CN104679961A - Electromagnetic docking control method and device - Google Patents

Abstract

The invention discloses an electromagnetic docking control method and a device, which adopt an anomalous magnetic moment control plus one-time magnetic moment switching mode, wherein the electromagnetic docking control method includes the following steps: according to the magnetic induction intensity of a target electromagnetic device, the initial speed and initial magnetic moment of a tracking electromagnetic device and the initial distance between the barycenters of the target electromagnetic device and the tracking electromagnetic device, the initial mechanical energy of a docking system is calculated; according to the set switching speed and initial magnetic moment of the tracking electromagnetic device and the initial mechanical energy of the docking system, the switching distance, which corresponds to the switching speed, between the barycenters of the target electromagnetic device and the tracking electromagnetic device is calculated; according to the switching speed, the switching distance and the expected docking speed and expected docking distance of the tracking electromagnetic device, the switching magnetic moment of the tracking electromagnetic device is calculated; when the speed of the tracking electromagnetic device is changed into the switching speed, the electromagnetic moment of the tracking electromagnetic device is transformed into the switching magnetic moment. The invention solves the technical problem that the design of the conventional method is complex and the requirement for control design robustness is high.

Description

Electromagnetism docking control method and device

Technical field

The present invention relates to motion state control field, especially, relate to a kind of electromagnetism docking control method and device.

Background technology

Service technology represents forward position and the emphasis direction of space science development in-orbit, and Spacecraft Rendezvous docking is its Key technology; Meanwhile, along with increasing and the enhancing of space tasks complicacy of spacecraft number in-orbit, normalization in-orbit demand for services shows especially gradually.Spacecraft electromagnetism docking technique initiatively produces magnetic field by calutron on star, and relative position/attitude between the power/Torque Control spacecraft utilizing magnetic field interphase interaction to generate, thus reach docking object.Spacecraft electromagnetism docking technique is that normalization is served in-orbit and provided a kind of novel docking mode, the propellant expenditure can effectively avoiding traditional thruster mode intrinsic, plume contamination and optical interference, there is noncontact, continuous, reversible and synchro control ability, have a extensive future.

Spacecraft launching site generally adopts two kinds of patterns: rigid docking, flexible docking.Rigid docking can be the locking of subsequent mechanical mechanism and provides triggering momentum, and flexible docking is more advanced pattern, and it regulates docking contact velocity according to demand, and docking can be avoided to impact.Spacecraft electromagnetism docks the acting force/moment adopted to be had continuously and reciprocal characteristics, can be used to realize flexible docking and control.In addition, electromagnetic force/moment loading itself has from docking, linear momentum/angular momentum/conservation of mechanical energy characteristic, utilizes these characteristics can simplify docking control design case and overcomes Dynamic model error impact.

Current existing spacecraft electromagnetism docking research nearly all adopts " particular task → Dynamic Modeling → design of control law " thinking, does not fully excavate the potentiality of electromagnetism docking itself; In addition, there is design and complicatedly, less utilize electromagnetic action self character, to problems such as control design case robustness requirement are higher, about electromagnetism docking intrinsic propesties and utilize its research carrying out controlling to have not yet to see the document published in existing method.

Summary of the invention

The invention provides a kind of electromagnetism docking control method and device, utilize electromagnetic action self character and the technical matters higher to control design case robustness requirement so that the design solving the existence of existing method is complicated, less.

The technical solution used in the present invention is as follows:

According to an aspect of the present invention, provide a kind of electromagnetism docking control method, comprise the steps:

According to the magnetic induction density of target electromagnetic device, the initial distance followed the trail of the initial velocity of calutron, initial magnetic moment and target electromagnetic device and follow the trail of between calutron barycenter, calculates the initial mechanical energy of docking system;

According to following the trail of the switch speed of calutron setting, initial magnetic moment and initial mechanical energy, the switching distance calculating the target electromagnetic device corresponding with switch speed and follow the trail of between calutron barycenter;

Dock distance according to switch speed, switching distance, the expectation docking speed of following the trail of calutron and expectation, calculate the switching magnetic moment following the trail of calutron;

When the speed of following the trail of calutron becomes switch speed, the magnetic moment following the trail of calutron is transformed to switching magnetic moment.

Further, the initial mechanical calculating docking system can comprise:

Calculate the magnetic induction density followed the trail of calutron place target electromagnetic device and produce;

According to following the trail of the speed of calutron, magnetic moment and magnetic induction density, and following the trail of the centroid distance of calutron and target electromagnetic device, calculating the mechanical energy computing formula of docking system;

According to initial velocity, initial magnetic moment and initial distance, calculate initial mechanical energy by mechanical energy computing formula.

Further, determine that the switching magnetic moment of calutron comprises:

According to switch speed and switching distance, determine to calculate the first formula that docking system switches rear mechanical energy;

According to expectation docking speed and the expectation docking distance of tracking calutron, determine to calculate the second formula that docking system switches rear mechanical energy;

The switching magnetic moment of calutron is followed the trail of based on the first formula and the second formulae discovery.

