CN104229161B - A kind of spacecrafts rendezvous Trajectory Safety band based on control pulse determines method - Google Patents
A kind of spacecrafts rendezvous Trajectory Safety band based on control pulse determines method Download PDFInfo
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Abstract
一种基于制导脉冲的交会对接轨迹安全带确定方法，首先选取任意一条由CW方程描述的交会对接标称自由轨迹，确定CW两脉冲制导方法的使用范围，进而确定用于安全带确定的轨迹段；然后划分各安全带的范围，并根据计算的安全带确定当前追踪航天器所处的安全带；最后根据当前追踪航天器在安全带中的位置，执行相应的控制指令，对追踪航天器进行控制，本发明能够对轨迹出现的偏差及时修正，并能实时判断可能出现的故障，解决了近距离交会对接过程的燃料消耗和实时安全性的平衡。
A safety belt determination method for rendezvous and docking trajectory based on guidance pulses. First, select any nominal free trajectory for rendezvous and docking described by the CW equation, determine the application range of the CW two-pulse guidance method, and then determine the trajectory segment used for seat belt determination ; Then divide the range of each safety belt, and determine the safety belt where the current tracking spacecraft is located according to the calculated safety belt; finally, according to the position of the current tracking spacecraft in the safety belt, execute the corresponding control command to track the tracking spacecraft. Control, the present invention can correct the deviation of the trajectory in time, and can judge possible faults in real time, which solves the balance between fuel consumption and real-time safety in the short-distance rendezvous and docking process.
Description
技术领域technical field
本发明涉及一种交会对接轨迹安全带确定方法，特别是一种基于制导脉冲的交会对接轨迹安全带确定方法，采用CW两脉冲制导方法确定近距离交会对接的安全带，适用于近距离交会对接领域。The invention relates to a method for determining a safety belt on a rendezvous and docking trajectory, in particular to a method for determining a safety belt on a rendezvous and docking trajectory based on a guidance pulse, which uses a CW two-pulse guidance method to determine a safety belt for close-distance rendezvous and docking, and is suitable for short-distance rendezvous and docking field.
背景技术Background technique
交会对接是一项复杂的技术，在该过程中经常有事故发生。近些年来有日本的ETS-VII和美国的DART卫星因故障影响任务进行或任务失败的报道。所以在交会对接过程中，特别是在对自主交会要求逐渐提高的趋势下，轨迹安全成为了一个重要的研究课题。Rendezvous and docking is a complex technology, and accidents often occur during the process. In recent years, there have been reports of Japanese ETS-VII and American DART satellites affecting mission progress or mission failure due to malfunctions. Therefore, in the process of rendezvous and docking, especially under the trend of gradually increasing requirements for autonomous rendezvous, trajectory safety has become an important research topic.
目前，有关交会对接轨迹安全的研究主要有如下几类：第一类是针对特殊类型的轨迹，给出轨迹安全的条件；第二类是利用在线数值计算的方法获得安全的轨迹；第三类针对某些典型工况分析给出轨迹安全的充分条件或充要条件，并作为轨迹安全判断和主动安全控制的依据；第四类求解交会对接过程的碰撞概率。At present, the research on the safety of rendezvous and docking trajectories mainly falls into the following categories: the first category is to give the conditions for trajectory security for special types of trajectories; the second category is to use online numerical calculation methods to obtain safe trajectories; the third category According to the analysis of some typical working conditions, the sufficient or necessary and sufficient conditions of trajectory safety are given, which are used as the basis for trajectory safety judgment and active safety control; the fourth type solves the collision probability of the rendezvous and docking process.
在实际飞行任务的近距离交会中，追踪航天器一般是沿着规划好的轨迹逐步靠近目标航天器。由于求解制导策略所用的动力学方程和实际的运行环境有偏差，且导航和执行机构都存在偏差，需要进行实时修正或间隔一定时间进行修正轨迹偏差。如果进行实时修正，燃料消耗可能比较大，如果间隔一定时间进行轨迹修正可能无法实时应对发生的故障。上述的研究方法无法做到实时控制和轨迹安全判断的统一和平衡。In the close rendezvous of actual flight missions, the tracking spacecraft generally approaches the target spacecraft gradually along the planned trajectory. Since the dynamic equation used to solve the guidance strategy deviates from the actual operating environment, and there are deviations in the navigation and actuators, it is necessary to correct the trajectory deviation in real time or at certain intervals. If the real-time correction is performed, the fuel consumption may be relatively large, and if the trajectory correction is performed at a certain interval, it may not be able to deal with the failure in real time. The above research methods cannot achieve the unity and balance of real-time control and trajectory safety judgment.
