CN104229161B - A kind of spacecrafts rendezvous Trajectory Safety band based on control pulse determines method - Google Patents

Abstract

A kind of spacecrafts rendezvous Trajectory Safety band based on control pulse determines method, first chooses any one the free track of spacecrafts rendezvous nominal described by CW equation, determines the range of CW two bang-bang control method, and then determine the orbit segment determined for seat belt；Then divide the scope of each seat belt, and determine the seat belt residing for current pursuit spacecraft according to the seat belt calculated；Finally according to current pursuit spacecraft position in seat belt, perform corresponding control instruction, pursuit spacecraft is controlled, the deviation that track occurs can be revised by the present invention in time, and the fault that energy real-time judge is likely to occur, solve the fuel consumption of closely spacecrafts rendezvous process and the balance of real time security.

Description

A kind of spacecrafts rendezvous Trajectory Safety band based on control pulse determines method

Technical field

The present invention relates to a kind of spacecrafts rendezvous Trajectory Safety band and determine method, particularly a kind of based on control pulse Spacecrafts rendezvous Trajectory Safety band determine method, use CW two bang-bang control method to determine closely intersection pair The seat belt connect, it is adaptable to closely spacecrafts rendezvous field.

Background technology

Spacecrafts rendezvous is a complicated technology, the most often has accident to occur.There is day in the last few years This ETS-VII and the DART satellite of the U.S. are carried out or the report of mission failure because fault affects task.Institute With during spacecrafts rendezvous, particularly under the trend that autonomous rendezvous requirement is gradually stepped up, Trajectory Safety Become an important research topic.

At present, the research about spacecrafts rendezvous Trajectory Safety mainly has following a few class: the first kind is for special The track of type, provides the condition of Trajectory Safety；Equations of The Second Kind is that the method utilizing online numerical computations obtains peace Full track；3rd class provides sufficient condition or the necessary and sufficient condition of Trajectory Safety for some typical condition analysis, And judge and the foundation of active safety control as Trajectory Safety；4th class solves the collision of spacecrafts rendezvous process Probability.

In the closely intersection of practical flight task, pursuit spacecraft generally along the track planned by Step is near passive space vehicle.Have owing to solving the kinetics equation used by Guidance and actual running environment Deviation, and navigation and actuator all exist deviation, needs to revise in real time or separated in time is carried out Revise trajector deviation.If carried out revising in real time, fuel consumption may be bigger, if separated in time Carry out track correct and possibly cannot tackle the fault of generation in real time.Above-mentioned research method cannot be accomplished to control in real time Make the unification and balance judged with Trajectory Safety.

Summary of the invention

Our bright technology solves problem: for the most methodical deficiency, it is proposed that a kind of based on leader processed The spacecrafts rendezvous Trajectory Safety band of punching determines method, for closely determining the spacecrafts rendezvous task of track, carries Having gone out spacecrafts rendezvous Trajectory Safety band based on control pulse, deviation track occur is revised in time, and energy The fault that real-time judge is likely to occur, solves fuel consumption and the actual time safety of closely spacecrafts rendezvous process The balance of property.

The technical solution of the present invention is: a kind of spacecrafts rendezvous Trajectory Safety band based on control pulse determines Method, step is as follows:

(1) any one the free track of spacecrafts rendezvous nominal described by CW equation is chosen；Described intersection The docking free track of nominal is to be determined and unmodified by CW two bang-bang control method, is used for describing tracking Spacecraft and the track of passive space vehicle relative motion；

(2) according to the character of first control pulse in CW two bang-bang control method, CW two arteries and veins is determined The range of punching guiding method, and then determine use in the free track of spacecrafts rendezvous nominal that step (1) is chosen In the orbit segment that seat belt determines；

(3) seat belt of the orbit segment obtained in calculation procedure (2), described seat belt include without control band, Correction tape, warning elt and emergency escape band；

(4) it is calculated in pursuit spacecraft CW two bang-bang control method according to the formula in step (2) The component Δ V of X-axis and Z axis in RVD coordinate system of first control pulse_xWith Δ V_z, thus according to step Suddenly the seat belt calculated in (3) determines the seat belt residing for current pursuit spacecraft；

(5) according to current pursuit spacecraft position in seat belt, corresponding control instruction is performed, to chasing after Track spacecraft is controlled, particularly as follows:

If current pursuit spacecraft is in without control band, the most do not carry out Guidance and control；

If current pursuit spacecraft is in correction tape, then utilize the pursuit spacecraft CW calculated in step (4) The component Δ V of X-axis and Z axis in RVD coordinate system of first control pulse in two bang-bang control methods_xWith ΔV_zChange the size and Orientation of pursuit spacecraft flight speed, thus the flight path of pursuit spacecraft is carried out Revise so that pursuit spacecraft revert to without control band；

If current pursuit spacecraft is in warning elt, then utilize the pursuit spacecraft CW calculated in step (4) The component Δ V of X-axis and Z axis in RVD coordinate system of first control pulse in two bang-bang control methods_xWith ΔV_zChange the size and Orientation of pursuit spacecraft flight speed, thus the flight path of pursuit spacecraft is carried out Revise, send warning instruction the most earthward；

If current pursuit spacecraft is in emergency escape band, then perform emergency escape instruction, to pursuit spacecraft What applying was fixing withdraws pulse so that pursuit spacecraft wide spacecraft, it is to avoid two spacecrafts occur Collision.