Further, this electromagnetism docking control method also comprises:

Magnetic induction density, initial magnetic moment and switch speed are regulated, in order to optimize docking T.T. and the power consumption index of docking system;

Calculate and parameter multiple switching magnetic moment one to one according to multiple different parameter, and will often organize parameter and the switching magnetic moment corresponding with it stores in pairs and make form, according to the parameter of reality, use table lookup to select to switch magnetic moment accordingly, parameter comprise in initial velocity, initial magnetic moment, initial distance and switch speed one or more.

Further, calculate docking system initial mechanical can before also comprise:

Differentiate whether docking situation belongs to one dimension situation or two-dimensional case:

If docking situation is one dimension situation, judge to follow the trail of calutron whether consistent with the pole orientation of target electromagnetic device, if then perform next step, then judge that docking situation cannot realize from docking if not;

If docking situation is two-dimensional case, judge whether docking situation meets decision condition, if then perform next step, then judge that docking situation cannot realize from docking if not, decision condition is as follows:

${\mathrm{\μ}}_T{\mathrm{\μ}}_C(2\cos \mathrm{\α}\cos \mathrm{\β}-\sin \mathrm{\α}\sin \mathrm{\β})>2\mathrm{\πm}{\mathrm{\ω}}_z^2{d}^5/3{\mathrm{\μ}}_0$

In formula, μ _tthe magnetic moment of target electromagnetic device, μ _cit is the magnetic moment following the trail of calutron, α is that target electromagnetic device is relative to target electromagnetic device and the angle following the trail of calutron barycenter line, β follows the trail of calutron relative to target electromagnetic device and the angle following the trail of calutron barycenter line, and m follows the trail of calutron quality, ω _zbe the angular velocity following the trail of calutron and the rotation of target electromagnetic device barycenter line, d follows the trail of the distance between calutron and target electromagnetic device barycenter, μ ₀it is permeability of vacuum.

According to a further aspect in the invention, additionally provide a kind of electromagnetism butt-joint control device, comprising:

Initial mechanical energy determination module, for the magnetic induction density according to target electromagnetic device, the initial distance followed the trail of the initial velocity of calutron, initial magnetic moment and target electromagnetic device and follow the trail of between calutron barycenter, calculates the initial mechanical energy of docking system;

Switch distance determination module, for the switch speed according to the setting of tracking calutron, initial magnetic moment and initial mechanical energy, the switching distance calculating the target electromagnetic device corresponding with switch speed and follow the trail of between calutron barycenter;

Switch magnetic moment determination module, for docking speed according to the expectation of switch speed, switching distance, tracking calutron and expecting to dock distance, calculate the switching magnetic moment of tracking calutron;

Magnetic moment handover module, during for becoming switch speed when the speed of following the trail of calutron, is transformed to switching magnetic moment by the magnetic moment following the trail of calutron.

Further, initial mechanical energy determination module comprises:

Magnetic induction density calculates module, for calculating the magnetic induction density followed the trail of calutron place target electromagnetic device and produce;

Mechanical energy computing formula determination module, for the speed according to tracking calutron, magnetic moment and magnetic induction density, and follows the trail of the centroid distance of calutron and target electromagnetic device, determines the mechanical energy computing formula calculating docking system;

Initial mechanical energy computing module, for according to initial velocity, initial magnetic moment and initial distance, calculates initial mechanical energy by mechanical energy computing formula.

Further, switch magnetic moment determination module to comprise:

First formula determination module, for according to switch speed and switching distance, determines to calculate the first formula that docking system switches rear mechanical energy;

Second formula determination module, for docking speed according to the expectation of tracking calutron and expecting docking distance, determines to calculate the second formula that docking system switches rear mechanical energy;

Switch magnetic moment computing module, for following the trail of the switching magnetic moment of calutron based on the first formula and the second formulae discovery.

Further, electromagnetism butt-joint control device also comprises adjustment module, and adjustment module is used for regulating, in order to optimize docking T.T. and the power consumption index of docking system magnetic induction density, initial magnetic moment and switch speed;

Device comprises memory module and enquiry module, wherein, memory module is used for calculating and parameter multiple switching magnetic moment will often organize parameter and the switching magnetic moment corresponding with it stores in pairs and make form one to one according to multiple different parameter, enquiry module is used for according to the parameter of reality and uses table lookup to select to switch magnetic moment accordingly, and it is one or more that parameter comprises in initial velocity, initial magnetic moment, initial distance and switch speed.

