CN104139871A - Close-range safe collision-preventing control method for two spacecrafts - Google Patents
Close-range safe collision-preventing control method for two spacecrafts Download PDFInfo
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- CN104139871A CN104139871A CN201410318555.0A CN201410318555A CN104139871A CN 104139871 A CN104139871 A CN 104139871A CN 201410318555 A CN201410318555 A CN 201410318555A CN 104139871 A CN104139871 A CN 104139871A
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Abstract
The invention discloses a close-range safe collision-preventing control method for two spacecrafts. According to the method, two continuous movements along different directions are designed on the basis of considering the positions and a relative motion law of auxiliaries on the two spacecrafts. When a first movement is implemented, the two spacecrafts move along the relative separating directions, so that the auxiliaries of the spacecrafts are prevented from being collided. When a second movement is implemented, the relative motion raw of a rail is considered, so that the two spacecrafts are gradually separated from each other and are prevented from being collided. The two movements are continuously implemented, so that the two spacecrafts are prevented from being collided.
Description
Technical field
The present invention relates to a kind of two spacecraft close-distance safety control of collision avoidance methods.
Background technology
Spacecraft carries out intersection in space, be the process that a spacecraft approaches another spacecraft, be exactly in space flight two or more spacecrafts by the coordination of orbit parameter, arrive at one time the process of space same position.Two spacecrafts are stopped in control process relatively, use the sensor of relative measurement to measure, and obtain the information such as two spacecraft relative positions, relative velocity, and carry out relative position control based on these metrical informations.Once relative position measurement between the two lost efficacy, and just cannot obtain relative position information, now need a spacecraft to carry out suitable motor-driven, avoid two spacecrafts to bump.
Existing method can be to the reversing sense applied thrust of two Spacecraft Relative Motions, make two spacecrafts temporarily away from.But along with the motion of spacecraft on the track around the earth, the relative motion of two spacecrafts is a kind of cyclical movements, the consequence that this reversing sense thrust causes can cause two spacecrafts to move on less desirable relative position, and may cause the relevant path of two spacecrafts can again intersect after certain hour, bump again.Therefore, the motor-driven control of collision prevention need to be selected suitable direction.
When two spacecraft close together, the motor-driven control of collision prevention designing according to relative motion law, likely makes again spaceborne annex, as the annexes such as solar array, antenna bump.
Summary of the invention
Technical matters to be solved by this invention is: overcome the deficiencies in the prior art, a kind of control method of close-distance safety collision prevention is provided, in can relatively stopping control process in two spacecraft closer distance, et out of order in the situation that, avoid two spacecrafts and spaceborne annex to bump
The present invention includes following technical scheme:
Two spacecraft close-distance safety control of collision avoidance methods, the heading of establishing two spacecrafts is+directions X that the earth's core direction is+Z direction;-directions X is the reversing sense of heading;-Z direction is the reversing sense of the earth's core direction; Two spacecrafts are in intersection docking operation, and the annex that spacecraft 2 stretches out is below spacecraft 1; When two spacecrafts are in intersection docking operation during et out of order, two spacecraft close-distance safety control of collision avoidance methods are as follows:
(1) first spacecraft 2 carries out that first is motor-driven, and the thruster of the thruster of thrust direction edge-directions X and thrust direction edge+Z direction is opened simultaneously, make spacecraft 2 to-X and+motion of Z direction; It is t that the thruster of the thruster of thrust direction edge-directions X and thrust direction edge+Z direction amounts to opening time length
1thereby the distance L that guarantees initial position motion when spacecraft 2 is from et out of order is greater than 2 times of annex length that spacecraft 2 stretches out;
(2) spacecraft 2 carry out second motor-driven, the thruster of the thruster of thrust direction edge+directions X and thrust direction edge-Z direction is opened simultaneously; The thruster opening time length of thrust direction edge+directions X is t
x, guarantee that spacecraft 2 is greater than zero in directions X speed after motor-driven completing for the second time; The thruster opening time length of thrust direction edge-Z direction is t
z, can make spacecraft 2 to the rear motion of spacecraft 1.
The present invention's advantage is compared with prior art:
The present invention considers position and the relative motion law of two spaceborne annexes simultaneously, design the motor-driven of continuous two different directions, implementing first when motor-driven, two spacecrafts according to relatively away from direction motion, avoid the annex of spacecraft to bump; Second motor-driven relative motion law of considering track, make two spacecrafts gradually away from, avoid again colliding.By apply continuously two motor-driven, can guarantee that two spacecrafts do not bump.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of two spacecrafts.