According to the character of first control pulse in CW two bang-bang control method in described step (2), really Determine the range of CW two bang-bang control method, and then determine the spacecrafts rendezvous nominal that step (1) is chosen The orbit segment determined for seat belt in free track；Particularly as follows:

First control pulse in CW two bang-bang control method is:

${\mathrm{\ΔV}}_x=\frac{{\mathrm{\ω}}_T\left[\begin{array}{c}(x_f-x_0)\sin \left({\mathrm{\ω}}_{T}t\right)+z_0\left(14\cos \right({\mathrm{\ω}}_{T}t)+6{\mathrm{\ω}}_{T}t\sin ({\mathrm{\ω}}_{T}t)-14)\\ +2z_f(1-\cos ({\mathrm{\ω}}_{T}t\left)\right)\end{array}\right]}{\sin \left(\frac{{\mathrm{\ω}}_{T}t}{2}\right)\left(16\sin \right(\frac{{\mathrm{\ω}}_{T}t}{2})-6{\mathrm{\ω}}_{T}t)}-{\stackrel{\·}{x}}_0$

${\mathrm{\ΔV}}_z=\frac{{\mathrm{\ω}}_T\left[\begin{array}{c}2(x_f-x_0)\left(\cos \right({\mathrm{\ω}}_{T}t)-1)+z_0\left(3{\mathrm{\ω}}_{T}t\cos \right({\mathrm{\ω}}_{T}t)-4\sin ({\mathrm{\ω}}_{T}t\left)\right)\\ +z_f\left(4\sin \right({\mathrm{\ω}}_{T}t)-3{\mathrm{\ω}}_{T}t)\end{array}\right]}{\sin \left(\frac{{\mathrm{\ω}}_{T}t}{2}\right)\left(16\sin \right(\frac{{\mathrm{\ω}}_{T}t}{2})-6{\mathrm{\ω}}_{T}t)}-{\stackrel{\·}{z}}_0$

In formula, Δ V_xWith Δ V_zIt is first control pulse X-axis and the component of Z axis, ω in RVD coordinate system_T For the orbit angular velocity of passive space vehicle, x₀And z₀It is engraved in when being respectively the free Track Initiation of spacecrafts rendezvous nominal X-axis and the position of Z axis in RVD coordinate system,WithWhen being respectively the free Track Initiation of spacecrafts rendezvous nominal It is engraved in X-axis and the speed of Z axis, x in RVD coordinate system_fAnd z_fIt is respectively the free track of spacecrafts rendezvous nominal Being engraved in X-axis and the position of Z axis in RVD coordinate system during end, t is the transfer time of CW two bang-bang control；

Determine turn corresponding equal to during threshold epsilon set in advance of denominator in two formula of first control pulse Shift time, and then determine the orbit segment that spacecrafts rendezvous nominal free Trajectory Safety band determines；I.e. at spacecrafts rendezvous The free track of nominal is removed time away from end less than or equal to corresponding to the transfer time determined by threshold epsilon Orbit segment, described 0 ＜ ε≤0.0012.

The seat belt of the orbit segment obtained in calculation procedure (2) in described step (3), described seat belt bag Including without control band, correction tape, warning elt and emergency escape band, detailed process is:

The expression formula of each seat belt is as follows:

I) without control band: | Δ V_x|+|ΔV_z|≤V₁

Ii) correction tape: V₁＜ | Δ V_x|+|ΔV_z|≤V₂

Iii) warning elt: V₂＜ | Δ V_x|+|ΔV_z|≤V₃

Iv) emergency escape band: | Δ V_x|+|ΔV_z| ＞ V₃

In formula, V₁、V₂And V₃Being respectively seat belt and divide threshold value, expression is as follows:

V₁=| Δ V_x|_max+|ΔV_z|_max+δ₁

V₂=| Δ V_x|_max+|ΔV_z|_max+δ₂

V₃=| Δ V_x|_max+|ΔV_z|_max+δ₃

δ₁、δ₂And δ₃For correction value set in advance, | Δ V_x|_maxWith | Δ V_z|_maxSpecifically by formula:

${\left|{\mathrm{\ΔV}}_x\right|}_{max}=\left|{\stackrel{\·}{x}}_0\right|+{\mathrm{\γ}}_{1max}\left|(x_f-x_0){\mathrm{\ω}}_T\right|+{\mathrm{\γ}}_{2max}\left|z_0{\mathrm{\ω}}_T\right|+{\mathrm{\γ}}_{3max}\left|z_f{\mathrm{\ω}}_T\right|$

${\left|{\mathrm{\ΔV}}_z\right|}_{max}=\left|{\stackrel{\·}{z}}_0\right|+{\mathrm{\λ}}_{1max}\left|(x_f-x_0){\mathrm{\ω}}_T\right|+{\mathrm{\λ}}_{2max}\left|z_0{\mathrm{\ω}}_T\right|+{\mathrm{\λ}}_{3max}\left|z_f{\mathrm{\ω}}_T\right|$

Be given, wherein γ_1max、γ_2max、γ_3max、λ_1max、λ_2maxAnd λ_3maxIt is respectively γ₁、γ₂、γ₃、λ₁、λ₂ And λ₃Maximum, γ₁、γ₂、γ₃、λ₁、λ₂And λ₃By formula:

${\mathrm{\γ}}_1=\frac{sin\left({\mathrm{\ω}}_{T}t\right)}{8-3{\mathrm{\ω}}_{T}tsin\left({\mathrm{\ω}}_{T}t\right)-8cos\left({\mathrm{\ω}}_{T}t\right)}$

${\mathrm{\γ}}_2=\frac{14\cos \left({\mathrm{\ω}}_{T}t\right)+6{\mathrm{\ω}}_{T}t\sin \left({\mathrm{\ω}}_{T}t\right)-14}{8-3{\mathrm{\ω}}_{T}t\sin \left({\mathrm{\ω}}_{T}t\right)-8\cos \left({\mathrm{\ω}}_{T}t\right)}$