发明内容Contents of the invention
本方明的技术解决问题是：针对现有方法的不足，提出了一种基于制导脉冲的交会对接轨迹安全带确定方法，针对近距离确定轨迹的交会对接任务，提出了基于制导脉冲的交会对接轨迹安全带，对轨迹出现的偏差及时修正，并能实时判断可能出现的故障，解决了近距离交会对接过程的燃料消耗和实时安全性的平衡。The technical problem solved by Fang Ming is: Aiming at the deficiencies of the existing methods, a method for determining the safety belt of the rendezvous and docking trajectory based on the guidance pulse is proposed. The track safety belt can correct the deviation of the track in time, and can judge possible faults in real time, which solves the balance between fuel consumption and real-time safety in the close-range rendezvous and docking process.
本发明的技术解决方案是：一种基于制导脉冲的交会对接轨迹安全带确定方法，步骤如下：The technical solution of the present invention is: a method for determining the safety belt of the rendezvous and docking trajectory based on the guidance pulse, the steps are as follows:
(1)选取任意一条由CW方程描述的交会对接标称自由轨迹；所述交会对接标称自由轨迹为由CW两脉冲制导方法确定且未经修正的，用于描述追踪航天器和目标航天器相对运动的轨迹；(1) Select any nominal free trajectory for rendezvous and docking described by the CW equation; the nominal free trajectory for rendezvous and docking is determined by the CW two-pulse guidance method without correction, and is used to describe the tracking spacecraft and the target spacecraft The trajectory of relative motion;
(2)根据CW两脉冲制导方法中第一个制导脉冲的性质，确定CW两脉冲制导方法的使用范围，进而确定步骤(1)选取的交会对接标称自由轨迹中用于安全带确定的轨迹段；(2) According to the nature of the first guidance pulse in the CW two-pulse guidance method, determine the scope of use of the CW two-pulse guidance method, and then determine the trajectory used for seat belt determination in the rendezvous and docking nominal free trajectory selected in step (1) part;
(3)计算步骤(2)中得到的轨迹段的安全带，所述安全带包括无控带、修正带、警戒带和紧急撤离带；(3) the safety belt of the trajectory section obtained in the calculation step (2), the safety belt includes no control belt, correction belt, warning belt and emergency evacuation belt;
(4)根据步骤(2)中的公式计算得到追踪航天器CW两脉冲制导方法中第一个制导脉冲的在RVD坐标系中X轴和Z轴的分量ΔVx和ΔVz，从而根据步骤(3)中计算的安全带确定当前追踪航天器所处的安全带；(4) Calculate the components ΔV x and ΔV z of the X-axis and Z-axis in the RVD coordinate system of the first guidance pulse in the CW two-pulse guidance method of tracking the spacecraft according to the formula in step (2), so that according to the step ( 3) The safety belt calculated in determines the safety belt where the current tracking spacecraft is located;
(5)根据当前追踪航天器在安全带中的位置，执行相应的控制指令，对追踪航天器进行控制，具体为：(5) According to the current position of the tracking spacecraft in the safety belt, execute the corresponding control instructions to control the tracking spacecraft, specifically:
若当前追踪航天器处于无控带，则不进行制导控制；If the current tracking spacecraft is in the no-control zone, no guidance control will be performed;
若当前追踪航天器处于修正带，则利用步骤(4)中计算的追踪航天器CW两脉冲制导方法中第一个制导脉冲的在RVD坐标系中X轴和Z轴的分量ΔVx和ΔVz改变追踪航天器飞行速度的大小和方向，从而对追踪航天器的飞行轨迹进行修正，使得追踪航天器回归到无控带；If the current tracking spacecraft is in the correction zone, use the components ΔV x and ΔV z of the X-axis and Z-axis in the RVD coordinate system of the first guidance pulse in the CW two-pulse guidance method of the tracking spacecraft calculated in step (4) Change the size and direction of the tracking spacecraft's flight speed, thereby correcting the tracking spacecraft's flight trajectory, so that the tracking spacecraft returns to the uncontrolled zone;
若当前追踪航天器处于警戒带，则利用步骤(4)中计算的追踪航天器CW两脉冲制导方法中第一个制导脉冲的在RVD坐标系中X轴和Z轴的分量ΔVx和ΔVz改变追踪航天器飞行速度的大小和方向，从而对追踪航天器的飞行轨迹进行修正，同时向地面发出警戒指令；If the current tracking spacecraft is in the warning zone, use the components ΔV x and ΔV z of the X-axis and Z-axis in the RVD coordinate system of the first guidance pulse in the CW two-pulse guidance method of the tracking spacecraft calculated in step (4) Change the size and direction of the flight speed of the tracking spacecraft, so as to correct the flight trajectory of the tracking spacecraft, and at the same time issue warning instructions to the ground;
若当前追踪航天器处于紧急撤离带，则执行紧急撤离指令，对追踪航天器施加固定的撤离脉冲，使得追踪航天器远离目标航天器，避免两个航天器发生碰撞。If the current tracking spacecraft is in the emergency evacuation zone, the emergency evacuation command is executed, and a fixed evacuation pulse is applied to the tracking spacecraft, so that the tracking spacecraft is far away from the target spacecraft and collision between the two spacecraft is avoided.