Fig. 2 is for implementing two motor-driven sense of motion schematic diagrams.
The specific embodiment
As shown in Figure 1, two spacecrafts et out of order in closer distance need to be avoided the motor-driven of collision, and the annex that spacecraft 2 stretches out is below spacecraft 1.
According to the relative motion law of two spacecrafts, spacecraft 2 can make its track raise to heading (+directions X) applied thrust, and the speed of the spacecraft 2 relative earth diminishes, and spacecraft 2 can be more and more far away at the rear of spacecraft 1.Spacecraft 2 can make its track reduce to reversing sense (directions X) applied thrust of heading, and it is large that the speed of the spacecraft 2 relative earth becomes, and spacecraft 2 can be more and more far away in the place ahead of spacecraft 1.If spacecraft 2 is along the earth's core direction (+Z direction) applied thrust, spacecraft 2 can be to the motion of the earth's core direction, and the circle that can detour from spacecraft 1 the place ahead within an orbit period is got back to initial position.If spacecraft 2 is along reversing sense (Z direction) applied thrust of the earth's core direction, spacecraft 2 can deviate from the earth's core direction motion, and the circle that can detour from spacecraft 1 rear within an orbit period is got back to initial position.
For follow-up, be convenient to after fault is got rid of, spacecraft 2 can approach again from the rear of spacecraft 1.After wishing the motor-driven enforcement of collision prevention, spacecraft 2 moves to the rear of spacecraft 1.According to the above characteristics of motion, need spacecraft 2 to heading (+directions X) and liftoff heart direction (Z direction) the both direction applied thrust of supporting or opposing.And if according to this both direction applied thrust, the starting stage of moving at the relative spacecraft 1 of spacecraft 2 is to heading and deviates from the earth's core direction motion, now the annex on spacecraft 2 and spacecraft 2 can bump against spacecraft 1.
Therefore the present invention design two motor-driven.First motor-driven edge-directions X and+Z direction, motor-driven amount is less.Guarantee spacecraft 2 starting stage and spacecraft 1 away from.Second motor-driven edge+directions X and-Z direction, guarantee that spacecraft 2 is more and more far away at the rear of spacecraft 1.
Method of the present invention, specifically comprises the steps:
(1) first spacecraft 2 carries out that first is motor-driven, and the thruster of the thruster of thrust direction edge-directions X and thrust direction edge+Z direction is opened, make spacecraft 2 to-X and+motion of Z direction.As shown in Figure 2, the annex of spacecraft 2 stretches to+directions X, and spacecraft 2 is from initial position motion direction motion of 1 to position.The opening time of thruster is mainly according to annex direction of extension length, directions X rate of onset v
0,-directions X thruster thrust F
-x, spacecraft mass m estimates.It is t that thruster is opened duration
1time, the distance that spacecraft is passed by along thrust direction is approximately
open duration t
1should long enough, make L be greater than the length of annex.For the sake of assurance, can make L be greater than 2 times of annex length.
(2) spacecraft 2 and then carry out second motor-driven, thrust direction edge+directions X and-two groups of thrusters of Z direction open simultaneously.+ directions X thruster is opened t
xsecond, the thruster of-Z direction is opened t
zsecond, make spacecraft 2 mainly to the motion of-Z direction, simultaneously to+directions X micromotion one segment distance slightly.The long term of-Z direction thruster is to make spacecraft 2 to the rear motion of spacecraft 1.The effect of+directions X thrust is that the track of spacecraft 2 is raised, and the speed of the earth diminishes relatively.The track of spacecraft 2 just lags behind spacecraft 1 always like this, and the rear that remains on spacecraft 1 is more and more far away.
+ directions X thruster is opened duration t
xspecific design, need to consider first motor-driven after, spacecraft 2 has one to the speed of-directions X
in order to guarantee that for the second time, after motor-driven completing, spacecraft 2 is greater than zero in directions X speed ,+directions X thruster is opened duration and need to be met
f wherein
+ xbe+thrust of directions X size.
The thruster of-Z direction is opened duration t
zonly need enough just can to guarantee greatly spacecraft 2 to position 2 direction move.T for example
1=10 seconds, t
x=15 seconds, t is set
z=100 seconds.
The content not being described in detail in specification sheets of the present invention belongs to professional and technical personnel in the field's known technology.