${\mathrm{\γ}}_2=\frac{2(1-\cos ({\mathrm{\ω}}_{T}t\left)\right)}{8-3{\mathrm{\ω}}_{T}t\sin \left({\mathrm{\ω}}_{T}t\right)-8\cos \left({\mathrm{\ω}}_{T}t\right)}$

${\mathrm{\λ}}_1=\frac{2\left(\cos \right({\mathrm{\ω}}_{T}t)-1)}{8-3{\mathrm{\ω}}_{T}t\sin \left({\mathrm{\ω}}_{T}t\right)-8\cos \left({\mathrm{\ω}}_{T}t\right)}$

${\mathrm{\λ}}_2=\frac{3{\mathrm{\ω}}_{T}t\cos \left({\mathrm{\ω}}_{T}t\right)-4\sin \left({\mathrm{\ω}}_{T}t\right)}{8-3{\mathrm{\ω}}_{T}t\sin \left({\mathrm{\ω}}_{T}t\right)-8\cos \left({\mathrm{\ω}}_{T}t\right)}$

${\mathrm{\λ}}_3=\frac{4sin\left({\mathrm{\ω}}_{T}t\right)-3{\mathrm{\ω}}_{T}t}{8-3{\mathrm{\ω}}_{T}tsin\left({\mathrm{\ω}}_{T}t\right)-8cos\left({\mathrm{\ω}}_{T}t\right)}$

Be given.

The present invention compared with prior art provides the benefit that:

(1) first control pulse during the present invention utilizes CW two bang-bang control method first determines closely The seat belt of Distance Intersection docking nominal trajectory, and propose Guidance based on seat belt and collision prevention strategy, Operating efficiency and the safety of closely spacecrafts rendezvous process are taken into account；

(2) present invention is by analyzing first control pulse infinitesimal exponent number in CW two bang-bang control method, Determine the subject range of two bang-bang controls, further determined that the spacecrafts rendezvous mark that can be used for setting seat belt Claim orbit segment, more conform to reality application, improve the reliability of algorithm；

(3) the present invention is directed to different seat belt and propose different security strategies, and apply to track Actively in protection, do not increasing spacecrafts rendezvous close on the basis of the fuel consumption of process, improve intersection pair The real time security of termination process.

Accompanying drawing explanation

Fig. 1 is the FB(flow block) that present invention spacecrafts rendezvous based on control pulse Trajectory Safety band determines method；

Fig. 2 is spacecrafts rendezvous seat belt schematic diagram of the present invention；

Fig. 3 is normal flight track schematic diagram of the present invention；

Fig. 4 is that present invention Guidance based on control pulse spacecrafts rendezvous Trajectory Safety band emulates schematic diagram.

Detailed description of the invention

During spacecrafts rendezvous, evacuation process with close to during safe trajectory design much like, institute With in the embodiment of the present invention only with the spacecrafts rendezvous Trajectory Safety safe plan of band based on control pulse close to track Slightly it is illustrated as a example by design.

RVD coordinate system, to describe the motion of track, is defined as: with target by the bright CW of the utilization equation of we Spacecraft centroid is initial point, and the direction of motion of passive space vehicle is positive X-direction, and passive space vehicle points to ground The direction of the heart is positive Z-direction, and positive Y direction and positive X-direction, positive Z-direction meet the right-hand rule, Movement locus in orbit plane can be represented by the formula:

$\left\{\begin{array}{c}\stackrel{\·\·}{x}+2\mathrm{\ω}\stackrel{\·}{z}=0\\ \stackrel{\·\·}{z}-2\mathrm{\ω}\stackrel{\·}{x}-3{\mathrm{\ω}}^{2}z=0\end{array}\right.$

Wherein x and z is respectively pursuit spacecraft in the RVD coordinate system with passive space vehicle as zero X-axis and the position coordinates of Z axis, ω is the orbit angular velocity of passive space vehicle.

Order $\mathrm{\ρ}\left(t\right)=\left[\begin{array}{c}x\left(t\right)\\ z\left(t\right)\end{array}\right],\stackrel{\·}{\mathrm{\ρ}}\left(t\right)=\left[\begin{array}{c}\stackrel{\·}{x}\left(t\right)\\ \stackrel{\·}{z}\left(t\right)\end{array}\right]$

C-W non trivial solution is

$\left[\begin{array}{c}\mathrm{\ρ}\left(t_f\right)\\ \stackrel{\·}{\mathrm{\ρ}}\left(t_f\right)\end{array}\right]=\left[\begin{array}{cc}A\left(t\right)& B\left(t\right)\\ C\left(t\right)& D\left(t\right)\end{array}\right]\left[\begin{array}{c}\mathrm{\ρ}\left(t_0\right)\\ \stackrel{\·}{\mathrm{\ρ}}\left(t_0\right)\end{array}\right]+\left[\begin{array}{c}B\left(t\right)\\ D\left(t\right)\end{array}\right]\mathrm{\Δ}v\left(t_0\right)+\left[\begin{array}{c}0\\ \mathrm{\Δ}v\left(t_f\right)\end{array}\right]$

Wherein x (t), z (t) are pursuit spacecraft X in the RVD coordinate system with passive space vehicle as zero Axle, the position coordinates of the band time t of Z axis, t₀For initial time time, t_fFor time in latter end moment, Δ v (t₀) For first pulse vector of CW two bang-bang control, Δ v (t_f) it is second pulse of CW two bang-bang control Vector,