Further, this electromagnetism butt-joint control device also comprises docking situation discrimination module, for differentiating whether docking situation belongs to one dimension situation or two-dimensional case:

If docking situation is one dimension situation, judge to follow the trail of calutron whether consistent with the pole orientation of target electromagnetic device, if then perform initial mechanical energy determination module, then judge that docking situation cannot realize from docking if not;

If docking situation is two-dimensional case, judge whether docking situation meets decision condition, if then perform initial mechanical energy determination module, then judge that docking situation cannot realize from docking if not, decision condition is as follows:

${\mathrm{\μ}}_T{\mathrm{\μ}}_C(2\cos \mathrm{\α}\cos \mathrm{\β}-\sin \mathrm{\α}\sin \mathrm{\β})>2\mathrm{\πm}{\mathrm{\ω}}_z^2{d}^5/3{\mathrm{\μ}}_0$

In formula, μ _tthe magnetic moment of target electromagnetic device, μ _cit is the magnetic moment following the trail of calutron, α is that target electromagnetic device is relative to target electromagnetic device barycenter and the angle following the trail of line between calutron barycenter, β follows the trail of calutron relative to target electromagnetic device barycenter and the angle following the trail of line between calutron barycenter, m follows the trail of calutron quality, ω _zbe the angular velocity following the trail of calutron and the rotation of target electromagnetic device barycenter line, d follows the trail of the distance between calutron and target electromagnetic device barycenter, μ ₀it is permeability of vacuum.

The present invention has following beneficial effect:

Electromagnetism docking control method of the present invention and device, according to the magnetic induction density of target electromagnetic device, the initial distance followed the trail of the initial tracking speed of calutron, initial magnetic moment and target electromagnetic device and follow the trail of between calutron barycenter, calculates the initial mechanical energy of docking system; According to following the trail of the switch speed of calutron setting, initial magnetic moment and initial mechanical energy, the switching distance calculating the target electromagnetic device corresponding with switch speed and follow the trail of between calutron barycenter; According to switch speed, switch distance, the expectation docking speed of tracking calutron and the distance between target electromagnetic device and tracking calutron barycenter, calculate the switching magnetic moment of calutron; When the speed of following the trail of calutron becomes switch speed, the magnetic moment following the trail of calutron is transformed to switching magnetic moment.Electromagnetism docking control method of the present invention and device, adopt " normal magnetic moment controls+1 magnetic moment and switches " pattern, utilize electromagnetic action self character, for electromagnetism docking control provides a kind of simple and rapid method for designing, there is few, the permanent magnetic moment pattern of design parameter, strong robustness feature, solve the design complexity of existing method existence, be difficult to utilize electromagnetic action self character and the technical matters higher to control design case robustness requirement.

Except object described above, feature and advantage, the present invention also has other object, feature and advantage.Below with reference to figure, the present invention is further detailed explanation.

Accompanying drawing explanation

The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:

Fig. 1 is the schematic flow sheet of preferred embodiment of the present invention electromagnetism docking control method;

Fig. 2 is the calutron configuration schematic diagram of the electromagnetism docking beeline approaching of the preferred embodiment of the present invention;

Fig. 3 is the one dimension electromagnetism docking situation schematic diagram of the preferred embodiment of the present invention;

Fig. 4 and Fig. 5 is that preferred embodiment of the present invention one dimension electromagnetism is from docking magnetic moment direction schematic diagram;

Fig. 6 is preferred embodiment of the present invention two-dimensional electromagnetic docking situation schematic diagram;

Fig. 7 is preferred embodiment of the present invention two-dimensional electromagnetic docking Kinematic Decomposition schematic diagram;

Fig. 8 is the control result of the preferred embodiment of the present invention under different switch speed condition;

Fig. 9 is the control result of the preferred embodiment of the present invention under difference initially follows the trail of velocity conditions;

Figure 10 is the control result of the preferred embodiment of the present invention under different initial distance condition.

Embodiment

Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.

According to an aspect of the present invention, with reference to Fig. 1, the preferred embodiments of the present invention provide a kind of electromagnetism docking control method, comprise the steps:

Step S101, according to the magnetic induction density of target electromagnetic device, the initial distance followed the trail of the initial velocity of calutron, initial magnetic moment and target electromagnetic device and follow the trail of between calutron barycenter, calculates the initial mechanical energy of docking system;

Step S102, according to following the trail of the switch speed of calutron setting, initial magnetic moment and initial mechanical energy, the switching distance calculating the target electromagnetic device corresponding with switch speed and follow the trail of between calutron barycenter;

Step S103, docks distance according to switch speed, switching distance, the expectation docking speed of following the trail of calutron and expectation, calculates the switching magnetic moment following the trail of calutron;

Step S104, when the speed of following the trail of calutron becomes switch speed, is transformed to switching magnetic moment by the magnetic moment following the trail of calutron.

The embodiment of the present invention, adopt " normal magnetic moment controls+1 magnetic moment and switches " pattern, utilize electromagnetic action self character, for electromagnetism docking control provides a kind of simple and rapid method for designing, there is the feature of few, the permanent magnetic moment pattern of design parameter, strong robustness, solve the design complexity of existing method existence, be difficult to utilize electromagnetic action self character and the technical matters higher to control design case robustness requirement.