所述步骤(2)中根据CW两脉冲制导方法中第一个制导脉冲的性质，确定CW两脉冲制导方法的使用范围，进而确定步骤(1)选取的交会对接标称自由轨迹中用于安全带确定的轨迹段；具体为：In the step (2), according to the nature of the first guidance pulse in the CW two-pulse guidance method, the scope of use of the CW two-pulse guidance method is determined, and then it is determined that the rendezvous and docking nominal free trajectory selected in step (1) is used for safety. with defined path segments; specifically:
CW两脉冲制导方法中的第一个制导脉冲为：The first guidance pulse in the CW two-pulse guidance method is:
式中，ΔVx和ΔVz为第一个制导脉冲在RVD坐标系中X轴和Z轴的分量，ωT为目标航天器的轨道角速度，x0和z0分别为交会对接标称自由轨迹初始时刻在RVD坐标系中X轴和Z轴的位置，和分别为交会对接标称自由轨迹初始时刻在RVD坐标系中X轴和Z轴的速度，xf和zf分别为交会对接标称自由轨迹末端时刻在RVD坐标系中X轴和Z轴的位置，t为CW两脉冲制导的转移时间；In the formula, ΔV x and ΔV z are the X-axis and Z-axis components of the first guidance pulse in the RVD coordinate system, ω T is the orbital angular velocity of the target spacecraft, and x 0 and z 0 are the nominal free trajectories for rendezvous and docking The position of the X-axis and Z-axis in the RVD coordinate system at the initial moment, and are the velocities of the X-axis and Z-axis in the RVD coordinate system at the initial moment of the nominal free trajectory of rendezvous and docking, and x f and z f are the positions of the X-axis and Z-axis in the RVD coordinate system at the end of the nominal free trajectory of rendezvous and docking, respectively , t is the transfer time of CW two-pulse guidance;
确定第一个制导脉冲两个公式中分母等于预先设定的阈值ε时所对应的转移时间，进而确定交会对接标称自由轨迹安全带确定的轨迹段；即在交会对接标称自由轨迹中去除距末端的时间小于等于由阈值ε确定的转移时间所对应的轨迹段，所述0＜ε≤0.0012。Determine the transfer time corresponding to when the denominator in the two formulas of the first guidance pulse is equal to the preset threshold ε, and then determine the trajectory segment determined by the safety belt of the nominal free trajectory of rendezvous and docking; that is, remove The time from the end is less than or equal to the trajectory segment corresponding to the transition time determined by the threshold ε, where 0<ε≤0.0012.