$A\left(t\right)=\left[\begin{array}{cc}1& 6\sin \left({\mathrm{\ω}}_{T}t\right)-6{\mathrm{\ω}}_{T}t\\ 0& 4-3\cos \left({\mathrm{\ω}}_{T}t\right)\end{array}\right],B\left(t\right)=\left[\begin{array}{cc}4\sin \left({\mathrm{\ω}}_{T}t\right)/{\mathrm{\ω}}_T-3t& -2/{\mathrm{\ω}}_T+2\cos \left({\mathrm{\ω}}_{T}t\right)/{\mathrm{\ω}}_T\\ 2/{\mathrm{\ω}}_T-2\cos \left({\mathrm{\ω}}_{T}t\right)/{\mathrm{\ω}}_T& \sin \left({\mathrm{\ω}}_{T}t\right)/{\mathrm{\ω}}_T\end{array}\right]$

$C\left(t\right)=\left[\begin{array}{cc}0& -6{\mathrm{\ω}}_T+6{\mathrm{\ω}}_{T}cos\left({\mathrm{\ω}}_{T}t\right)\\ 0& 3{\mathrm{\ω}}_T\sin \left({\mathrm{\ω}}_{T}t\right)\end{array}\right],D\left(t\right)=\left[\begin{array}{cc}4cos\left({\mathrm{\ω}}_{T}t\right)-3& -2sin\left({\mathrm{\ω}}_{T}t\right)\\ 2\sin \left({\mathrm{\ω}}_{T}t\right)& cos\left({\mathrm{\ω}}_{T}t\right)\end{array}\right]$

Known initial position and speed [ρ (t₀)=[x₀ z₀]^T, $\stackrel{\·}{\mathrm{\ρ}}\left(t_0\right)={\left[\begin{array}{cc}{\stackrel{\·}{x}}_0& {\stackrel{\·}{z}}_0\end{array}\right]}^T\],$ Dipulse Guidance and control side Method seeks to be respectively acting on 2 velocity pulses of initial time and end time so that in preset time T=t_f-t₀In, relative position and speed reach [ρ (t_f)=[x_f z_f]^T, $\stackrel{\·}{\mathrm{\ρ}}\left(t_f\right)={\left[\begin{array}{cc}{\stackrel{\·}{x}}_f& {\stackrel{\·}{z}}_f\end{array}\right]}^T\].$ When tan(ω₀t/2)≠3/8ω₀During t, matrix B (t) is reversible, and CW two pulse control method has solution as follows:

$\mathrm{\Δ}v\left(t_0\right)=B{\left(t\right)}^{-1}\[\mathrm{\ρ}\left(t_f\right)-A\left(t\right)\mathrm{\ρ}\left(t_0\right)\]-\stackrel{\·}{\mathrm{\ρ}}\left(t_0\right)$

$\mathrm{\Δ}v\left(t_f\right)=\stackrel{\·}{\mathrm{\ρ}}\left(t_f\right)-C\left(t\right)\mathrm{\ρ}\left(t_0\right)-D\left(t\right)\stackrel{\·}{\mathrm{\ρ}}\left(t_0\right)-D\left(t\right)\mathrm{\Δ}v\left(t_0\right)$

(1) any one the free track of spacecrafts rendezvous nominal described by CW equation, this intersection pair are chosen Connect the free track of nominal to be determined by CW two bang-bang control method and unmodified.

(2), in CW two bang-bang control strategy, denominator 8-3 ω is made when transfer time_Ttsin(ω_Tt)-8cos(ω_Tt) Time near zero, the pulse tried to achieve may be the biggest.According to first leader processed in CW two bang-bang control method The character of punching, determines the range of CW two bang-bang control method.

CW two bang-bang control, first pulse-spreading is derived as follows further:

$\begin{array}{c}\mathrm{\Δ}v\left(t_0\right)=\left[\begin{array}{c}{\mathrm{\ΔV}}_x\\ {\mathrm{\ΔV}}_z\end{array}\right]=-\left[\begin{array}{c}{\stackrel{\·}{x}}_0\\ {\stackrel{\·}{z}}_0\end{array}\right]\\ +\frac{{\mathrm{\ω}}_T\left[\begin{array}{c}(x_f-x_0)\sin \left({\mathrm{\ω}}_{T}t\right)+z_0\left(14\cos \right({\mathrm{\ω}}_{T}t)+6{\mathrm{\ω}}_{T}t\sin ({\mathrm{\ω}}_{T}t)-14)+2z_f(1-\cos ({\mathrm{\ω}}_{T}t\left)\right)\\ 2(x_f-x_0)\left(\cos \right({\mathrm{\ω}}_{T}t)-1)+z_0\left(3{\mathrm{\ω}}_{T}t\cos \right({\mathrm{\ω}}_{T}t)-4\sin ({\mathrm{\ω}}_{T}t\left)\right)+z_f\left(4\sin \right({\mathrm{\ω}}_{T}t)-3{\mathrm{\ω}}_{T}t)\end{array}\right]}{8-3{\mathrm{\ω}}_{T}t\sin \left({\mathrm{\ω}}_{T}t\right)-8\cos \left({\mathrm{\ω}}_{T}t\right)}\end{array}$

${\mathrm{\ΔV}}_x=\frac{{\mathrm{\ω}}_T\left[\begin{array}{c}(x_f-x_0)\sin \left({\mathrm{\ω}}_{T}t\right)+z_0\left(14\cos \right({\mathrm{\ω}}_{T}t)+6{\mathrm{\ω}}_{T}t\sin ({\mathrm{\ω}}_{T}t)-14)\\ +2z_f(1-\cos ({\mathrm{\ω}}_{T}t\left)\right)\end{array}\right]}{\sin \left(\frac{{\mathrm{\ω}}_{T}t}{2}\right)\left(16\sin \right(\frac{{\mathrm{\ω}}_{T}t}{2})-6{\mathrm{\ω}}_{T}t)}-{\stackrel{\·}{x}}_0$