Alternatively, step S101, the initial mechanical calculating docking system can comprise: calculate the magnetic induction density followed the trail of calutron place target electromagnetic device and produce;

According to following the trail of the tracking speed of calutron, magnetic moment and magnetic induction density, and following the trail of the centroid distance of calutron and target electromagnetic device, calculating the mechanical energy computing formula of docking system;

According to initial velocity, initial magnetic moment and initial distance, calculate initial mechanical energy by mechanical energy computing formula.

Alternatively, step S103, determines that the switching magnetic moment of calutron comprises:

According to switch speed and switching distance, determine to calculate the first formula that docking system switches rear mechanical energy;

According to expectation docking speed and the expectation docking distance of tracking calutron, determine to calculate the second formula that docking system switches rear mechanical energy;

The switching magnetic moment of calutron is followed the trail of based on the first formula and the second formulae discovery.

Wherein, the initial mechanical energy computing formula of docking system is as follows:

In formula, B _t(d ₀) be the magnetic induction density following the trail of the target electromagnetic device generation of calutron place, v ₀be the initial velocity following the trail of calutron, m follows the trail of calutron quality, μ _tthe magnetic moment of target electromagnetic device, μ _c0the initial magnetic moment following the trail of calutron, μ ₀permeability of vacuum, d ₀the initial distance being target electromagnetic device and following the trail of between calutron barycenter, E ₀the initial kinetic energy of docking system, V ₀the initial magnetic potential energy of docking system, C ₀it is the initial mechanical energy of docking system.

In the present embodiment, utilize the formula of the switch speed calculating initial mechanical energy following the trail of calutron as follows:

$C_0=V_1+E_1=-\frac{{\mathrm{\μ}}_0{\mathrm{\μ}}_{C0}{\mathrm{\μ}}_T}{\mathrm{\π}{d}_1^3}+\frac{1}{2}m{v}_1^2$

In formula, v ₁the switch speed following the trail of calutron, d ₁the switching distance being target electromagnetic device and following the trail of between calutron barycenter, E ₁the kinetic energy following the trail of docking system when the speed of calutron becomes switch speed, V ₁it is the magnetic potential energy following the trail of docking system when the speed of calutron becomes switch speed.Utilize above-mentioned two formula, can quick obtaining d ₁value.

In the present embodiment, the first formula is as follows:

$C_1=V_2+E_1=-\frac{{\mathrm{\μ}}_0{\mathrm{\μ}}_{C1}{\mathrm{\μ}}_T}{\mathrm{\π}{d}_1^3}+\frac{1}{2}m{v}_1^2$

In formula, μ _c1the switching magnetic moment following the trail of calutron, V ₂follow the trail of the magnetic moment of calutron to become the magnetic potential energy switching docking system after magnetic moment, C ₁follow the trail of the magnetic moment of calutron to become the mechanical energy switching docking system after magnetic moment.

When meeting electromagnetism from docking magnetic moment condition, two calutrons can realize self alignment and automatic absorbing, but docking impact velocity is excessive, need apply master control and control.For electromagnetism docking beeline approaching section, characterize two calutron opposite configuration with Fig. 2.

In the present embodiment, the second formula is as follows:

$C_f=V_f+E_f=-\frac{{\mathrm{\μ}}_0{\mathrm{\μ}}_{C1}{\mathrm{\μ}}_T}{\mathrm{\π}{\left(d_f\right)}^3}+\frac{1}{2}m{v}_{\mathrm{soft}}^2$

In formula, v _softthe expectation docking speed of calutron is followed the trail of, with reference to Fig. 2, d when being docking contact _fwhen being docking contact, target electromagnetic device docks distance, E with the expectation of following the trail of between calutron barycenter _ffollow the trail of the kinetic energy that the speed of calutron becomes docking system when expecting docking speed, V _fthat the magnetic moment following the trail of calutron becomes switching magnetic moment and docks the magnetic potential energy of docking system when contacting, C _fthe mechanical energy of docking system during docking contact.

Utilize C ₁and C _fequal, can calculate and switch magnetic moment μ _c1value.

Assuming that the parameter of certain docking mission is:

$\left\{\begin{array}{c}{\mathrm{\μ}}_T=1000\left(A{m}^2\right),{\mathrm{\μ}}_{C0}=1000\left(A{m}^2\right),m=10\left(\mathrm{kg}\right)\\ d_0=2\left(m\right),v_0=0,v_{\mathrm{soft}}=1(\mathrm{mm}/s),d_f=2l_0=2\left(\mathrm{cm}\right)\end{array}\right.$

Get and determine switch speed, above-mentioned parameter can be utilized to try to achieve μ _c1, switch solving and controlling result accordingly of magnetic moment under analyzing different switch speed, initial velocity, initial distance situation, as shown in Fig. 8 to Figure 10, the validity of the method that simulation results show the present invention proposes and device.