所述步骤(3)中计算步骤(2)中得到的轨迹段的安全带，所述安全带包括无控带、修正带、警戒带和紧急撤离带，具体过程为：The safety belt of the track section obtained in the calculation step (2) in the step (3), the safety belt includes an uncontrolled belt, a correction belt, a warning belt and an emergency evacuation belt, and the specific process is:
各安全带的表达式如下：The expression of each seat belt is as follows:
i)无控带：|ΔVx|+|ΔVz|≤V1 i) Uncontrolled zone: |ΔV x |+|ΔV z |≤V 1
ii)修正带：V1＜|ΔVx|+|ΔVz|≤V2 ii) Correction band: V 1 <|ΔV x |+|ΔV z |≤V 2
iii)警戒带：V2＜|ΔVx|+|ΔVz|≤V3 iii) Warning zone: V 2 <|ΔV x |+|ΔV z |≤V 3
iv)紧急撤离带：|ΔVx|+|ΔVz|＞V3 iv) Emergency evacuation zone: |ΔV x |+|ΔV z |＞V 3
式中，V1、V2和V3分别为安全带划分阈值，具体表达式如下：In the formula, V 1 , V 2 and V 3 are the safety belt division thresholds respectively, and the specific expressions are as follows:
V1＝|ΔVx|max+|ΔVz|max+δ1 V 1 ＝|ΔV x | max +|ΔV z | max +δ 1
V2＝|ΔVx|max+|ΔVz|max+δ2 V 2 ＝|ΔV x | max +|ΔV z | max +δ 2
V3＝|ΔVx|max+|ΔVz|max+δ3 V 3 ＝|ΔV x | max +|ΔV z | max +δ 3
δ1、δ2和δ3为预先设定的修正值，|ΔVx|max和|ΔVz|max具体由公式：δ 1 , δ 2 and δ 3 are preset correction values, and |ΔV x | max and |ΔV z | max are specified by the formula:
给出，其中γ1max、γ2max、γ3max、λ1max、λ2max和λ3max分别为γ1、γ2、γ3、λ1、λ2和λ3的最大值，γ1、γ2、γ3、λ1、λ2和λ3由公式：Given, where γ 1max , γ 2max , γ 3max , λ 1max , λ 2max and λ 3max are the maximum values of γ 1 , γ 2 , γ 3 , λ 1 , λ 2 and λ 3 respectively, γ 1 , γ 2 , γ 3 , λ 1 , λ 2 and λ 3 are given by the formula:
给出。give.
本发明与现有技术相比的有益效果是：The beneficial effect of the present invention compared with prior art is:
(1)本发明首次利用CW两脉冲制导方法中的第一个制导脉冲来确定近距离交会对接标称轨迹的安全带，并提出了基于安全带的制导策略和避碰策略，兼顾了近距离交会对接过程的操作效率和安全性；(1) The present invention utilizes the first guidance pulse in the CW two-pulse guidance method to determine the safety belt of the nominal trajectory of rendezvous and docking at close range for the first time, and proposes a guidance strategy and a collision avoidance strategy based on the safety belt, taking into account the short-distance Operational efficiency and safety of the rendezvous and docking process;
(2)本发明通过分析CW两脉冲制导方法中的第一个制导脉冲无穷小阶数，确定了两脉冲制导的适应范围，进一步确定了可用于设定安全带的交会对接标称轨迹段，与实际应用更加符合，提高了算法的可靠性；(2) the present invention has determined the scope of application of the two-pulse guidance by analyzing the infinitesimal order of the first guidance pulse in the CW two-pulse guidance method, and further determined the rendezvous and docking nominal track section that can be used to set the safety belt, and The practical application is more consistent and the reliability of the algorithm is improved;
(3)本发明针对不同的安全带提出了不同的安全策略，并应用在对轨迹的主动保护上，在不增加交会对接接近过程的燃料消耗的基础上，提高了交会对接过程的实时安全性。(3) The present invention proposes different safety strategies for different seat belts, and applies them to the active protection of the trajectory, without increasing the fuel consumption of the rendezvous and docking process, and improves the real-time safety of the rendezvous and docking process .
附图说明Description of drawings
图1为本发明基于制导脉冲的交会对接轨迹安全带确定方法的流程框图；Fig. 1 is the flowchart of the method for determining the safety belt of the rendezvous and docking trajectory based on the guidance pulse of the present invention;
图2为本发明交会对接安全带示意图；Fig. 2 is a schematic diagram of the rendezvous and docking safety belt of the present invention;
图3为本发明正常飞行轨迹示意图；Fig. 3 is a schematic diagram of the normal flight trajectory of the present invention;
图4为本发明基于制导脉冲交会对接轨迹安全带的制导策略仿真示意图。Fig. 4 is a schematic diagram of the simulation of the guidance strategy of the safety belt based on the guidance pulse rendezvous and docking trajectory according to the present invention.
具体实施方式detailed description
由于交会对接过程中，撤离过程与接近过程中的安全轨迹设计很类似，所以本发明实施例中仅以接近轨迹的基于制导脉冲的交会对接轨迹安全带安全策略设计为例进行阐述。Since the evacuation process in the rendezvous and docking process is very similar to the safety trajectory design in the approach process, the embodiment of the present invention only uses the guide pulse-based rendezvous and docking trajectory safety belt safety strategy design for the approach trajectory as an example for illustration.