${\mathrm{\ΔV}}_z=\frac{{\mathrm{\ω}}_T\left[\begin{array}{c}2(x_f-x_0)\left(\cos \right({\mathrm{\ω}}_{T}t)-1)+z_0\left(3{\mathrm{\ω}}_{T}t\cos \right({\mathrm{\ω}}_{T}t)-4\sin ({\mathrm{\ω}}_{T}t\left)\right)\\ +z_f\left(4\sin \right({\mathrm{\ω}}_{T}t)-3{\mathrm{\ω}}_{T}t)\end{array}\right]}{\sin \left(\frac{{\mathrm{\ω}}_{T}t}{2}\right)\left(16\sin \right(\frac{{\mathrm{\ω}}_{T}t}{2})-6{\mathrm{\ω}}_{T}t)}-{\stackrel{\·}{z}}_0$

In formula, Δ V_xWith Δ V_zIt is first control pulse X-axis and the component of Z axis, ω in RVD coordinate system_T For the orbit angular velocity of passive space vehicle, x₀And z₀It is engraved in when being respectively the free Track Initiation of spacecrafts rendezvous nominal X-axis and the position of Z axis in RVD coordinate system,WithWhen being respectively the free Track Initiation of spacecrafts rendezvous nominal It is engraved in X-axis and the speed of Z axis, x in RVD coordinate system_fAnd z_fIt is respectively the free track of spacecrafts rendezvous nominal Being engraved in X-axis and the position of Z axis in RVD coordinate system during end, t is the transfer time of CW two bang-bang control.

For Δ V_x, the denominator of Section 1It is ω_TThe second order of t is infinitely small, and divides Son is at (x_f-x₀) it is ω when being not zero_TT single order is infinitely small.For Δ V_z, denominator is ω equally_TThe second order of t is infinite Little, and molecule is at z_fOr z₀It is ω when being not zero_TThe single order of t is infinitely small.Therefore, less in transfer time or connect When nearly zero, first pulse Δ V of CW guidance_x、ΔV_zMay be bigger.

Determine turn corresponding equal to during threshold epsilon set in advance of denominator in two formula of first control pulse Shift time, when ε≤0.0012, equivalence ω transfer time_TT≤0.0349, near for the earth near 400km On circular orbit, this is equivalent to be about 30 seconds transfer time.This defines the free track of spacecrafts rendezvous nominal Seat belt cannot be determined when last 30 seconds, i.e. remove away from end in the free track of spacecrafts rendezvous nominal Time cannot design safety band less than or equal to the orbit segment corresponding to transfer time determined by threshold epsilon.

(3) centered by nominal trajectory, set up seat belt such as Fig. 2.Above nominal trajectory, with nominal trajectory It is respectively provided with from the inside to surface for starting point without control band, correction tape, warning elt and emergency escape band.Similar Below nominal trajectory, be respectively provided with the most equally with nominal trajectory for starting point without control band, correction tape, Warning elt and emergency escape band.

Error band based on control pulse character is expressed as follows:

I () is without control band: | Δ V_x|+|ΔV_z|≤V₁

(ii) correction tape: V₁＜ | Δ V_x|+|ΔV_z|≤V₂

(iii) warning elt: V₂＜ | Δ V_x|+|ΔV_z|≤V₃

(iv) emergency escape band: | Δ V_x|+|ΔV_z| ＞ V₃

It is wherein V₁,V₂,V₃Constant, is three design parameters based on the design of seat belt Trajectory Safety.

First pulse to CW two bang-bang control has been derived further:

${\mathrm{\ΔV}}_x=-{\stackrel{\·}{x}}_0+{\mathrm{\γ}}_1(x_f-x_0){\mathrm{\ω}}_T+{\mathrm{\γ}}_2{z}_0{\mathrm{\ω}}_T+{\mathrm{\γ}}_3{z}_f{\mathrm{\ω}}_T$

${\mathrm{\ΔV}}_z=-{\stackrel{\·}{z}}_0+{\mathrm{\λ}}_1(x_f-x_0){\mathrm{\ω}}_T+{\mathrm{\λ}}_2{z}_0{\mathrm{\ω}}_T+{\mathrm{\λ}}_3{z}_f{\mathrm{\ω}}_T$

${\mathrm{\γ}}_1=\frac{sin\left({\mathrm{\ω}}_{T}t\right)}{8-3{\mathrm{\ω}}_{T}tsin\left({\mathrm{\ω}}_{T}t\right)-8cos\left({\mathrm{\ω}}_{T}t\right)},{\mathrm{\γ}}_2=\frac{14\cos \left({\mathrm{\ω}}_{T}t\right)+6{\mathrm{\ω}}_{T}t\sin \left({\mathrm{\ω}}_{T}t\right)-14}{8-3{\mathrm{\ω}}_{T}t\sin \left({\mathrm{\ω}}_{T}t\right)-8\cos \left({\mathrm{\ω}}_{T}t\right)},$

Wherein ${\mathrm{\γ}}_2=\frac{2(1-\cos ({\mathrm{\ω}}_{T}t\left)\right)}{8-3{\mathrm{\ω}}_{T}t\sin \left({\mathrm{\ω}}_{T}t\right)-8\cos \left({\mathrm{\ω}}_{T}t\right)},{\mathrm{\λ}}_1=\frac{2\left(\cos \right({\mathrm{\ω}}_{T}t)-1)}{8-3{\mathrm{\ω}}_{T}t\sin \left({\mathrm{\ω}}_{T}t\right)-8\cos \left({\mathrm{\ω}}_{T}t\right)},$

${\mathrm{\λ}}_2=\frac{3{\mathrm{\ω}}_{T}t\cos \left({\mathrm{\ω}}_{T}t\right)-4\sin \left({\mathrm{\ω}}_{T}t\right)}{8-3{\mathrm{\ω}}_{T}t\sin \left({\mathrm{\ω}}_{T}t\right)-8\cos \left({\mathrm{\ω}}_{T}t\right)},{\mathrm{\λ}}_3=\frac{4sin\left({\mathrm{\ω}}_{T}t\right)-3{\mathrm{\ω}}_{T}t}{8-3{\mathrm{\ω}}_{T}tsin\left({\mathrm{\ω}}_{T}t\right)-8cos\left({\mathrm{\ω}}_{T}t\right)}.$