In the present embodiment, two calutron relative motions, regard as static by target electromagnetic device ' T ', and follow the trail of calutron ' C ' its motion relatively, then the magnetic induction density calculating formula of target electromagnetic device ' T ' is as follows:

$B_T\left(d\right)=-\frac{{\mathrm{\μ}}_0{\mathrm{\μ}}_T}{2\mathrm{\π}{d}^3}\hat{d}$

In formula, with reference to Fig. 2, μ ₀permeability of vacuum, μ _tbe the magnetic moment of target electromagnetic device, d is the centroid distance of two calutrons, be the unit vector of two barycenter lines, B (d) is magnetic induction density.

Alternatively, this electromagnetism docking control method also comprises:

Magnetic induction density, initial magnetic moment and switch speed are regulated, in order to optimize docking T.T. and the power consumption index of docking system;

Calculate and parameter multiple switching magnetic moment one to one according to multiple different parameter, and will often organize parameter and the switching magnetic moment corresponding with it stores in pairs and make form, according to the parameter of reality, use table lookup to select to switch magnetic moment accordingly, parameter comprise in initial tracking speed, initial magnetic moment, initial distance and switch speed one or more.

In whole electromagnetism docking control procedure, need to be switched the magnetic moment following the trail of calutron by master control set, and for the space articulation task of complexity, need according to actual conditions, through repeatedly docking pose adjustment, to optimize docking T.T. and energy consumption index, and the floating point arithmetic process of carrying out complexity will take the too much resource of master control set, we are by test, in advance required parameter information when docking pose adjustment in various situation is stored in form, make master control set can obtain rapidly corresponding parameter by the mode of tabling look-up, and effectively saved the resource of master control set, ensure that the ageing and accuracy of docking gesture stability, and have greatly expanded the range of application of the embodiment of the present invention.

Alternatively, also comprised before step S101: differentiate whether docking situation belongs to one dimension situation or two-dimensional case:

If docking situation is one dimension situation, judge to follow the trail of calutron whether consistent with the pole orientation of target electromagnetic device, if then perform next step, then judge that docking situation cannot realize from docking if not;

If docking situation is two-dimensional case, judge whether docking situation meets decision condition, if then perform next step, then judge that docking situation cannot realize from docking if not, decision condition is as follows:

${\mathrm{\μ}}_T{\mathrm{\μ}}_C(2\cos \mathrm{\α}\cos \mathrm{\β}-\sin \mathrm{\α}\sin \mathrm{\β})>2\mathrm{\πm}{\mathrm{\ω}}_z^2{d}^5/3{\mathrm{\μ}}_0$

In formula, μ _tthe magnetic moment of target electromagnetic device, μ _cit is the magnetic moment following the trail of calutron, α is that target electromagnetic device is relative to target electromagnetic device and the angle following the trail of calutron barycenter line, β follows the trail of calutron relative to target electromagnetic device and the angle following the trail of calutron barycenter line, and m follows the trail of calutron quality, ω _zbe the angular velocity following the trail of calutron and the rotation of target electromagnetic device barycenter line, d follows the trail of the distance between calutron and target electromagnetic device barycenter, μ ₀it is permeability of vacuum.

By relative attitude autoregistration inspired by phenomenon in magnetic line of force principle and electromagnetism docking test, the docking property certainly of definition electromagnetism docking is: under meeting certain magnetic moment vector condition, two calutron relative position/attitudes are independently reduced to 0.Below, the method solving oneself docking magnetic moment condition of electromagnetism is provided.

1) one dimension situation

As shown in Figure 3, ' T ' and ' C ' bar magnet characterizes target electromagnetic device and follows the trail of calutron one dimension docking situation respectively, and ' S ' and ' N ' represents south, the arctic of magnet respectively, o _cMx _eMy _eMz _eMfor the coordinates computed system be connected with electromagnet center of mass motion.Base this, setting up one dimension electromagnetic force/moment model is

$\left\{\begin{array}{c}{F}_{\mathrm{TxEM}}=\frac{3{\mathrm{\μ}}_0{\mathrm{\μ}}_T{\mathrm{\μ}}_C}{2\mathrm{\π}{d}^4},F_{\mathrm{CxEM}}=-F_{\mathrm{TxEM}}\\ {\mathrm{\τ}}_{\mathrm{TxEM}}={\mathrm{\τ}}_{\mathrm{CxEM}}=0\end{array}\right.$

In formula, μ ₀permeability of vacuum, μ _tthe magnetic moment of target electromagnetic device, μ _cbe the magnetic moment following the trail of calutron, d is the distance between two calutron barycenter, F _cxEMand F _txEMthat two calutrons are along o _cMx _eMthe magnetic force of axle, τ _txEMthe magnetic torque that target electromagnetic device produces, τ _cxEMit is the magnetic torque following the trail of calutron generation.Analyze known one dimension electromagnetism from docking magnetic moment condition for only to need to meet direction unanimously, as shown in Fig. 4 or Fig. 5.