本方明利用CW方程来描述轨迹的运动，对RVD坐标系定义为：以目标航天器质心为原点，目标航天器的运动方向为正X轴方向，目标航天器指向地心的方向为正Z轴方向，正Y轴方向与正X轴方向、正Z轴方向满足右手定则，在轨道平面内的运动轨迹可用下式表示：Ben Fangming uses the CW equation to describe the movement of the trajectory, and defines the RVD coordinate system as: taking the center of mass of the target spacecraft as the origin, the direction of motion of the target spacecraft is the positive X-axis direction, and the direction of the target spacecraft pointing to the center of the earth is positive Z Axis direction, positive Y-axis direction, positive X-axis direction, and positive Z-axis direction satisfy the right-hand rule, and the motion trajectory in the orbital plane can be expressed by the following formula:
其中x和z分别为追踪航天器在以目标航天器为坐标原点的RVD坐标系中X轴和Z轴的位置坐标，ω为目标航天器的轨道角速度。Where x and z are the position coordinates of the tracking spacecraft on the X-axis and Z-axis in the RVD coordinate system with the target spacecraft as the coordinate origin, respectively, and ω is the orbital angular velocity of the target spacecraft.
令
C-W方程的解为The solution of the C-W equation is
其中x(t),z(t)为追踪航天器在以目标航天器为坐标原点的RVD坐标系中X轴，Z轴的带时间t的位置坐标，t0为初始时刻时间，tf为末段时刻时间，Δv(t0)为CW两脉冲制导的第一个脉冲矢量，Δv(tf)为CW两脉冲制导的第二个脉冲矢量，Where x(t), z(t) are the position coordinates of the tracking spacecraft on the X-axis and Z-axis with time t in the RVD coordinate system with the target spacecraft as the coordinate origin, t 0 is the initial time, t f is At the last moment, Δv(t 0 ) is the first pulse vector of CW two-pulse guidance, Δv(t f ) is the second pulse vector of CW two-pulse guidance,
已知初始位置和速度[ρ(t0)＝[x0 z0]T，
(1)选取任意一条由CW方程描述的交会对接标称自由轨迹，该交会对接标称自由轨迹由CW两脉冲制导方法确定且未经修正的。(1) Select any nominal free trajectory for rendezvous and docking described by the CW equation, and the nominal free trajectory for rendezvous and docking is determined by the CW two-pulse guidance method without correction.
(2)CW两脉冲制导策略中，当转移时间使得分母8-3ωTtsin(ωTt)-8cos(ωTt)在零附近时，求得的脉冲可能很大。根据CW两脉冲制导方法中第一个制导脉冲的性质，确定CW两脉冲制导方法的使用范围。(2) In the CW two-pulse guidance strategy, when the transfer time makes the denominator 8-3ω T tsin(ω T t)-8cos(ω T t) near zero, the obtained pulse may be very large. According to the nature of the first guidance pulse in the CW two-pulse guidance method, the application range of the CW two-pulse guidance method is determined.
CW两脉冲制导，第一个脉冲展开进一步推导如下：For CW two-pulse guidance, the expansion of the first pulse is further derived as follows:
式中，ΔVx和ΔVz为第一个制导脉冲在RVD坐标系中X轴和Z轴的分量，ωT为目标航天器的轨道角速度，x0和z0分别为交会对接标称自由轨迹初始时刻在RVD坐标系中X轴和Z轴的位置，和分别为交会对接标称自由轨迹初始时刻在RVD坐标系中X轴和Z轴的速度，xf和zf分别为交会对接标称自由轨迹末端时刻在RVD坐标系中X轴和Z轴的位置，t为CW两脉冲制导的转移时间。In the formula, ΔV x and ΔV z are the X-axis and Z-axis components of the first guidance pulse in the RVD coordinate system, ω T is the orbital angular velocity of the target spacecraft, and x 0 and z 0 are the nominal free trajectories for rendezvous and docking The position of the X-axis and Z-axis in the RVD coordinate system at the initial moment, and are the velocities of the X-axis and Z-axis in the RVD coordinate system at the initial moment of the nominal free trajectory of rendezvous and docking, and x f and z f are the positions of the X-axis and Z-axis in the RVD coordinate system at the end of the nominal free trajectory of rendezvous and docking, respectively , t is the transfer time of CW two-pulse guidance.
