.

4) controller receives and obtains spacecraft mass M 0with initial centroid position O ' (Δ h 0, Δ l 0) and store, will | Δ l 0| with | Δ h 0| make comparisons and carry out tank and choose, be specially: if | Δ l 0| > | Δ h 0|, then choose Z=-Δ l 0two tanks in the quadrant of place are as filling object; If | Δ l 0|=| Δ h 0|, then selected point (-Δ h 0,-Δ l 0) tank in the quadrant of place is as filling object; If | Δ l 0| < | Δ h 0|, then choose Y=-Δ h 0two tanks in the quadrant of place are as filling object.

Controller, according to selected filling object, extracts the center-of-mass coordinate of this filling object from each tank center-of-mass coordinate of storage inside, and controller is according to filling object, spacecraft mass M 0with initial centroid position O ' (Δ h 0, Δ l 0) and filling object center-of-mass coordinate, adopt principle of moment balance calculate the propellant mass of the required filling of filling object and store.

As shown in Figure 2, before carrying out repropellenting, controller receives and obtains spacecraft mass M 0with initial centroid position O ' (-Δ h 0, Δ l 0), obtain through comparing | Δ l 0| > | Δ h 0|, then choose tank 1 and tank 2 as filling object.It is N (h ,-l) that controller extracts the center-of-mass coordinate obtaining tank 1 from each tank center-of-mass coordinate of storage inside, and the center-of-mass coordinate of tank 2 is M (-h ,-l), obtains following formula by principle of moment balance:

m 0 &times; &Delta; l 0 - m 1 &times; l - m 2 &times; l = 0 - m 0 &times; &Delta; h 0 + m 1 &times; h - m 2 &times; h = 0 - - - ( 1 )

Wherein, m 1for the quality of the required filling propellant of tank 1; m 2for the quality of the required filling propellant of tank 2.

5) controller is according to filling object and corresponding required propellant mass of annotating, control the charging point corresponding with filling object, make this charging point extract propellant from propellant metaideophone tank and annotate propellant to corresponding tank by pipeline, simultaneously, the measurement data of controller Real-time Collection weighing system also calculates data variation amount, when measurement data variable quantity is the propellant mass of required filling, controller controls charging point and stops filling; Now, matter scaffold tower records spacecraft mass is M 1and the centroid position O after filling " (Δ h 1, Δ l 1).

6), after having annotated, controller receives the spacecraft mass M collected from matter survey acquisition system 1and the centroid position O after filling " (Δ h 1, Δ l 1), if Δ h 1=0 and Δ l 1=0, then, after carrying out above-mentioned propellant counterweight to spacecraft, the barycenter of spacecraft meets design requirement, and terminate counterweight process, otherwise controller is according to spacecraft mass M 1with the centroid position O after filling " (Δ h 1, Δ l 1), repeat step 4) ~ 6), until the best centroid position O of the spacecraft that records of matter scaffold tower " ' for till (0,0), namely complete counterweight.

In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (1)