2) two-dimensional case

Two-dimensional electromagnetic docking situation as shown in Figure 6, between star under electromagnetic force/moment loading, two calutrons docking plane Kinematic Decomposition as shown in Figure 7, comprising: the rotation of two calutron barycenter lines, calutron are along the translation of barycenter line and two calutrons attitude motion separately.Do not consider the external interference such as planar friction power, in two dimension docking plane, two calutrons are only by electromagnetic force, meet momentum conservation, conservation of angular momentum and the law of conservation of mechanical energy.According to Thermodynamics Law Analysts, as long as two calutron relative positions are reduced to 0, then relative attitude has followability, and this definition electromagnetism docking mode of base is

Setting up two-dimensional electromagnetic Docking dynamics model is

$\left\{\begin{array}{c}m\stackrel{..}{d}=2F_{\mathrm{CxEM}}+m{\mathrm{\ω}}_z^{2}d\⇒\stackrel{..}{d}=2\·\frac{F_{\mathrm{CxEM}}+m{\mathrm{\ω}}_z^{2}d/2}{m}\\ m(2{\mathrm{\ω}}_z\stackrel{.}{d}+{\stackrel{.}{\mathrm{\ω}}}_{z}d)=2F_{\mathrm{CyEM}}\⇒{\stackrel{.}{\mathrm{\ω}}}_z=\frac{1}{d/2}\frac{F_{\mathrm{CyEM}}-m{\mathrm{\ω}}_z\stackrel{.}{d}}{m}\end{array}\right.$

In formula, with reference to Fig. 6, ω _zfor o _cMx _eMy _eMz _eMsystem is around o _cMx _iy _iz _ithe angular velocity of rotation of system, F _cyEMfor following the trail of calutron along o _cMy _eMthe magnetic force of axle.

Analysis above formula is known, as initial relative velocity make can make utilize electromagnetic force to offset rotary centrifugal force guide stream oriented device dock, derive obtain electromagnetism satisfy condition needed for dock into

${\mathrm{\μ}}_T{\mathrm{\μ}}_C(2\cos \mathrm{\α}\cos \mathrm{\β}-\sin \mathrm{\α}\sin \mathrm{\β})>2\mathrm{\πm}{\mathrm{\ω}}_z^2{d}^5/3{\mathrm{\μ}}_0$

In formula, with reference to Fig. 6, ω _zfor o _cMx _eMy _eMz _eMsystem is around o _cMx _iy _iz _isystem angular velocity of rotation, α and β is respectively ' T ' and ' C ' relative to o _cMx _eMangle, μ _tthe magnetic moment of target electromagnetic device, μ _cbe the magnetic moment following the trail of calutron, m is the quality of following the trail of calutron, and d follows the trail of the distance between calutron and target electromagnetic device barycenter, μ ₀it is permeability of vacuum.

According to a further aspect in the invention, additionally provide a kind of electromagnetism butt-joint control device, comprise: initial mechanical energy determination module, for the magnetic induction density according to target electromagnetic device, the initial distance followed the trail of the initial velocity of calutron, initial magnetic moment and target electromagnetic device and follow the trail of between calutron barycenter, calculates the initial mechanical energy of docking system;

Switch distance determination module, for the switch speed according to the setting of tracking calutron, initial magnetic moment and initial mechanical energy, the switching distance calculating the target electromagnetic device corresponding with switch speed and follow the trail of between calutron barycenter;

Switch magnetic moment determination module, for docking speed according to the expectation of switch speed, switching distance, tracking calutron and expecting to dock distance, calculate the switching magnetic moment of tracking calutron;

Magnetic moment handover module, during for becoming switch speed when the speed of following the trail of calutron, is transformed to switching magnetic moment by the magnetic moment following the trail of calutron.

Alternatively, initial mechanical energy determination module comprises:

Magnetic induction density calculates module, for calculating the magnetic induction density followed the trail of calutron place target electromagnetic device and produce;

Mechanical energy computing formula determination module, for the tracking speed according to tracking calutron, magnetic moment and magnetic induction density, and follows the trail of the centroid distance of calutron and target electromagnetic device, determines the mechanical energy computing formula calculating docking system;

Initial mechanical energy computing module, for according to initial velocity, initial magnetic moment and initial distance, calculates initial mechanical energy by mechanical energy computing formula.

Alternatively, switch magnetic moment determination module to comprise:

First formula determination module, for according to switch speed and switching distance, determines to calculate the first formula that docking system switches rear mechanical energy;

Second formula determination module, for docking speed according to the expectation of tracking calutron and expecting docking distance, determines to calculate the second formula that docking system switches rear mechanical energy;

Switch magnetic moment computing module, for following the trail of the switching magnetic moment of calutron based on the first formula and the second formulae discovery.

Alternatively, electromagnetism butt-joint control device also comprises adjustment module, and adjustment module is used for regulating, in order to optimize docking T.T. and the power consumption index of docking system magnetic induction density, initial magnetic moment and switch speed;

Electromagnetism butt-joint control device comprises memory module and enquiry module, wherein, memory module is used for calculating and parameter multiple switching magnetic moment will often organize parameter and the switching magnetic moment corresponding with it stores in pairs and make form one to one according to multiple different parameter, enquiry module is used for according to the parameter of reality and uses table lookup to select to switch magnetic moment accordingly, and it is one or more that parameter comprises in initial velocity, initial magnetic moment, initial distance and switch speed.