对于ΔVx，第一项的分母是ωTt的二阶无穷小，而分子在(xf-x0)不为零时是ωTt一阶无穷小。对于ΔVz，分母同样是ωTt的二阶无穷小，而分子在zf或z0不为零时是ωTt的一阶无穷小。因此，在转移时间较小或接近零时，CW制导的第一个脉冲ΔVx、ΔVz可能会比较大。For ΔV x , the denominator of the first term is the second-order infinitesimal of ω T t, and the numerator is the first-order infinitesimal of ω T t when (x f -x 0 ) is not zero. For ΔV z , the denominator is also the second-order infinitesimal of ω T t , while the numerator is the first-order infinitesimal of ω T t when z f or z 0 is not zero. Therefore, when the transition time is small or close to zero, the first pulse ΔV x , ΔV z of CW guidance may be relatively large.
确定第一个制导脉冲两个公式中分母等于预先设定的阈值ε时所对应的转移时间，当ε≤0.0012时，等效转移时间ωTt≤0.0349，对于400km附近的地球近圆轨道上，这相当于转移时间约为30秒。这就确定了交会对接标称自由轨迹在最后30秒时无法确定安全带，即在交会对接标称自由轨迹中去除距末端的时间小于等于由阈值ε确定的转移时间所对应的轨迹段无法设计安全带。Determine the transfer time corresponding to when the denominator in the two formulas of the first guidance pulse is equal to the preset threshold ε, when ε≤0.0012, the equivalent transfer time ω T t≤0.0349, for the Earth’s near-circular orbit around 400km , which corresponds to a transfer time of about 30 seconds. This determines that the safety belt cannot be determined in the last 30 seconds of the nominal free trajectory of rendezvous and docking, that is, the trajectory segment corresponding to the time from the end of the nominal free trajectory of rendezvous and docking is less than or equal to the transfer time determined by the threshold ε cannot be designed seat belt.
(3)以标称轨迹为中心建立安全带如图2。在标称轨迹上方，以标称轨迹为起始点从里到外分别设置无控带、修正带、警戒带和紧急撤离带。类似的在标称轨迹下方，以标称轨迹为起始点从里到外同样分别设置了无控带、修正带、警戒带和紧急撤离带。(3) Establish a safety belt centered on the nominal trajectory as shown in Figure 2. Above the nominal trajectory, set the no-control zone, correction zone, warning zone and emergency evacuation zone from the inside to the outside with the nominal trajectory as the starting point. Similarly, below the nominal trajectory, a no-control zone, correction zone, warning zone, and emergency evacuation zone are also set up from the inside to the outside with the nominal trajectory as the starting point.
基于制导脉冲性质的误差带表达如下：The error band based on the nature of the guidance pulse is expressed as follows:
(i)无控带：|ΔVx|+|ΔVz|≤V1 (i) Uncontrolled zone: |ΔV x |+|ΔV z |≤V 1
(ii)修正带：V1＜|ΔVx|+|ΔVz|≤V2 (ii) Correction band: V 1 <|ΔV x |+|ΔV z |≤V 2
(iii)警戒带：V2＜|ΔVx|+|ΔVz|≤V3 (iii) Warning zone: V 2 <|ΔV x |+|ΔV z |≤V 3
(iv)紧急撤离带：|ΔVx|+|ΔVz|＞V3 (iv) Emergency evacuation zone: |ΔV x |+|ΔV z |＞V 3
其中为V1,V2,V3常数，是基于安全带轨迹安全设计的三个设计参数。Among them, V 1 , V 2 , and V 3 are constants, which are three design parameters based on the safety design of the seat belt trajectory.
对CW两脉冲制导的第一个脉冲进一步推导有：A further derivation for the first pulse of CW two-pulse guidance is:
其中
对速度增量求最大约束有：The maximum constraints on speed increments are:
其中在转移时间内，|γ1|的最大值为γ1max，|γ2|的最大值为γ2max，|γ3|的最大值为γ3max，|λ1|的最大值为λ1max，|λ2|的最大值为λ2max，|λ3|的最大值为λ3max。Among them, within the transfer time, the maximum value of |γ 1 | is γ 1max , the maximum value of |γ 2 | is γ 2max , the maximum value of |γ 3 | is γ 3max , and the maximum value of |λ 1 | is λ 1max , The maximum value of |λ 2 | is λ 2max , and the maximum value of |λ 3 | is λ 3max .