1. the spacecraft of tank distributing installation propellant ballasting method, it is characterized in that, the method is based on a kind of Weighting system, and this system comprises matter scaffold tower, matter surveys acquisition system, controller, charging point 1 ~ 4, propellant metaideophone tank 1 ~ 4 and weighing system 1 ~ 4; Spacecraft is arranged on matter scaffold tower, 4 tank distributing installations in this spacecraft; Matter scaffold tower surveys acquisition system connection control device by matter, controller connects each charging point and each weighing system respectively, each charging point is connected to the tank interface of spacecraft respectively by pipeline, and each charging point is also connected to propellant metaideophone tank, and each propellant metaideophone tank is arranged on weighing system;
Matter scaffold tower for measuring quality and the centroid position of spacecraft, and as measurement data, matter is surveyed acquisition system and is used for the measurement data of Real-time Collection matter scaffold tower and is sent to controller, controller is for receiving described measurement data, determine the tank of required filling according to measurement data and calculate the repropellenting amount of this tank, controller is according to determined filling tank, control corresponding charging point and carry out repropellenting, simultaneously, it is poor with the measurement data collected first that the measurement data of each weighing system of controller Real-time Collection also calculates the measurement data at every turn collected, using difference as data variation amount, data variation amount and described repropellenting amount compare by controller, when data variation amount is equal with described repropellenting amount, controller controls charging point and stops filling propellant, charging point is used under the control of the controller, extracts propellant and annotate to corresponding tank from propellant metaideophone tank, propellant metaideophone tank is for storing propellant to be annotated, weighing system is used for the weight measuring propellant metaideophone tank in real time,
Based on said system, the concrete steps of institute's supplying method are:
1) spacecraft body coordinate system O-XYZ is set up: to be+X-direction straight up perpendicular to matter scaffold tower, level is+Y-direction, and+Z-direction and+X ,+Y-direction form right-handed coordinate system to the right;
2) system electrification, in ZOY plane, matter scaffold tower records when system is original state, spacecraft mass M 0with initial centroid position O ' (Δ h 0, Δ l 0); Wherein, Δ h 0for when system is original state, the horizontal ordinate in the ZOY plane of spacecraft centroid place; Δ l 0for when system is original state, the ordinate in the ZOY plane of spacecraft centroid place; When system is original state, the propellant loadings in each tank is 0;
According to the distribution of tank in spacecraft, record in set up ZOY plane, each tank center-of-mass coordinate also inputs to controller, and controller stores each tank center-of-mass coordinate;
3) matter is surveyed acquisition system and is collected spacecraft mass M from matter scaffold tower 0with initial centroid position O ' (Δ h 0, Δ l 0), and be sent to controller;
4) controller receives and obtains spacecraft mass M 0with initial centroid position O ' (Δ h 0, Δ l 0) and store, will | Δ l 0| with | Δ h 0| make comparisons and carry out tank and choose, be specially: if | Δ l 0| > | Δ h 0|, then choose Z=-Δ l 0two tanks in the quadrant of place are as filling object; If | Δ l 0|=| Δ h 0|, then selected point (-Δ h 0,-Δ l 0) tank in the quadrant of place is as filling object; If | Δ l 0| < | Δ h 0|, then choose Y=-Δ h 0two tanks in the quadrant of place are as filling object;
Controller, according to selected filling object, extracts the center-of-mass coordinate of this filling object from each tank center-of-mass coordinate that inside stores, and controller is according to filling object, spacecraft mass M 0with initial centroid position O ' (Δ h 0, Δ l 0) and filling object center-of-mass coordinate, calculate the propellant mass of the required filling of filling object and store;
5) controller is according to filling object and corresponding required propellant mass of annotating, control the charging point corresponding with filling object, make this charging point extract propellant from propellant metaideophone tank and annotate propellant to corresponding tank by pipeline, simultaneously, the measurement data of controller Real-time Collection weighing system also calculates data variation amount, when measurement data variable quantity is the propellant mass of required filling, controller controls charging point and stops filling; Now, matter scaffold tower records spacecraft mass is M 1and the centroid position O after filling " (Δ h 1, Δ l 1);
6) controller receives the spacecraft mass M that matter survey acquisition system collects 1and the centroid position O after filling " (Δ h 1, Δ l 1), if Δ h 1=0 and Δ l 1=0, then terminate counterweight process, otherwise controller is according to spacecraft mass M 1with the centroid position O after filling " (Δ h 1, Δ l 1), repeat step 4) ~ 6), until the best centroid position O of the spacecraft that records of matter scaffold tower " ' for till (0,0).
CN201410191801.0A 2014-05-07 2014-05-07 Tank-distributively arranged spacecraft-used propellant counterweight method CN104034481B (en)

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CN106516167B (en) * 2016-11-03 2019-05-03 上海卫星工程研究所 The high-precision repropellenting method of high rail parallel connection tiling tank satellite
CN107063567B (en) * 2016-11-09 2019-06-28 上海卫星工程研究所 High rail parallel connection tiling tank satellite transfer leg mass property calculation method
CN107340097A (en) * 2017-06-14 2017-11-10 贵州航天朝阳科技有限责任公司 A kind of measuring system for spacecraft propellant tank
CN107963238B (en) * 2017-11-24 2019-06-18 中国空间技术研究院 A kind of spacecraft centroid control method based on gas cylinder in parallel
CN109854957A (en) * 2019-03-05 2019-06-07 北京控制工程研究所 A kind of enclosed low filling rate parallel connection tank charging method

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