Maximum constrained is asked to have speed increment:

${\left|{\mathrm{\ΔV}}_x\right|}_{max}=\left|{\stackrel{\·}{x}}_0\right|+{\mathrm{\γ}}_{1max}\left|(x_f-x_0){\mathrm{\ω}}_T\right|+{\mathrm{\γ}}_{2max}\left|z_0{\mathrm{\ω}}_T\right|+{\mathrm{\γ}}_{3max}\left|z_f{\mathrm{\ω}}_T\right|$

${\left|{\mathrm{\ΔV}}_z\right|}_{max}=\left|{\stackrel{\·}{z}}_0\right|+{\mathrm{\λ}}_{1max}\left|(x_f-x_0){\mathrm{\ω}}_T\right|+{\mathrm{\λ}}_{2max}\left|z_0{\mathrm{\ω}}_T\right|+{\mathrm{\λ}}_{3max}\left|z_f{\mathrm{\ω}}_T\right|$

Wherein within transfer time, | γ₁| maximum be γ_1max, | γ₂| maximum be γ_2max, | γ₃| maximum Value is γ_3max, | λ₁| maximum be λ_1max, | λ₂| maximum be λ_2max, | λ₃| maximum be λ_3max。

Then constant V₁,V₂,V₃Meet

V₁=| Δ V_x|_max+|ΔV_z|_max+δ₁

V₂=| Δ V_x|_max+|ΔV_z|_max+δ₂

V₃=| Δ V_x|_max+|ΔV_z|_max+δ₃

δ₁,δ₂,δ₃It is to consider the factors such as CW unmodeled dynamiocs, guidance missdistance, and the value of stationary point surplus, It is not more than in the spacecrafts rendezvous track of 5km, takes δ₁=0.07m/s, δ₂=0.06m/s, δ₃=0.05m/s.

(4) it is calculated in pursuit spacecraft CW two bang-bang control method according to the formula in step (2) The component Δ V of X-axis and Z axis in RVD coordinate system of first control pulse_xWith Δ V_z, thus according to step Suddenly the seat belt calculated in (3) determines the seat belt residing for current pursuit spacecraft；

(5) according to current pursuit spacecraft position in seat belt, corresponding control instruction is performed, to chasing after Track spacecraft is controlled, particularly as follows:

If current pursuit spacecraft is in without control band, the most do not carry out Guidance and control；

If current pursuit spacecraft is in correction tape, then utilize the pursuit spacecraft CW calculated in step (4) The component Δ V of X-axis and Z axis in RVD coordinate system of first control pulse in two bang-bang control methods_xWith ΔV_zChange the size and Orientation of pursuit spacecraft flight speed, thus the flight path of pursuit spacecraft is carried out Revise so that pursuit spacecraft revert to without control band；

If current pursuit spacecraft is in warning elt, then utilize the pursuit spacecraft CW calculated in step (4) The component Δ V of X-axis and Z axis in RVD coordinate system of first control pulse in two bang-bang control methods_xWith ΔV_zChange the size and Orientation of pursuit spacecraft flight speed, thus the flight path of pursuit spacecraft is carried out Revise, send warning instruction the most earthward；

If current pursuit spacecraft is in emergency escape band, then perform emergency escape instruction, to pursuit spacecraft What applying was fixing withdraws pulse so that pursuit spacecraft wide spacecraft, it is to avoid two spacecrafts occur Collision.

Embodiment

Simulation analysis spacecrafts rendezvous based on control pulse Trajectory Safety as a example by 5000m to 400 meter are close Band design and the design of spacecrafts rendezvous Celestial Guidance Scheme.Use three kinds of Celestial Guidance Schemes:

Scheme 1: track is modified by each control cycle according to the result of CW two bang-bang control.

Scheme 2: carried out a track correct every about 300 seconds set times.

Scheme 3: Guidance based on control pulse spacecrafts rendezvous Trajectory Safety band, designs V₁=0.1, V₂=0.3, V₃=0.4, when | Δ V_x|+|ΔV_z| do not carry out track correct when≤0.1；As 0.1 ＜ | Δ V_x|+|ΔV_z|≤0.3 enters Row track correct；As 0.3 ＜ | Δ V_x|+|ΔV_z|≤0.4 is carrying out track correct activating alarm signal the most earthward； When | Δ V_x|+|ΔV_z| 0.4 emergency escape instruction of ＞, carry out emergency escape.

(the explanation: initial position is near 5000m rather than 5000 of the track of normal flight operations such as Fig. 3 At nanodot).

1) analyze under three kinds of Guidances, to fuel consumption when 400 meters near 5000m, such as following table:

Table 1

	Scheme 1	Scheme 2	Scheme 3
				Fuel consumption (kg)	399.3453	34.35	35.9060

By table 1 it can be seen that Guidance fuel consumption based on seat belt applies to revise arteries and veins with every certain time Rush fuel consumption suitable, both much smaller than the Guidance controlled in real time and limit without speed increment.

2) analyzing when breaking down, fault is that speed navigation information is existed bigger and cannot be filtered by filtering Random noise, the Guidance of scheme 2 and scheme 3 is compared.

Scheme 2 None-identified has broken down, and proceeds to control, pursuit spacecraft can be directed into mesh Punctuate, but leave potential safety hazard, and fuel consumption increases sharply, and increases to 49.1778kg from 34.35kg.