Alternatively, electromagnetism butt-joint control device also comprises docking situation discrimination module, for differentiating whether docking situation belongs to one dimension situation or two-dimensional case;

If docking situation is one dimension situation, judge to follow the trail of calutron whether consistent with the pole orientation of target electromagnetic device, if then perform initial mechanical energy computing module, then judge that docking situation cannot realize from docking if not;

If docking situation is two-dimensional case, judge whether docking situation meets decision condition, if then perform initial mechanical energy computing module, then judge that docking situation cannot realize from docking if not, decision condition is as follows:

${\mathrm{\μ}}_T{\mathrm{\μ}}_C(2\cos \mathrm{\α}\cos \mathrm{\β}-\sin \mathrm{\α}\sin \mathrm{\β})>2\mathrm{\πm}{\mathrm{\ω}}_z^2{d}^5/3{\mathrm{\μ}}_0$

In formula, μ _tthe magnetic moment of target electromagnetic device, μ _cit is the magnetic moment following the trail of calutron, α is that target electromagnetic device is relative to target electromagnetic device barycenter and the angle following the trail of line between calutron barycenter, β follows the trail of calutron relative to target electromagnetic device barycenter and the angle following the trail of line between calutron barycenter, m follows the trail of calutron quality, ω _zbe the angular velocity following the trail of calutron and the rotation of target electromagnetic device barycenter line, d follows the trail of the distance between calutron and target electromagnetic device barycenter, μ ₀it is permeability of vacuum.

For device embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, relevant part illustrates see the part of embodiment of the method.

The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.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 (10)

1. an electromagnetism docking control method, is characterized in that, comprise the steps:

According to the magnetic induction density of target electromagnetic device, follow the trail of the initial velocity of calutron, initial magnetic moment and the initial distance between described target electromagnetic device and described tracking calutron barycenter, calculate the initial mechanical energy of docking system;

According to the switch speed of described tracking calutron setting, described initial magnetic moment and described initial mechanical energy, calculate the switching distance between the described target electromagnetic device corresponding with described switch speed and described tracking calutron barycenter;

According to expectation docking speed and the expectation docking distance of described switch speed, described switching distance, described tracking calutron, calculate the switching magnetic moment of described tracking calutron;

When the speed of described tracking calutron becomes described switch speed, the magnetic moment of described tracking calutron is transformed to described switching magnetic moment.

2. electromagnetism docking control method according to claim 1, is characterized in that,

The initial mechanical calculating docking system can comprise:

Calculate the described magnetic induction density that target electromagnetic device described in described tracking calutron place produces;

According to the speed of described tracking calutron, magnetic moment and described magnetic induction density, and the centroid distance of described tracking calutron and described target electromagnetic device, determine the mechanical energy computing formula calculating docking system mechanical energy;

According to described initial velocity, described initial magnetic moment and described initial distance, calculate described initial mechanical energy by described mechanical energy computing formula.

3. electromagnetism docking control method according to claim 1, is characterized in that,

The switching magnetic moment calculating described calutron comprises:

According to described switch speed and described switching distance, determine to calculate the first formula that docking system switches rear mechanical energy;

According to described expectation docking speed and the described expectation docking distance of described tracking calutron, determine to calculate the second formula that described docking system switches rear mechanical energy;

Based on the switching magnetic moment following the trail of calutron described in described first formula and described second formulae discovery.

4. electromagnetism docking control method according to claim 1, is characterized in that, also comprise:

Described magnetic induction density, described initial magnetic moment and described switch speed are regulated, in order to optimize docking T.T. and the power consumption index of described docking system;

Calculate and described parameter multiple described switching magnetic moment one to one according to multiple different parameter, and will often organize described parameter and the described switching magnetic moment corresponding with it stores in pairs and make form, according to the described parameter of reality, use described table lookup to select corresponding described switching magnetic moment, described parameter comprise in described initial velocity, described initial magnetic moment, described initial distance and described switch speed one or more.

5., according to Claims 1-4 arbitrary described electromagnetism docking control method, it is characterized in that, calculate docking system initial mechanical can before also comprise:

Differentiate whether docking situation belongs to one dimension situation or two-dimensional case:

If described docking situation is one dimension situation, judge that whether described tracking calutron is consistent with the pole orientation of described target electromagnetic device, if then perform next step, then judge that described docking situation cannot realize from docking if not;

If described docking situation is two-dimensional case, judge whether described docking situation meets decision condition, if then perform next step, then judge that described docking situation cannot realize from docking if not, described decision condition is as follows:

${\mathrm{\μ}}_T{\mathrm{\μ}}_C(2\cos \mathrm{\α}\cos \mathrm{\β}-\sin \mathrm{\α\β}\sin )>2\mathrm{\π}{\mathrm{m\ω}}_z^2{d}^5/\left({3\mathrm{\μ}}_0\right)$

In formula, μ _tthe magnetic moment of described target electromagnetic device, μ _cit is the magnetic moment of described tracking calutron, α is described target electromagnetic device relative to the angle of described target electromagnetic device and described tracking calutron barycenter line, β is described tracking calutron relative to the angle of described target electromagnetic device and described tracking calutron barycenter line, m is described tracking calutron quality, ω _zbe the angular velocity that described tracking calutron and described target electromagnetic device barycenter line rotate, d is the distance between described tracking calutron and described target electromagnetic device barycenter, μ ₀it is permeability of vacuum.