Claims (1)
1. two spacecraft close-distance safety control of collision avoidance methods, the heading of establishing two spacecrafts is+directions X, the earth's core direction is+Z direction;-directions X is the reversing sense of heading;-Z direction is the reversing sense of the earth's core direction; Two spacecrafts are in intersection docking operation, and the annex that spacecraft 2 stretches out is below spacecraft 1; It is characterized in that, when two spacecrafts are in intersection docking operation during et out of order, two spacecraft close-distance safety control of collision avoidance methods are as follows:
(1) first spacecraft 2 carries out that first is motor-driven, and the thruster of the thruster of thrust direction edge-directions X and thrust direction edge+Z direction is opened simultaneously, make spacecraft 2 to-X and+motion of Z direction; It is t that the thruster of the thruster of thrust direction edge-directions X and thrust direction edge+Z direction amounts to opening time length
1thereby the distance L that guarantees initial position motion when spacecraft 2 is from et out of order is greater than 2 times of annex length that spacecraft 2 stretches out;
(2) spacecraft 2 carry out second motor-driven, the thruster of the thruster of thrust direction edge+directions X and thrust direction edge-Z direction is opened simultaneously; The thruster opening time length of thrust direction edge+directions X is t
x, guarantee that spacecraft 2 is greater than zero in directions X speed after motor-driven completing for the second time; The thruster opening time length of thrust direction edge-Z direction is t
z, can make spacecraft 2 to the rear motion of spacecraft 1.
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| CN201410318555.0A CN104139871B (en) | 2014-07-04 | 2014-07-04 | A kind of two spacecraft close-distance safety control of collision avoidance methods |
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| CN104139871A true CN104139871A (en) | 2014-11-12 |
| CN104139871B CN104139871B (en) | 2015-12-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105824319A (en) * | 2015-01-26 | 2016-08-03 | 泰雷兹公司 | Method for avoidance of one or more obstacles by an aircraft, and related computer program product, electronic system and aircraft |
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| US5193766A (en) * | 1990-07-18 | 1993-03-16 | National Space Development Agency Of Japan | Retry/recovery method in rendezvous maneuver |
| US5511748A (en) * | 1993-11-12 | 1996-04-30 | Scott; David R. | Method for extending the useful life of a space satellite |
| US20030098394A1 (en) * | 2001-11-29 | 2003-05-29 | Cooper John Hutton | Magnetic dipole tractor beam control system |
| US6845303B1 (en) * | 2002-11-05 | 2005-01-18 | Lockheed Martin Corporation | Micro-satellite and satellite formation for inverse and distributed proximity operations |
| CN101033009A (en) * | 2007-04-19 | 2007-09-12 | 上海交通大学 | Awl-rod type butt and releasing gear for spacing micro-nano star station |
| US20090242704A1 (en) * | 2001-07-30 | 2009-10-01 | D Ausilio Robert F | In orbit space transportation & recovery system |
| CN101774432A (en) * | 2009-12-30 | 2010-07-14 | 北京控制工程研究所 | Human control intersection docking operation method |
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2014
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5193766A (en) * | 1990-07-18 | 1993-03-16 | National Space Development Agency Of Japan | Retry/recovery method in rendezvous maneuver |
| US5511748A (en) * | 1993-11-12 | 1996-04-30 | Scott; David R. | Method for extending the useful life of a space satellite |
| US20090242704A1 (en) * | 2001-07-30 | 2009-10-01 | D Ausilio Robert F | In orbit space transportation & recovery system |
| US20030098394A1 (en) * | 2001-11-29 | 2003-05-29 | Cooper John Hutton | Magnetic dipole tractor beam control system |
| US6845303B1 (en) * | 2002-11-05 | 2005-01-18 | Lockheed Martin Corporation | Micro-satellite and satellite formation for inverse and distributed proximity operations |
| CN101033009A (en) * | 2007-04-19 | 2007-09-12 | 上海交通大学 | Awl-rod type butt and releasing gear for spacing micro-nano star station |
| CN101774432A (en) * | 2009-12-30 | 2010-07-14 | 北京控制工程研究所 | Human control intersection docking operation method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105824319A (en) * | 2015-01-26 | 2016-08-03 | 泰雷兹公司 | Method for avoidance of one or more obstacles by an aircraft, and related computer program product, electronic system and aircraft |
| CN105824319B (en) * | 2015-01-26 | 2020-07-28 | 泰雷兹公司 | Method for avoiding one or more obstacles by an aircraft, associated computer program product, electronic system and aircraft |
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| CN104139871B (en) | 2015-12-30 |
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