则常数V1,V2,V3满足Then the constants V 1 , V 2 , V 3 satisfy
V1＝|ΔVx|max+|ΔVz|max+δ1 V 1 ＝|ΔV x | max +|ΔV z | max +δ 1
V2＝|ΔVx|max+|ΔVz|max+δ2 V 2 ＝|ΔV x | max +|ΔV z | max +δ 2
V3＝|ΔVx|max+|ΔVz|max+δ3 V 3 ＝|ΔV x | max +|ΔV z | max +δ 3
δ1,δ2,δ3是考虑CW未建模误差、制导误差等因素，以及留点余量的值，在不大于5km的交会对接轨迹中，取δ1＝0.07m/s、δ2＝0.06m/s、δ3＝0.05m/s。δ 1 , δ 2 , δ 3 are the values considering CW unmodeled error, guidance error and other factors, as well as the value of reserved points. In the rendezvous and docking trajectory not greater than 5km, take δ 1 = 0.07m/s, δ 2 =0.06m/s, δ 3 =0.05m/s.
(4)根据步骤(2)中的公式计算得到追踪航天器CW两脉冲制导方法中第一个制导脉冲的在RVD坐标系中X轴和Z轴的分量ΔVx和ΔVz，从而根据步骤(3)中计算的安全带确定当前追踪航天器所处的安全带；(4) Calculate the components ΔV x and ΔV z of the X-axis and Z-axis in the RVD coordinate system of the first guidance pulse in the CW two-pulse guidance method of tracking the spacecraft according to the formula in step (2), so that according to the step ( 3) The safety belt calculated in determines the safety belt where the current tracking spacecraft is located;
(5)根据当前追踪航天器在安全带中的位置，执行相应的控制指令，对追踪航天器进行控制，具体为：(5) According to the current position of the tracking spacecraft in the safety belt, execute the corresponding control instructions to control the tracking spacecraft, specifically:
若当前追踪航天器处于无控带，则不进行制导控制；If the current tracking spacecraft is in the no-control zone, no guidance control will be performed;
若当前追踪航天器处于修正带，则利用步骤(4)中计算的追踪航天器CW两脉冲制导方法中第一个制导脉冲的在RVD坐标系中X轴和Z轴的分量ΔVx和ΔVz改变追踪航天器飞行速度的大小和方向，从而对追踪航天器的飞行轨迹进行修正，使得追踪航天器回归到无控带；If the current tracking spacecraft is in the correction zone, use the components ΔV x and ΔV z of the X-axis and Z-axis in the RVD coordinate system of the first guidance pulse in the CW two-pulse guidance method of the tracking spacecraft calculated in step (4) Change the size and direction of the tracking spacecraft's flight speed, thereby correcting the tracking spacecraft's flight trajectory, so that the tracking spacecraft returns to the uncontrolled zone;
若当前追踪航天器处于警戒带，则利用步骤(4)中计算的追踪航天器CW两脉冲制导方法中第一个制导脉冲的在RVD坐标系中X轴和Z轴的分量ΔVx和ΔVz改变追踪航天器飞行速度的大小和方向，从而对追踪航天器的飞行轨迹进行修正，同时向地面发出警戒指令；If the current tracking spacecraft is in the warning zone, use the components ΔV x and ΔV z of the X-axis and Z-axis in the RVD coordinate system of the first guidance pulse in the CW two-pulse guidance method of the tracking spacecraft calculated in step (4) Change the size and direction of the flight speed of the tracking spacecraft, so as to correct the flight trajectory of the tracking spacecraft, and at the same time issue warning instructions to the ground;
若当前追踪航天器处于紧急撤离带，则执行紧急撤离指令，对追踪航天器施加固定的撤离脉冲，使得追踪航天器远离目标航天器，避免两个航天器发生碰撞。If the current tracking spacecraft is in the emergency evacuation zone, the emergency evacuation command is executed, and a fixed evacuation pulse is applied to the tracking spacecraft, so that the tracking spacecraft is far away from the target spacecraft and collision between the two spacecraft is avoided.
实施例Example
以5000米到400米接近为例仿真分析基于制导脉冲的交会对接轨迹安全带设计以及交会对接制导方案的设计。采用三种制导方案：Taking the approach of 5000 meters to 400 meters as an example, the design of the rendezvous and docking trajectory safety belt and the design of the rendezvous and docking guidance scheme based on the guidance pulse are simulated and analyzed. Three guidance schemes are used:
方案1：每个控制周期都根据CW两脉冲制导的结果对轨迹进行修正。Scheme 1: The trajectory is corrected according to the result of CW two-pulse guidance in each control cycle.
方案2：隔固定时间约300秒进行一次轨迹修正。Scheme 2: Perform trajectory correction every 300 seconds at a fixed interval.