Scheme 3 can accumulate the error navigated, can be sensitive to fault within the not long time, and finger is withdrawn in triggering Order, it is to avoid two spacecrafts are it may happen that collide (Fig. 4).Fig. 4 nominal trajectory is 5000m to 400m Free track, scheme 3 track is to enter emergency escape band at, track after speed navigation information is excessive, Triggering emergency escape instructs, and applies the trajectory track spacecraft after collision prevention operation and is gradually distance from passive space vehicle guarantor Demonstrate,prove two spacecrafts not collide.

This project takes into full account that the manned second phase achievement that has been achieved with of SZ-8, SZ-9, SZ-10 and China are manned The state of the art that space flight is current, the guidance plan of the spacecrafts rendezvous Trajectory Safety band based on control pulse proposed Slightly can realize the fault anticipation of track during closely intersection, reach Trajectory Safety and fuel consumption Balance, be a kind of preferably spacecrafts rendezvous safe trajectory method for designing.This project can be continuation of the journey after China It spacecrafts rendezvous task is offered reference and technical foundation.

The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.

Claims (3)

1. a spacecrafts rendezvous Trajectory Safety band based on control pulse determines method, it is characterised in that step is such as Under:

(1) any one the free track of spacecrafts rendezvous nominal described by CW equation is chosen；Described intersection The docking free track of nominal is to be determined and unmodified by CW two bang-bang control method, is used for describing tracking Spacecraft and the track of passive space vehicle relative motion；

(2) according to the character of first control pulse in CW two bang-bang control method, CW two arteries and veins is determined The range of punching guiding method, and then determine use in the free track of spacecrafts rendezvous nominal that step (1) is chosen In the orbit segment that seat belt determines；

(3) seat belt of the orbit segment obtained in calculation procedure (2), described seat belt include without control band, Correction tape, warning elt and emergency escape band；

(4) it is calculated in pursuit spacecraft CW two bang-bang control method according to the formula in step (2) The component Δ V of X-axis and Z axis in RVD coordinate system of first control pulse_xWith Δ V_z, thus according to step Suddenly the seat belt calculated in (3) determines the seat belt residing for current pursuit spacecraft；

(5) according to current pursuit spacecraft position in seat belt, corresponding control instruction is performed, to chasing after Track spacecraft is controlled, particularly as follows:

If current pursuit spacecraft is in without control band, the most do not carry out Guidance and control；

If current pursuit spacecraft is in correction tape, then utilize the pursuit spacecraft CW calculated in step (4) The component Δ V of X-axis and Z axis in RVD coordinate system of first control pulse in two bang-bang control methods_xWith ΔV_zChange the size and Orientation of pursuit spacecraft flight speed, thus the flight path of pursuit spacecraft is carried out Revise so that pursuit spacecraft revert to without control band；Described RVD coordinate system is defined as: with passive space vehicle Barycenter is initial point, and the direction of motion of passive space vehicle is positive X-direction, and passive space vehicle points to the side in the earth's core The right-hand rule is met to for positive Z-direction, positive Y direction and positive X-direction, positive Z-direction；

If current pursuit spacecraft is in warning elt, then utilize the pursuit spacecraft CW calculated in step (4) The component Δ V of X-axis and Z axis in RVD coordinate system of first control pulse in two bang-bang control methods_xWith ΔV_zChange the size and Orientation of pursuit spacecraft flight speed, thus the flight path of pursuit spacecraft is carried out Revise, send warning instruction the most earthward；

If current pursuit spacecraft is in emergency escape band, then perform emergency escape instruction, to pursuit spacecraft What applying was fixing withdraws pulse so that pursuit spacecraft wide spacecraft, it is to avoid two spacecrafts occur Collision.

A kind of spacecrafts rendezvous Trajectory Safety band based on control pulse the most according to claim 1 determines Method, it is characterised in that: according to first guidance in CW two bang-bang control method in described step (2) The character of pulse, determines the range of CW two bang-bang control method, and then determines that step (1) is chosen The free track of spacecrafts rendezvous nominal in the orbit segment that determines for seat belt；Particularly as follows:

First control pulse in CW two bang-bang control method is:

${\mathrm{\ΔV}}_x=\frac{{\mathrm{\ω}}_T\left[\begin{array}{c}(x_f-x_0)sin\left({\mathrm{\ω}}_{T}t\right)+z_0\left(14cos\right({\mathrm{\ω}}_{T}t)+6{\mathrm{\ω}}_{T}tsin({\mathrm{\ω}}_{T}t)-14)\\ +2z_f(1-\cos ({\mathrm{\ω}}_{T}t\left)\right)\end{array}\right]}{\sin \left(\frac{{\mathrm{\ω}}_{T}t}{2}\right)\left(16\sin \right(\frac{{\mathrm{\ω}}_{T}t}{2})-6{\mathrm{\ω}}_{T}t)}-{\stackrel{\·}{x}}_0$

${\mathrm{\ΔV}}_z=\frac{{\mathrm{\ω}}_T\left[\begin{array}{c}2(x_f-x_0)\left(cos\right({\mathrm{\ω}}_{T}t)-1)+z_0\left(3{\mathrm{\ω}}_{T}tcos\right({\mathrm{\ω}}_{T}t)-4sin({\mathrm{\ω}}_{T}t\left)\right)\\ +z_f\left(4sin\right({\mathrm{\ω}}_{T}t)-3{\mathrm{\ω}}_{T}t)\end{array}\right]}{sin\left(\frac{{\mathrm{\ω}}_{T}t}{2}\right)\left(16sin\right(\frac{{\mathrm{\ω}}_{T}t}{2})-6{\mathrm{\ω}}_{T}t)}-{\stackrel{\·}{z}}_0$