6. an electromagnetism butt-joint control device, is characterized in that, described electromagnetism butt-joint control device comprises:

Initial mechanical energy determination module, for the magnetic induction density according to target electromagnetic device, follow the trail of the initial velocity of calutron, initial magnetic moment and the initial distance between described target electromagnetic device and described tracking calutron barycenter, calculate the initial mechanical energy of docking system;

Switch distance determination module, for the switch speed according to described tracking calutron setting, described initial magnetic moment and described initial mechanical energy, calculate the switching distance between the described target electromagnetic device corresponding with described switch speed and described tracking calutron barycenter;

Switch magnetic moment determination module, for docking speed according to the expectation of described switch speed, described switching distance, described tracking calutron and expect docking distance, calculate the switching magnetic moment of described tracking calutron;

Magnetic moment handover module, for when the speed of described tracking calutron becomes described switch speed, is transformed to described switching magnetic moment by the magnetic moment of described tracking calutron.

7. electromagnetism butt-joint control device according to claim 6, is characterized in that,

Described initial mechanical energy determination module comprises:

Magnetic induction density calculates module, for calculating the magnetic induction density that target electromagnetic device described in described tracking calutron place produces;

Mechanical energy computing formula determination module, for the speed according to described tracking calutron, magnetic moment and described magnetic induction density, and the centroid distance of described tracking calutron and described target electromagnetic device, determine the mechanical energy computing formula calculating docking system mechanical energy;

Initial mechanical energy computing module, for according to described initial velocity, described initial magnetic moment and described initial distance, calculates described initial mechanical energy by described mechanical energy computing formula.

8. electromagnetism butt-joint control device according to claim 6, is characterized in that,

Described switching magnetic moment determination module comprises:

First formula determination module, for according to described switch speed and described switching distance, determines to calculate the first formula that docking system switches rear mechanical energy;

Second formula determination module, for according to the described expectation docking speed of described tracking calutron and described expectation docking distance, determine to calculate described docking system switch after the second formula of mechanical energy;

Switch magnetic moment computing module, for based on the described switching magnetic moment following the trail of calutron described in described first formula and described second formulae discovery.

9. electromagnetism butt-joint control device according to claim 6, is characterized in that,

Described device comprises adjustment module, and described adjustment module is used for regulating described magnetic induction density, described initial magnetic moment and described switch speed, in order to optimize docking T.T. and the power consumption index of described docking system;

Described device comprises memory module and enquiry module, wherein, described memory module is used for calculating and described parameter multiple described switching magnetic moment will often organize described parameter and the described switching magnetic moment corresponding with it stores in pairs and make form one to one according to multiple different parameter, described enquiry module is used for according to the described parameter of reality and uses described table lookup to select corresponding described switching magnetic moment, and it is one or more that described parameter comprises in described initial velocity, described initial magnetic moment, described initial distance and described switch speed.

10., according to the arbitrary described electromagnetism butt-joint control device of claim 6 to 9, it is characterized in that, also comprise:

Docking situation discrimination module, for differentiating whether docking situation belongs to one dimension situation or two-dimensional case:

If described docking situation is one dimension situation, judge that whether described tracking calutron is consistent with the pole orientation of described target electromagnetic device, if then perform described initial mechanical energy determination module, then judge that described docking situation cannot realize from docking if not;

If described docking situation is two-dimensional case, judge whether described docking situation meets decision condition, if then perform described initial mechanical energy determination module, then judge that described docking situation cannot realize from docking if not, described decision condition is as follows:

${\mathrm{\μ}}_T{\mathrm{\μ}}_C(2\cos \mathrm{\α}\cos \mathrm{\β}-\sin \mathrm{\α}\sin \mathrm{\β})>2\mathrm{\π}{\mathrm{m\ω}}_z^2{d}^5/{3\mathrm{\μ}}_0$

In formula, μ _tthe magnetic moment of described target electromagnetic device, μ _cit is the magnetic moment of described tracking calutron, α is described target electromagnetic device relative to the angle of described target electromagnetic device and described tracking calutron barycenter line, β is described tracking calutron relative to the angle of described target electromagnetic device and described tracking calutron barycenter line, m is described tracking calutron quality, ω _zbe the angular velocity that described tracking calutron and described target electromagnetic device barycenter line rotate, d is the distance between described tracking calutron and described target electromagnetic device barycenter, μ ₀it is permeability of vacuum.