方案3：基于制导脉冲交会对接轨迹安全带的制导策略，设计V1＝0.1,V2＝0.3,V3＝0.4，当|ΔVx|+|ΔVz|≤0.1时不进行轨迹修正；当0.1＜|ΔVx|+|ΔVz|≤0.3进行轨迹修正；当0.3＜|ΔVx|+|ΔVz|≤0.4在进行轨迹修正同时向地面发警报信号；当|ΔVx|+|ΔVz|＞0.4发紧急撤离指令，实行紧急撤离。Scheme 3: Based on the guidance strategy of the safety belt on the rendezvous and docking trajectory of the guidance pulse, design V 1 =0.1, V 2 =0.3, V 3 =0.4, and do not perform trajectory correction when |ΔV x |+|ΔV z |≤0.1; when 0.1<|ΔV x |+|ΔV z |≤0.3 for trajectory correction; when 0.3<|ΔV x |+|ΔV z |≤0.4, send an alarm signal to the ground while performing trajectory correction; when |ΔV x |+|ΔV z |＞0.4 Issue an emergency evacuation command and implement an emergency evacuation.
正常飞行过程的轨迹如图3(说明：初始位置在5000米附近，而不是5000米点处)。The trajectory of the normal flight process is shown in Figure 3 (Note: the initial position is around 5000 meters, not at the point of 5000 meters).
1)分析三种制导策略下，从5000米附近到400米时的燃料消耗，如下表：1) Analyze the fuel consumption from around 5000 meters to 400 meters under the three guidance strategies, as shown in the following table:
表1Table 1
由表1可以看到基于安全带的制导策略燃料消耗与隔一定时间施加修正脉冲燃料消耗相当，两者都远小于实时控制且无速度增量限制的制导策略。It can be seen from Table 1 that the fuel consumption of the guidance strategy based on seat belts is equivalent to the fuel consumption of the correction pulse applied at regular intervals, both of which are much smaller than the guidance strategy of real-time control and no speed increment limit.
2)分析当出现故障，故障为速度导航信息存在比较大且通过滤波无法滤掉的随机噪声，对方案2和方案3的制导策略进行比较。2) Analyze that when a fault occurs, the fault is that there is relatively large random noise in the speed navigation information that cannot be filtered out by filtering, and compare the guidance strategies of scheme 2 and scheme 3.
方案2无法识别已经出现故障，继续进行控制，能把追踪航天器导引到目标点，但留下安全隐患，且燃料消耗迅速增加，从34.35kg增加到49.1778kg。Option 2 cannot recognize that a failure has occurred, and continues to control, and can guide the tracking spacecraft to the target point, but leaves a safety hazard, and the fuel consumption increases rapidly, from 34.35kg to 49.1778kg.
方案3能累积导航的误差，在不长的时间内能敏感到故障，并触发撤离指令，避免两个航天器可能发生碰撞(图4)。图4标称轨迹为5000m到400m的自由轨迹，方案3轨迹为当速度导航信息过大后在，轨迹进入紧急撤离带，触发紧急撤离指令，施加避碰操作后的轨迹追踪航天器逐渐远离目标航天器保证两个航天器不发生碰撞。Scheme 3 can accumulate navigation errors, be sensitive to faults in a short period of time, and trigger evacuation commands to avoid possible collisions between two spacecraft (Figure 4). Figure 4. The nominal trajectory is a free trajectory from 5000m to 400m. The trajectory of scheme 3 is when the speed navigation information is too large, the trajectory enters the emergency evacuation zone, triggers the emergency evacuation command, and the trajectory tracking spacecraft gradually moves away from the target after the collision avoidance operation is applied. The spacecraft guarantees that the two spacecraft will not collide.
本项目充分考虑载人二期SZ-8、SZ-9、SZ-10已经取得的成果和我国载人航天当前的技术状态，所提出的基于制导脉冲的交会对接轨迹安全带的制导策略能够在近距离交会过程中实现轨迹的故障预判，达到轨迹安全以及燃料消耗的平衡，是一种较好的交会对接安全轨迹设计方法。本项目可以为我国后续航天交会对接任务提供借鉴和技术基础。This project fully considers the achievements of SZ-8, SZ-9, and SZ-10 in the second phase of manned space and the current technical status of my country's manned spaceflight. It is a better trajectory design method for rendezvous and docking to realize trajectory failure prediction and achieve a balance between trajectory safety and fuel consumption during short-distance rendezvous. This project can provide reference and technical basis for the follow-up space rendezvous and docking missions in my country.
本发明说明书中未作详细描述的内容属本领域专业技术人员的公知技术。The content that is not described in detail in the description of the present invention belongs to the well-known technology of those skilled in the art.
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