In formula, Δ V_xWith Δ V_zIt is first control pulse X-axis and the component of Z axis, ω in RVD coordinate system_T For the orbit angular velocity of passive space vehicle, x₀And z₀It is engraved in when being respectively the free Track Initiation of spacecrafts rendezvous nominal X-axis and the position of Z axis in RVD coordinate system,WithWhen being respectively the free Track Initiation of spacecrafts rendezvous nominal It is engraved in X-axis and the speed of Z axis, x in RVD coordinate system_fAnd z_fIt is respectively the free track of spacecrafts rendezvous nominal Being engraved in X-axis and the position of Z axis in RVD coordinate system during end, t is the transfer time of CW two bang-bang control；

Determine turn corresponding equal to during threshold epsilon set in advance of denominator in two formula of first control pulse Shift time, and then determine the orbit segment that spacecrafts rendezvous nominal free Trajectory Safety band determines；I.e. at spacecrafts rendezvous The free track of nominal is removed time away from end less than or equal to corresponding to the transfer time determined by threshold epsilon Orbit segment, wherein the span of threshold epsilon is: 0 < ε≤0.0012.

A kind of spacecrafts rendezvous Trajectory Safety band based on control pulse the most according to claim 1 determines Method, it is characterised in that: the seat belt of the orbit segment obtained in calculation procedure (2) in described step (3), Described seat belt includes that detailed process is without control band, correction tape, warning elt and emergency escape band:

The expression formula of each seat belt is as follows:

I) without control band: | Δ V_x|+|ΔV_z|≤V₁

Ii) correction tape: V₁<|ΔV_x|+|ΔV_z|≤V₂

Iii) warning elt: V₂<|ΔV_x|+|ΔV_z|≤V₃

Iv) emergency escape band: | Δ V_x|+|ΔV_z|>V₃

In formula, V₁、V₂And V₃Being respectively seat belt and divide threshold value, expression is as follows:

V₁=| Δ V_x|_max+|ΔV_z|_max+δ₁

V₂=| Δ V_x|_max+|ΔV_z|_max+δ₂

V₃=| Δ V_x|_max+|ΔV_z|_max+δ₃

δ₁、δ₂And δ₃For correction value set in advance, | Δ V_x|_maxWith | Δ V_z|_maxSpecifically by formula:

$|{\mathrm{\&Delta;V}}_x{|}_{max}=|{\stackrel{\&CenterDot;}{x}}_0|+{\mathrm{\&gamma;}}_{1max}|(x_f-x_0){\mathrm{\&omega;}}_T|+{\mathrm{\&gamma;}}_{2max}|z_0{\mathrm{\&omega;}}_T|+{\mathrm{\&gamma;}}_{3max}|z_f{\mathrm{\&omega;}}_T|$

$|{\mathrm{\&Delta;V}}_z{|}_{max}=|{\stackrel{\&CenterDot;}{z}}_0|+{\mathrm{\&lambda;}}_{1\max }|(x_f-x_0){\mathrm{\&omega;}}_T|+{\mathrm{\&lambda;}}_{2max}|z_0{\mathrm{\&omega;}}_T|+{\mathrm{\&lambda;}}_{3max}|z_f{\mathrm{\&omega;}}_T|$

Be given, wherein γ_1max、γ_2max、γ_3max、λ_1max、λ_2maxAnd λ_3maxIt is respectively γ₁、γ₂、γ₃、λ₁、λ₂ And λ₃Maximum, γ₁、γ₂、γ₃、λ₁、λ₂And λ₃By formula:

${\mathrm{\&gamma;}}_1=\frac{sin\left({\mathrm{\&omega;}}_{T}t\right)}{8-3{\mathrm{\&omega;}}_{T}t\sin \left({\mathrm{\&omega;}}_{T}t\right)-8cos\left({\mathrm{\&omega;}}_{T}t\right)}$

${\mathrm{\&gamma;}}_2=\frac{14\cos \left({\mathrm{\&omega;}}_{T}t\right)+6{\mathrm{\&omega;}}_{T}t\sin \left({\mathrm{\&omega;}}_{T}t\right)-14}{8-3{\mathrm{\&omega;}}_{T}t\sin \left({\mathrm{\&omega;}}_{T}t\right)-8\cos \left({\mathrm{\&omega;}}_{T}t\right)}$

${\mathrm{\&gamma;}}_3=\frac{2(1-cos({\mathrm{\&omega;}}_{T}t\left)\right)}{8-3{\mathrm{\&omega;}}_{T}t\sin \left({\mathrm{\&omega;}}_{T}t\right)-8cos\left({\mathrm{\&omega;}}_{T}t\right)}$

${\mathrm{\&lambda;}}_1=\frac{2\left(cos\right({\mathrm{\&omega;}}_{T}t)-1)}{8-3{\mathrm{\&omega;}}_{T}t\sin \left({\mathrm{\&omega;}}_{T}t\right)-8cos\left({\mathrm{\&omega;}}_{T}t\right)}$

${\mathrm{\&lambda;}}_2=\frac{3{\mathrm{\&omega;}}_{T}t\cos \left({\mathrm{\&omega;}}_{T}t\right)-4\sin \left({\mathrm{\&omega;}}_{T}t\right)}{8-3{\mathrm{\&omega;}}_{T}t\sin \left({\mathrm{\&omega;}}_{T}t\right)-8\cos \left({\mathrm{\&omega;}}_{T}t\right)}$

${\mathrm{\&lambda;}}_3=\frac{4sin\left({\mathrm{\&omega;}}_{T}t\right)-3{\mathrm{\&omega;}}_{T}t}{8-3{\mathrm{\&omega;}}_{T}tsin\left({\mathrm{\&omega;}}_{T}t\right)-8cos\left({\mathrm{\&omega;}}_{T}t\right)}$

Be given.